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Coupling interface for modular reconfigurable robot

A reconfigurable robot and modular technology, applied in the field of coupling interface, can solve the problems of unbalanced mechanism freedom, complexity, power consumption, etc., and achieve the effect of large locking force, small driving force and low failure rate

Active Publication Date: 2022-07-22
SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0003] The existing automatic docking interface implementation methods include cam screwing type, connecting rod locking type, magnetic field action type, etc., but most of them are for the purpose of realizing docking, without weighing the degree of freedom, complexity, power consumption and other factors of the mechanism

Method used

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  • Coupling interface for modular reconfigurable robot
  • Coupling interface for modular reconfigurable robot
  • Coupling interface for modular reconfigurable robot

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Embodiment Construction

[0041] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0042] like Figures 1 to 10 As shown, the present invention includes a docking power source, a cover plate 13, a gear turntable 14, a bracket 4, a sliding block 16, a hook 17 and a docking plate 9, wherein the cover plate 13 and the docking plate 9 are evenly arranged along the circumferential direction. There are brackets 4, the cover plate 13 and the docking plate 9 are connected through the brackets 4, the docking plate 9 is rotatably installed with a rotating shaft 19, the rotating shaft 19 is linked with a gear turntable 14, and the gear turntable 14 is located between the cover plate 13 and the bracket. 4 are supported by the brackets 4; the gear turntable 14 is evenly provided with a plurality of gear turntable guide grooves 33 along the circumferential direction, and the cover plate 13 is evenly opened with the gear turntable guide grooves 33 along t...

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Abstract

The invention relates to a modular reconfigurable robot, in particular to a coupling interface for the modular reconfigurable robot, which is only driven by a driving motor in a single degree of freedom in order to conveniently implement unlocking / locking between modules. The coupling interface comprises two coupling motions, namely a sliding block guide rod coupling linear motion and a claw coupling rotary motion; the driving motor drives the gear rotating disc to rotate, the sliding block guide rods located in the gear rotating disc guide groove and the cover plate guide groove achieve coupling linear motion under the constraint of the gear rotating disc guide groove and the cover plate guide groove, and the sliding blocks are pulled to be gathered inwards or scattered outwards. The sliding block groove sliding rod serves as a hook claw rotating shaft, the position of the sliding block groove sliding rod changes along with the change of the displacement of the sliding block, and the hook claw achieves coupling rotating motion under the constraint of the hook claw rotating shaft. The method has universality, the application range is not limited to butt joint between modular reconfigurable robot modules, and the method can also be used for active-active and active-passive butt joint interfaces of other systems.

Description

technical field [0001] The invention relates to a modular reconfigurable robot, in particular to a coupling interface for the modular reconfigurable robot. Background technique [0002] The modular reconfigurable robot is composed of several identical module units connected, and the connection refers to the connection state of the interfaces between the modules. When the robot changes its configuration, it needs to update the connection / disconnection relationship of the interface between the modules, and the docking interface is the key mechanism to realize this operation. The interfaces that can be used for modular reconfigurable robots can be divided into assisted docking and automatic docking. Auxiliary docking requires manual or machine intervention to complete the connection / disconnection operation and has limited applications. Automatic docking control built-in drive to perform connect / disconnect operation, suitable for large modular reconfigurable systems. [0003]...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B25J9/08B25J19/00
CPCB25J9/08B25J19/00
Inventor 刘金国冯靖凯
Owner SHENYANG INST OF AUTOMATION - CHINESE ACAD OF SCI
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