Reconfigurable robot quick-change interface based on cam guide

Abstract

The present invention discloses a reconfigurable robot quick-change interface based on a cam guide rail, which is composed of a coaxially matched female end and a male end that are mutually socketed as a docking body; the docking body includes a memory alloy wire-driven locking system and an electrical connection system with a cam guide rail as a transmission mechanism; the locking system is to set a radial locking hole on the circumference of the female end, and the cam guide rail is set on the male end. The cam guide rail is a moving guide rail as a movable bayonet pin, so that the movable bayonet pin can protrude radially toward the outer circumference of the male end, and the cam guide rail is pulled by the memory alloy wire to rotate, so as to push the movable bayonet pin to protrude radially toward the outer circumference of the male end, and insert it into the radial locking hole of the female end, so as to realize the locking of the female end and the male end; the male end electric plug in the locked state is inserted into the female end electric socket to realize electrical connection. The present invention obtains a comprehensive effect between power consumption, volume, function and structure, and realizes a more efficient and convenient quick-change connection.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and more specifically relates to a reconfigurable robot quick-change interface for realizing rapid reconstruction of the robot. Background Art

[0002] With the rapid development of science and technology, robots are constantly breaking through their own functional limits, and various industries are applying various robots to improve production efficiency. Reconfigurable robots have modules with different functions. They can form different configurations and motion modes through assembly between modules to adapt to different tasks, improve the robot's scene motion ability, and overcome the shortcomings of traditional robots with limited working range. Therefore, they have become an important direction in the field of robot research. Reconfigurable robots have a series of relatively independent mechanical and electronic modules. The connection between modules of different sizes and performances determines the final configuration of the reconfigurable robot, so the connection form of its connection parts is crucial.

[0003] Closely related to the connection part is the quick-change interface, which is the main functional module that carries the connection function. An efficient quick-change interface is the basis for overall stable operation. The quick-change interfaces of various existing reconfigurable robotic arms have the following problems to varying degrees: the existing connection method designed around a set of steel ball motion systems has a relatively complex motion system that is difficult to further reduce the volume; the existing connection method that relies on electromagnetic attraction has too high power consumption, and the accompanying electromagnetic field limits the scope of use. Summary of the invention

[0004] The present invention is to avoid the deficiencies of the above-mentioned prior art and provide a reconfigurable robot quick-change interface based on a cam guide rail, in order to achieve a comprehensive effect between power consumption, volume, function and structure, and realize a more efficient and convenient quick-change connection to adapt to a wider range of applications.

[0005] The present invention adopts the following technical solutions to achieve the purpose of the invention:

[0006] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is characterized in that: the quick-change interface is composed of a coaxial female end and a male end that are socketed with each other as a docking body; the docking body includes a memory alloy wire-driven locking system and an electrical connection system with a cam guide rail as a transmission mechanism; the locking system is to set a radial locking hole on the circumference of the female end, and the cam guide rail is set at the male end. The cam guide rail is a moving guide rail as a movable bayonet pin, so that the movable bayonet pin can protrude radially toward the outer periphery of the male end, and the cam guide rail is pulled by the memory alloy wire to rotate, so as to push the movable bayonet pin to protrude radially toward the outer periphery of the male end, and be inserted into the radial locking hole of the female end to achieve locking of the female end and the male end; the electrical connection system includes a female end electrical socket and a male end electrical plug, and the male end electrical plug in the locked state is inserted into the female end electrical socket to achieve electrical connection.

[0007] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is also characterized in that: the male end is a male end shell having an outer cylindrical surface connected to the male end upper cover and the male end lower cover; the structural arrangement in the outer end shell includes: the cam guide rail is fixedly arranged on the guide rail bracket, and the guide rail bracket adopts a cylindrical surface to cooperate with the male end shell through a deep groove ball bearing, so that the cam guide rail can be rotated around the central axis in the male end shell, and the cam guide rail is arranged as a built-in rail surface; the movable bayonet is a cylindrical pin, and its cylindrical surface is movably matched with the radial cylindrical hole arranged on the male end shell, and the tail end of the movable bayonet is embedded in the built-in rail surface of the cam guide rail by a rolling bearing, and the rotating cam guide rail uses the trajectory of the built-in rail surface to drive the movable bayonet pin to move radially in the radial cylindrical hole on the male end shell; the wire winding disk is fixedly arranged on one side of the cam guide rail and is connected to the cam guide The invention relates to a memory alloy wire, which is wound around the outer circumference of the wire winding disc and passes through the built-in channel, and then one end of the memory alloy wire is fixedly connected to the guide rail bracket and the other end is fixedly connected to the male end shell, and the length change of the memory alloy wire is used to drive the wire winding disc to rotate; a restoring spring is arranged between the male end shell and the cam guide rail, and the restoring spring is used to pull the cam guide rail to rotate and return, so that the movable bayonet is radially reset; the female end adopts a female end body in the form of a semi-enclosed form, which has a bottom disk surface and an inner cylindrical surface, the bottom disk surface is in surface contact with the male end lower cover, and the inner circumference faces the outer cylindrical surface of the male end shell to form an outer-enclosed fit; a female end electrical socket is arranged at the center of the bottom disk surface of the female end body by using a socket bracket, a buffer pad is arranged on the bottom disk surface of the female end body, and a thin film pressure sensor is arranged on the outer surface of the male end lower cover, and the female end and male end pressure detection signals are obtained by using the thin film pressure sensor.

[0008] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is also characterized in that: the male end electrical plug is fixedly arranged in the male end housing through a plug bracket; the male end electrical plug and the plug bracket are cylindrically matched, so that the male end electrical plug can move axially in the cylindrical surface; a passive elastomer is arranged between the male end electrical plug and the male end upper cover, and the passive elastomer provides pressure for the male end electrical plug, and the passive elastomer is a reed or a spring.

[0009] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is also characterized in that: a radial tolerance structure is set between the male end and the female end, and the radial tolerance structure is to set the lower end outer cylindrical surface of the male end lower cover as an inner inclined surface, and the inner cylindrical surface of the female end socket is set as an outer inclined surface, and the radial tolerance is formed by using the inner inclined surface and the outer inclined surface; a circumferential tolerance structure is set between the male end and the female end, and the circumferential tolerance structure is to set a locking block protruding along the radial direction on the bottom edge of the male end upper cover, and to cooperate with a locking notch at the corresponding position of the inner cylindrical surface of the female end, and the two sides of the locking notch are set as guide fillets, and the locking block and the locking notch cooperate to form a circumferential limiting mechanism, and the circumferential tolerance is formed by using the guide fillet.

[0010] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is also characterized in that: the cam guide rail is arranged in a triangle to form three independent cam rail surfaces connected end to end on the circumference, and a restoring spring and a movable pin are arranged corresponding to each cam rail surface, and radial cylindrical holes and radial locking holes are arranged in a one-to-one correspondence at the corresponding positions of the male end and the female end to form three locking positions evenly distributed on the circumference.

[0011] The reconfigurable robot quick-change interface based on the cam guide rail of the present invention is also characterized in that the control mode of setting the reconfigurable robot quick-change interface is:

[0012] When the male end and the female end are separated, the working power of the memory alloy wire is turned on, so that the length of the memory alloy wire shrinks due to the power supply and the tension is maintained, the cam guide rail overcomes the tension of the restoring spring and rotates counterclockwise, and the movable bayonet is driven by the cam guide rail to retreat in the radial cylindrical hole of the male end, and the length contraction amount of the memory alloy wire is controlled, so that the movable bayonet is retreated to the outer cylindrical surface of the male end housing where the front end does not protrude;

[0013] When the male end and the female end are connected in place, the memory alloy wire is controlled according to the pressure detection signal of the thin film pressure sensor to cut off the working power supply of the memory alloy wire;

[0014] When the male end and the female end are in the butt-jointed state, the memory alloy wire recovers its length due to the cutting off of the working power supply, the cam guide rail rotates clockwise due to the pulling force of the recovery spring, and the movable bayonet protrudes from the radial cylindrical hole of the male end under the push of the cam guide rail, and is inserted into the radial locking hole at the corresponding position of the female end, so that the male end and the female end are in a locked state.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. The quick-change interface of the present invention is used to realize the connection between different working bodies of the robot, including the mobile platform and the mechanical arm working with it, and includes a mechanical interface and an electrical interface, which can not only withstand the effect of force, ensure the firmness and reliability of the mechanical connection and the flexibility of movement, but also ensure the stability of the control system including communication and power supply through additional electrical connections;

[0017] 2. The present invention has radial and circumferential tolerance structures, which effectively improves the docking success rate; adopts a driving source composed of memory alloy wire and spring, a cam motion structure, and a thinner film sensor, which effectively reduces the overall diameter and height, so that the weight and volume are effectively compressed;

[0018] 3. The present invention realizes electrical connection while completing mechanical locking, which reduces the number of components as a whole. It is based on modular combination design for assembly and disassembly, simplifies the structure, reduces production costs and assembly difficulty, and is easy to promote and apply. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the external structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of the quick-change interface of the present invention when it is in a locked state;

[0021] Figure 3 This is a schematic diagram of a thin film sensor at the bottom of the male end of the quick-change interface of the present invention;

[0022] Figure 4 It is a schematic diagram of the internal structure of the quick-change interface of the present invention when it is in a separated state;

[0023] Figure 5 It is a schematic diagram of the matching state of the cam guide rail, the restoring spring and the movable bayonet in the quick-change interface of the present invention;

[0024] Figure 6 It is a schematic diagram of the structure of the memory alloy wire wound by the wire reel disk in the quick-change interface of the present invention;

[0025] Figure 7 It is a schematic diagram of the use state of the present invention.

[0026] Numbers in the figure: 100 female end, 200 male end, 101 female end body, 102 buffer pad, 103 female end electrical socket, 104 socket bracket, 105 radial tolerance structure, 201 male end lower cover, 202 plane thrust bearing, 203 rolling bearing, 204 connecting pin, 205 movable bayonet, 206 male end upper cover, 207 deep groove ball bearing, 208 memory alloy wire, 209 outer end locking nut, 210 inner end connecting bolt, 211 passive elastomer, 212 male end electrical plug, 213 guide bracket, 214 outer end connecting bolt, 215 restoring spring, 216 cam guide, 217 wire winding disc, 218 thin film pressure sensor, 219 circumferential tolerance structure, 220 built-in channel. DETAILED DESCRIPTION

[0027] See also Figure 1 and Figure 2 In this embodiment, the reconfigurable robot quick-change interface based on the cam guide rail is composed of a coaxial female end 100 and a male end 200 that are socketed with each other as a docking body; the docking body includes a memory alloy wire-driven locking system and an electrical connection system with a cam guide rail as a transmission mechanism.

[0028] The locking system is to set radial locking holes on the circumference of the female end 100; the cam guide 216 is set at the male end, and the cam guide 216 serves as a moving guide for the active bayonet 205, so that the active bayonet 205 can radially protrude toward the outer periphery of the male end, and the cam guide 216 is pulled by the memory alloy wire to rotate, so as to push the active bayonet 205 to radially protrude toward the outer periphery of the male end, and be inserted into the radial locking hole of the female end 100, so as to realize the locking of the female end and the male end.

[0029] The electrical connection system includes a female electrical socket 103 and a male electrical plug 212 . The male electrical plug 212 in a locked state is inserted into the female electrical socket 103 to achieve electrical connection.

[0030] In the specific implementation, the corresponding structural settings include:

[0031] like Figure 2As shown, the male end 200 is a male end housing having an outer cylindrical surface connected with a male end upper cover 206 and a male end lower cover 201; the structural arrangement in the outer end housing includes: a cam guide 216 is fixedly arranged on a guide bracket 213; the guide bracket 213 is matched with the male end housing by a cylindrical surface through a deep groove ball bearing 207, so that the cam guide 216 can be rotated around the central axis in the male end housing, and the cam guide 216 is arranged as a built-in rail surface; the movable bayonet 205 is a cylindrical pin, and its cylindrical surface is movably matched with a radial cylindrical hole arranged on the male end housing; the tail end of the movable bayonet 205 is embedded in the built-in rail surface of the cam guide 216 by a rolling bearing 203, and the rotating cam guide 216 drives the movable bayonet 205 to move radially in the radial cylindrical hole on the male end housing by the track of the built-in rail surface; a wire winding disc 217 is fixedly arranged on one side of the cam guide 216 and is linked to the cam guide 216. Figure 2 and Figure 4 As shown, the built-in rail surface section of the cam guide rail 216 is "T" shaped, and the rolling bearing 203 is installed at the tail end of the movable bayonet 205 by means of the connecting pin 204. The rolling bearing 203 and the built-in rail surface of the cam guide rail 216 are in rolling cooperation, which not only realizes the connection between the movable bayonet 205 and the cam guide rail 216, but also ensures that the movable bayonet 205 moves flexibly without getting stuck. In order to improve the flexibility of movement and reduce friction, a plane thrust bearing 202 is arranged between the winding disc 217 and the male end lower cover 201;

[0032] like Figure 5 and Figure 6 As shown, the memory alloy wire 208 is wound on the outer circumference of the winding disk 217, the inner end of the memory alloy wire 208 is fixedly connected to the guide rail bracket 213, and the outer end of the memory alloy wire 208 is fixedly connected to the male end housing, and the length change of the memory alloy wire 208 is used to drive the winding disk 217 to rotate; the restoring spring 215 is arranged between the male end housing and the cam guide rail 216, and the cam guide rail 216 is pulled by the restoring spring 215 to rotate, so that the movable bayonet 205 is radially reset; Figure 5 As shown, a built-in channel 220 is provided through the winding disc 217, the cam guide rail 216, the guide rail bracket 213, the male end lower cover 201 and the male end upper cover 206. The memory alloy wire 208 uses the built-in channel 220 as a lead-out channel. After the inner end of the memory alloy wire 208 is led out of the built-in channel 220, it is fixedly connected to the guide rail bracket 213 by the inner end locking nut. After the outer end of the memory alloy wire 208 is led out of the built-in channel 220, it is fixedly connected to the male end upper cover 206 by the outer end locking nut 209. Figure 5It is also shown that an outer end connecting bolt 214 is provided on the male end housing, and the outer end of the restoring tension spring 215 is sleeved on the outer end connecting bolt 214; similarly, an inner end connecting bolt 210 is provided at a corresponding position of the cam guide rail, and the inner end of the restoring tension spring 215 is sleeved on the inner end connecting bolt 210. In order for the restoring spring 215 to effectively pull the cam guide rail 216 to rotate, it is necessary to avoid the restoring spring 215 being in the radial direction of the cam guide rail 216 to provide a suitable pre-tension.

[0033] like Figure 1 , Figure 2 and Figure 3 As shown, the female end 100 adopts a female end body 101 in a semi-enclosed form, having a bottom disk surface and an inner cylindrical surface, the bottom disk surface is in surface contact with the male end lower cover 201, and the inner circumference faces the outer cylindrical surface of the male end shell to form an outer package fit; a female end electrical socket 103 is arranged at the center of the bottom disk surface of the female end body 101 by using a socket bracket 104, a buffer pad 102 is arranged on the bottom disk surface of the female end body 101, and a thin film pressure sensor 218 is arranged on the outer surface of the male end lower cover 201, and a thin film pressure sensor 218 is arranged on the outer surface of the male end lower cover 201. The force sensor 218 obtains the pressure detection signal of the female end 100 and the male end 200; the male end electric plug 212 is fixedly arranged in the male end housing through the plug bracket; the male end electric plug 212 and the plug bracket are cylindrically matched, so that the male end electric plug 212 can move axially in the cylindrical surface; a passive elastic body 211 is arranged between the male end electric plug 212 and the male end upper cover 206, and the passive elastic body 211 provides pressure for the male end electric plug 212, and the passive elastic body 211 is a reed or a spring.

[0034] like Figure 1 As shown, a radial tolerance structure 105 is provided between the male end and the female end. The radial tolerance structure 105 is that the outer cylindrical surface of the lower end of the male end lower cover 201 is set as an inner inclined surface, and the inner cylindrical surface of the female end socket is set as an outer inclined surface, that is, a chamfered form, and the radial tolerance is formed by the inner inclined surface and the outer inclined surface; a circumferential tolerance structure 219 is also provided between the male end and the female end. The circumferential tolerance structure 219 is that a locking block protruding along the radial direction is provided on the bottom edge of the male end upper cover 206, and a locking groove is provided at the corresponding position of the inner cylindrical surface of the female end. The two sides of the locking groove are set as guide fillets, that is, a chamfered form, and the locking block and the locking groove cooperate to form a circumferential limiting mechanism, and the circumferential tolerance is formed by the guide fillet.

[0035] like Figure 5 As shown, in this embodiment, the cam guide rail 216 is set to a triangle to form three independent cam track surfaces connected end to end on the circumference, and a return spring 215 and a movable latch 205 are respectively set corresponding to each cam track surface. Radial cylindrical holes and radial locking holes are set in corresponding positions of the male end and the female end one by one to form three locking positions evenly distributed on the circumference.

[0036] In a specific implementation, the control method of setting the reconfigurable robot quick-change interface is:

[0037] When the male end and the female end are separated, the working power of the memory alloy wire 208 is turned on, so that the length of the memory alloy wire 208 shrinks and maintains the tension due to the power supply, and the cam guide rail 216 overcomes the tension of the return spring 215 and rotates counterclockwise. Figure 5 Taking the view direction shown as an example, the movable bayonet 205 is driven by the cam guide 216 to retreat in the radial cylindrical hole of the male end, controlling the length contraction of the memory alloy wire 208 so that the movable bayonet 205 retreats to the front end and does not protrude from the outer cylindrical surface of the male end housing.

[0038] When the male end and the female end are connected in place, the memory alloy wire 208 is controlled according to the pressure detection signal of the film pressure sensor 218, the working power of the memory alloy wire 208 is cut off, and the power-off locking control method is adopted to make the locking state stable and reliable.

[0039] When the male end and the female end are in the docked state, the memory alloy wire 208 recovers its length due to the cutting off of the working power supply, and the cam guide 216 rotates clockwise due to the pulling force of the recovery spring 215. The movable latch 205 protrudes from the radial cylindrical hole of the male end under the push of the cam guide 216, and is inserted into the radial locking hole at the corresponding position of the female end, so that the male end and the female end are in a locked state.

[0040] Specific applications include: Figure 7 As shown, the female end constituting the quick-change interface B is located on the mobile platform. Figure 7 The mobile platform shown is a hexapod robot C, the male end of which is fixed on the snake-shaped mobile robot A, and the rapid configuration between the mobile robot and the hexapod robot C as the mobile platform is achieved through the docking of the female end and the male end.

[0041] The above is only a preferred embodiment of the present invention. The present invention is not limited to the above implementation. As long as the technical effect of the present invention is achieved by the same means, it should belong to the protection scope of the present invention. Within the protection scope of the present invention, its technical scheme and / or implementation method can have various modifications and changes.

Claims

1. A reconfigurable robot quick-change interface based on a cam guide, characterized in that: The quick-change interface comprises a female end (100) and a male end (200) which are coaxially matched and mutually socketed as a docking body; the docking body comprises a memory alloy wire-driven locking system and an electrical connection system with a cam guide as a transmission mechanism; the locking system is a system in which radial locking holes are arranged on the circumference of the female end (100); a cam guide (216) is arranged on the male end; the cam guide (216) is a moving guide for a movable bayonet (205), so that the movable bayonet (205) can protrude radially toward the outer circumference of the male end, and the memory alloy wire is used to drive the locking system. The cam guide rail (216) is rotated by pulling the wire to push the movable latch (205) to protrude radially toward the outer periphery of the male end and be inserted into the radial locking hole of the female end (100), thereby realizing the locking of the female end and the male end; the electrical connection system comprises a female end electrical socket (103) and a male end electrical plug (212), and the male end electrical plug (212) in the locked state is inserted into the female end electrical socket (103) to realize electrical connection; the male end (200) is a male end shell having an outer cylindrical surface formed by connecting a male end upper cover (206) and a male end lower cover (201); The structure arrangement in the male end housing comprises: the cam guide rail (216) is fixedly arranged on the guide rail bracket (213); the guide rail bracket (213) is matched with the male end housing through a deep groove ball bearing (207) by a cylindrical surface, so that the cam guide rail (216) can be rotated around the central axis in the male end housing; the cam guide rail (216) is arranged as a built-in rail surface; the movable bayonet (205) is a cylindrical pin, the cylindrical surface of which is movably matched with a radial cylindrical hole arranged on the male end housing; the tail end of the movable bayonet (205) is embedded in the built-in rail surface of the cam guide rail (216) by means of a rolling bearing (203); the rotating cam guide rail (216) drives the movable bayonet (205) by means of the track of the built-in rail surface. The movable pin (205) is moved radially in the radial cylindrical hole on the male end housing; the winding disk (217) is fixedly arranged on one side of the cam guide rail (216) and is linked to the cam guide rail (216); the internal rail surface section of the cam guide rail (216) is in a "T" shape; the rolling bearing (203) is installed on the tail end of the movable bayonet (205) by means of a connecting pin (204); the rolling bearing (203) and the internal rail surface of the cam guide rail (216) are in rolling cooperation, which not only realizes the connection between the movable bayonet (205) and the cam guide rail (216), but also ensures that the movable bayonet (205) moves flexibly and does not get stuck. In order to improve the flexibility of movement and reduce friction, a plane push rod is arranged between the winding disk (217) and the male end lower cover (201). A force bearing (202); a memory alloy wire (208), which is wound around the outer circumference of the winding disk (217) and passes through the built-in channel (220), and then fixedly connected to the guide rail bracket (213) at one end and fixedly connected to the male end housing at the other end, and the winding disk (217) is driven to rotate by the change in length of the memory alloy wire (208); a restoring spring (215), which is arranged between the male end housing and the cam guide rail (216), and the restoring spring (215) is used to pull the cam guide rail (216) to rotate and return, so that the movable bayonet (205) is radially reset; the female end (100) adopts a female end body (101) in a semi-enclosed form, having a bottom disk surface and an inner cylindrical surface, and the bottom disk surface is connected to the male end lower cover (20 1) is in surface contact, the inner cylindrical surface is in outer engagement with the outer cylindrical surface of the male housing; a female electrical socket (103) is arranged at the center of the bottom disk of the female body (101) by means of a socket bracket (104), a buffer pad (102) is arranged on the bottom disk of the female body (101), a thin film pressure sensor (218) is arranged on the outer surface of the male lower cover (201), and pressure detection signals of the female end (100) and the male end (200) are obtained by means of the thin film pressure sensor (218); the male electrical plug (212) is fixedly arranged in the male housing by means of a plug bracket; the male electrical plug (212) and the plug bracket are in cylindrical engagement, so that the male electrical plug (212) can move axially in the cylindrical surface;A passive elastic body (211) is provided between the male end electrical plug (212) and the male end upper cover (206), and the passive elastic body (211) provides pressure for the male end electrical plug (212), and the passive elastic body (211) is a reed or a spring; a radial tolerance structure (105) is provided between the male end and the female end, and the radial tolerance structure (105) is a structure in which the outer cylindrical surface of the lower end of the male end lower cover (201) is set as an inner inclined surface, and the inner cylindrical surface of the female end socket is set as an outer inclined surface. Inclined surface, using the inner inclined surface and the outer inclined surface to form a radial tolerance; a circumferential tolerance structure (219) is provided between the male end and the female end, the circumferential tolerance structure (219) is a locking block protruding in the radial direction provided on the bottom edge of the male end upper cover (206), a locking notch is provided at a corresponding position on the inner cylindrical surface of the female end, both sides of the locking notch are provided as guide fillets, the locking block and the locking notch cooperate to form a circumferential limit mechanism, and the guide fillet is used to form a circumferential tolerance. ; 2. The reconfigurable robot quick-change interface based on a cam guide rail according to claim 1, characterized in that: The cam guide rail (216) is arranged in a triangular shape to form three mutually independent cam rail surfaces connected end to end on the circumference, a restoring spring (215) and a movable latch (205) are arranged corresponding to each cam rail surface, and radial cylindrical holes and radial locking holes are arranged in a one-to-one correspondence at corresponding positions of the male end and the female end to form three locking positions evenly distributed on the circumference.

3. The reconfigurable robot quick-change interface based on a cam guide rail according to claim 1 is characterized in that: The control method of the reconfigurable robot quick-change interface is as follows: when the male end and the female end are separated, the working power of the memory alloy wire (208) is turned on, so that the length of the memory alloy wire (208) is contracted and the tension is maintained due to the power supply, the cam guide rail (216) overcomes the tension of the return spring (215) and rotates counterclockwise, and the movable bayonet (205) is driven by the cam guide rail (216) to retreat in the radial cylindrical hole of the male end, and the length contraction amount of the memory alloy wire (208) is controlled, so that the movable bayonet (205) is retreated to the outer cylindrical surface where the front end does not protrude from the male end housing; When the female end is docked in place, the memory alloy wire (208) is controlled according to the pressure detection signal of the thin film pressure sensor (218), and the working power of the memory alloy wire (208) is cut off; when the male end and the female end are docked in place, the memory alloy wire (208) recovers its length due to the cutting off of the working power, the cam guide rail (216) rotates clockwise due to the pulling force of the recovery spring (215), and the movable latch (205) protrudes from the radial cylindrical hole of the male end under the push of the cam guide rail (216) and is inserted into the radial locking hole at the corresponding position of the female end, so that the male end and the female end are in a locked state.

Images