A connection mechanism for a hexagonal omnidirectional mobile robot

Abstract

The present invention relates to the technical field of mobile robots, and discloses a connection mechanism for a hexagonal omnidirectional mobile robot, comprising a mobile robot body and a power mechanism, wherein the outer walls of the mobile robot body are fixedly connected with a plurality of first connection columns, one end of each of the first connection columns is fixedly connected with a first connection panel, one side of the first connection panel is rotatably connected with two third plug-in shafts through an inlay shaft, one end of the two third plug-in shafts is respectively fixedly connected with a left guide head drive gear and a right guide head drive gear, the other end of the third plug-in shaft is fixedly connected with a conical guide head, and the outer circumference of the conical guide head is integrally formed with a plurality of fan-shaped stoppers. The present invention ensures that the female connection head and the male connection head do not disengage by engaging the fan-shaped stoppers of the left conical guide head and the right conical guide head with the protruding part of the engaging groove, thereby quickly realizing the locking and separation of multiple mobile robots and improving the stability of the connection mechanism.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, in particular to a connecting mechanism for a hexagonal omnidirectional mobile robot. Background Art

[0002] A mobile robot is a comprehensive system that integrates multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. The main features of a self-reconfigurable robot are reconstruction and repair functions. The docking mechanism of the unit modules must ensure that the mechanical connection between the unit modules is reliable and easy to separate. Therefore, the docking mechanism is one of the most important issues in the design of modular self-reconfigurable robots. At present, the docking mechanisms of self-reconfigurable robots mainly include mechanical connection, magnetic connection (permanent magnet and electromagnet) and hybrid methods. During use, it was found that the existing connection methods are not locked and separated quickly enough, which reduces the connection efficiency and collaboration ability of the mobile robot.

[0003] At present, most of the existing connection mechanisms of hexagonal omnidirectional mobile robots have the following shortcomings: the locking and separation actions are not fast enough, and the connection is not stable enough, which affects the connection efficiency and cooperation ability of the mobile robot. Therefore, it is urgent to propose a connection mechanism with a compact structure, fast action, reliable and stable connection. Summary of the invention

[0004] 1. Technical issues to be solved

[0005] In view of the deficiencies in the prior art, the present invention provides a connection mechanism for a hexagonal omnidirectional mobile robot, which is mainly used to solve the problems that the locking and separation actions are not fast enough and the connection is not stable enough, which affects the connection efficiency and cooperation ability of the mobile robot.

[0006] (II) Technical solution

[0007] To achieve the above object, the present invention provides the following technical solutions:

[0008] A connection mechanism for a hexagonal omnidirectional mobile robot, comprising a mobile robot body and a power mechanism, wherein multiple side outer walls of the mobile robot body are fixedly connected to multiple first connection columns, one end of each first connection column is fixedly connected to a first connection panel, one side of the first connection panel is rotatably connected to two third plug-in shafts via an inlay shaft, one end of the two third plug-in shafts are respectively fixedly connected to a left guide head drive gear and a right guide head drive gear, the other end of the third plug-in shaft is fixedly connected to a conical guide head, a plurality of fan-shaped blocks are integrally formed on the circumferential outer side of the conical guide head, multiple side outer walls of the mobile robot body are fixedly connected to second connection columns, one end of each second connection column is fixedly connected to a second connection panel, one side of the second connection panel is provided with two clamping grooves, the fan-shaped block is clamped with the clamping grooves, and the power mechanism comprises a DC A reduction motor, a plurality of mounting posts are fixedly connected to one side of the first connection panel, one end of each mounting post is fixedly connected to a circuit board, one side of the circuit board is fixedly connected to a mounting frame, the DC reduction motor is fixed to one side of the mounting frame by bolts, one end of the output shaft of the DC reduction motor is fixedly connected to a driving bevel gear, one side of the first connection panel is rotatably connected to a first plug-in shaft through an embedded bearing, one end of the first plug-in shaft is fixedly connected to a driven bevel gear, the driven bevel gear is meshed with the driving bevel gear, the other end of the first plug-in shaft is fixedly connected to a motor driving gear, one side of the first connection panel is rotatably connected to a second plug-in shaft through an embedded bearing, one end of the second plug-in shaft is fixedly connected to a synchronous gear, the synchronous gear is meshed with the motor driving gear, the synchronous gear and the motor driving gear are respectively meshed with the left guide head driving gear and the right guide head driving gear.

[0009] As a further solution of the present invention, two plug-in slots are provided on one side of the first connection panel, and the conical guide head rotates in the plug-in slots.

[0010] Furthermore, multiple sides of the mobile robot body are respectively provided with multiple heat dissipation holes.

[0011] On the basis of the above-mentioned solution, a protective cover is fixedly connected to one side of the circuit board, and the DC reduction motor, the driving bevel gear and the driven bevel gear are located inside the protective cover.

[0012] As a further solution of the present invention, a guide shaft is fixedly connected to one side of the first connection panel, and an insertion hole is provided on one side of the second connection panel, and the guide shaft is plugged into the insertion hole.

[0013] Furthermore, a groove is provided on one side of the second connection panel, a rotating plate is rotatably connected to an inner wall of one side of the groove, a spring is fixedly connected to one side of the rotating plate, and the other end of the spring is fixedly connected to the bottom inner wall of the groove.

[0014] (III) Beneficial effects

[0015] Compared with the prior art, the present invention provides a connection mechanism for a hexagonal omnidirectional mobile robot, which has the following beneficial effects:

[0016] 1. The present invention drives the left conical guide head and the right conical guide head to rotate by a DC reduction motor, so that the fan-shaped blocks of the left conical guide head and the right conical guide head can be engaged with the protruding parts of the engaging grooves, ensuring that the connecting female head and the connecting male head are not separated, thereby quickly realizing the locking and separation of multiple mobile robots and improving the stability of the connecting mechanism.

[0017] 2. The present invention can realize a variety of connection modes by setting a plurality of conical guide heads and a plurality of snap-in grooves, thereby forming different configurations, thereby enabling the mobile robot to have better cooperation ability.

[0018] 3. The configuration of the guide shaft inserted into the insertion hole of the present invention can further improve the stability of the connection between multiple robot bodies, thereby improving the working stability of the mobile robot.

[0019] 4. The present invention cooperates with the rotating plate and the spring to utilize the repulsive force of the spring to bounce another robot body away when multiple robot bodies are separated, thereby facilitating the separation of multiple robots, which is quick and convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a three-dimensional structural schematic diagram of a connection mechanism embodiment 1 for a hexagonal omnidirectional mobile robot proposed by the present invention;

[0021] Figure 2 This is a schematic diagram of a top view of a connection mechanism embodiment 1 for a hexagonal omnidirectional mobile robot proposed by the present invention;

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of a connecting male head of a connecting mechanism embodiment 1 for a hexagonal omnidirectional mobile robot proposed by the present invention;

[0023] Figure 4 This is a schematic diagram of a top view of a connecting male head of a connecting mechanism embodiment 1 for a hexagonal omnidirectional mobile robot proposed by the present invention;

[0024] Figure 5 This is a schematic diagram of a connecting female connector structure of a connecting mechanism embodiment 1 for a hexagonal omnidirectional mobile robot proposed by the present invention;

[0025] Figure 6 This is a side structural schematic diagram of Example 2 of a connection mechanism for a hexagonal omnidirectional mobile robot proposed by the present invention.

[0026] In the figure: 1. mobile robot body; 2. first connecting column; 3. first connecting panel; 4. mounting column; 5. circuit board; 6. DC reduction motor; 7. mounting frame; 8. protective cover; 9. active bevel gear; 10. driven bevel gear; 11. first plug-in shaft; 12. motor drive gear; 13. second plug-in shaft; 14. synchronous gear; 15. left guide head drive gear; 16. right guide head drive gear; 17. plug-in slot; 18. conical guide head; 19. fan-shaped block; 20. second connecting column; 21. second connecting panel; 22. snap-in slot; 23. heat dissipation hole; 24. guide shaft; 25. through hole; 26. groove; 27. rotating plate; 28. spring. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0028] Example 1

[0029] Reference Figure 1-Figure 5 A connection mechanism for a hexagonal omnidirectional mobile robot comprises a mobile robot body 1 and a power mechanism, wherein multiple side outer walls of the mobile robot body 1 are fixed with multiple first connection columns 2 by bolts, one end of each of the first connection columns 2 is fixed with a first connection panel 3 by bolts, one side of the first connection panel 3 is rotatably connected to two third plug-in shafts by an inlay shaft, one end of the two third plug-in shafts is respectively key-connected with a left guide head driving gear 15 and a right guide head driving gear 16, the other end of the third plug-in shaft is fixed with a conical guide head 18 by bolts, and the left guide head is driven by the power mechanism. The gear 15 and the right guide head driving gear 16 rotate together, so that the conical guide head 18 rotates 60 degrees. A plurality of fan-shaped stoppers 19 are integrally formed on the outer circumference of the conical guide head 18. The outer walls of multiple sides of the mobile robot body 1 are fixed with second connecting columns 20 by bolts. One end of the second connecting column 20 is fixed with a second connecting panel 21 by bolts. Two clamping grooves 22 are provided on one side of the second connecting panel 21, which in turn drives the fan-shaped stopper 19 to rotate and clamp with the protruding part of the clamping groove 22, thereby realizing the locking of multiple robots. The fan-shaped stopper 19 is clamped with the clamping groove 22;

[0030] The power mechanism includes a DC reduction motor 6, a plurality of mounting columns 4 are fixed to one side of the first connection panel 3 by bolts, a circuit board 5 is fixed to one end of the mounting column 4 by bolts, a mounting frame 7 is fixed to one side of the circuit board 5 by bolts, the DC reduction motor 6 is fixed to one side of the mounting frame 7 by bolts, one end of the output shaft of the DC reduction motor 6 is keyed to a driving bevel gear 9, one side of the first connection panel 3 is rotatably connected to a first plug-in shaft 11 by an inlay bearing, one end of the first plug-in shaft 11 is keyed to a driven bevel gear 10, the driven bevel gear 10 is meshed with the driving bevel gear 9, the other end of the first plug-in shaft 11 is keyed to a motor drive gear 12, the driving bevel gear 9 is started under the drive of the DC reduction motor 6, the driving bevel gear 9 is meshed with the driven bevel gear 10 so that the motor drive gear 12 starts to rotate, and one side of the first connection panel 3 is connected to the first plug-in shaft 11 by an inlay bearing. A second plug-in shaft 13 is rotatably connected through an embedded bearing, and one end of the second plug-in shaft 13 is keyed to a synchronous gear 14. The synchronous gear 14 has the same number of teeth as the motor drive gear 12, and the left guide head drive gear 15 and the right guide head drive gear 16 have the same number of teeth, thereby ensuring that when the DC reduction motor 6 is driven, the left guide head drive gear 15 and the right guide head drive gear 16 have the same rotation speed, the synchronous gear 14 is meshed with the motor drive gear 12, and the synchronous gear 14 and the motor drive gear 12 are meshed with the left guide head drive gear 15 and the right guide head drive gear 16 respectively. Under the action of the meshing of the motor drive gear 12 with the synchronous gear 14, and the meshing of the motor drive gear 12 with the right guide head drive gear 16, the left guide head drive gear 15 and the right guide head drive gear 16 are driven to rotate together, providing power for the locking and separation of multiple mobile robot bodies 1.

[0031] Two plug-in slots 17 are provided on one side of the first connection panel 3, and the conical guide head 18 rotates in the plug-in slots 17, thereby facilitating the rotation of the conical guide head 18. Multiple sides of the mobile robot body 1 are respectively provided with multiple heat dissipation holes 23, and the heat dissipation holes 23 are beneficial to the heat dissipation and cooling of the mobile robot body 1. A protective cover 8 with an anti-slip effect is fixed to one side of the circuit board 5 by bolts, and the DC reduction motor 6, the driving bevel gear 9 and the driven bevel gear 10 are located in the protective cover 8.

[0032] Working principle of this embodiment: When multiple mobile robots need to be combined together, first, the conical guide head 18 of one mobile robot body 1 is inserted into the clamping groove 22 of another mobile robot body 1, and then the DC reduction motor 6 is started. Under the drive of the DC reduction motor 6, the active bevel gear 9 is started, and the active bevel gear 9 is meshed with the driven bevel gear 10 so that the motor drive gear 12 starts to rotate. Under the action of the meshing of the motor drive gear 12 with the synchronous gear 14, and the meshing of the motor drive gear 12 with the right guide head drive gear 16, the left guide head drives The gear 15 and the right guide head driving gear 16 rotate together, so that the conical guide head 18 rotates 60 degrees, and then drives the fan-shaped block 19 to rotate and engage with the protruding part of the card slot 22, thereby realizing the locking of multiple robots. When multiple robots need to be separated, the conical guide head 18 is driven by the DC reduction motor 6 to rotate 60 degrees in the opposite direction, so that the fan-shaped block 19 is separated from the protruding part of the card slot 22, and then the mobile robot body 1 is driven to move to both sides respectively, so as to pull the conical guide head 18 out of the card slot 22, thereby realizing the separation of multiple mobile robot bodies 1.

[0033] Example 2

[0034] Reference Figure 6 A connection mechanism for a hexagonal omnidirectional mobile robot includes a first connection panel 3 having a guide shaft 24 fixed thereto by bolts on one side, a second connection panel 21 having an insertion hole 25 provided thereon, the guide shaft 24 being plugged into the insertion hole 25, the guide shaft 24 being inserted into the insertion hole 25, thereby improving the connection stability of the mobile robot body 1, a groove 26 being provided on one side of the second connection panel 21, a rotating plate 27 being rotatably connected to an inner wall of one side of the groove 26, a spring 28 being fixed thereto on one side of the rotating plate 27 by bolts, the rotating plate 27 being rotated outwardly under the elastic action of the spring 28, thereby popping off another mobile robot body 1, thereby facilitating the separation of multiple mobile robot bodies 1, the other end of the spring 28 being fixedly connected to the bottom inner wall of the groove 26.

[0035] The working principle of this embodiment is as follows: when multiple mobile robot bodies 1 are locked, the guide shaft 24 will be inserted into the insertion hole 25, thereby improving the connection stability of the mobile robot bodies 1, and at the same time, the rotating plate 27 will rotate into the groove 26, thereby causing the spring 28 to contract. When the multiple mobile robot bodies 1 are separated, the rotating plate 27 will rotate outward under the elastic action of the spring 28, thereby popping off another mobile robot body 1, thereby facilitating the separation of the multiple mobile robot bodies 1.

[0036] The electrical components mentioned in this article are all connected to an external main controller and 220V mains electricity, and the main controller can be a conventional known device for controlling a computer or the like.

[0037] In the description of this article, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a direct connection, or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the description of this article, it should be noted that relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A connection mechanism for a hexagonal omnidirectional mobile robot, comprising a mobile robot body (1) and a power mechanism, characterized in that: Multiple first connection columns (2) are fixedly connected to the outer walls of multiple sides of the mobile robot body (1), one end of each of the first connection columns (2) is fixedly connected to a first connection panel (3), one side of the first connection panel (3) is rotatably connected to two third plug-in shafts via an inlay shaft, one end of the two third plug-in shafts is respectively fixedly connected to a left guide head drive gear (15) and a right guide head drive gear (16), the other end of the third plug-in shaft is fixedly connected to a conical guide head (18), and the circumference of the conical guide head (18) is The outer side is integrally formed with a plurality of fan-shaped stoppers (19); the outer walls of multiple sides of the mobile robot body (1) are fixedly connected with second connecting columns (20); one end of the second connecting columns (20) is fixedly connected with a second connecting panel (21); one side of the second connecting panel (21) is provided with two snap-in grooves (22); the fan-shaped stoppers (19) are snap-in connected with the snap-in grooves (22); the power mechanism comprises a DC reduction motor (6); one side of the first connecting panel (3) is fixedly connected with a plurality of mounting columns (4); One end of the column (4) is fixedly connected to a circuit board (5), one side of the circuit board (5) is fixedly connected to a mounting frame (7), a DC reduction motor (6) is fixed to one side of the mounting frame (7) by means of bolts, one end of the output shaft of the DC reduction motor (6) is fixedly connected to a driving bevel gear (9), one side of the first connection panel (3) is rotatably connected to a first plug-in shaft (11) by means of an inlay bearing, one end of the first plug-in shaft (11) is fixedly connected to a driven bevel gear (10), and the driven bevel gear (10) and the driving bevel gear The first connecting panel (3) is a connecting panel of the invention, wherein the ...

2. A connection mechanism for a hexagonal omnidirectional mobile robot according to claim 1, characterized in that: Two insertion grooves (17) are provided on one side of the first connection panel (3), and the conical guide head (18) rotates in the insertion grooves (17).

3. The connection mechanism for a hexagonal omnidirectional mobile robot according to claim 1, characterized in that: Multiple sides of the mobile robot body (1) are respectively provided with multiple heat dissipation holes (23).

4. The connection mechanism for a hexagonal omnidirectional mobile robot according to claim 2, characterized in that: A protective cover (8) is fixedly connected to one side of the circuit board (5), and the DC reduction motor (6), the driving bevel gear (9) and the driven bevel gear (10) are located inside the protective cover (8).

5. The connection mechanism for a hexagonal omnidirectional mobile robot according to claim 1, characterized in that: A guide shaft (24) is also fixedly connected to one side of the first connection panel (3), and an insertion hole (25) is provided on one side of the second connection panel (21), and the guide shaft (24) is plugged into the insertion hole (25).

6. The connection mechanism for a hexagonal omnidirectional mobile robot according to claim 1, characterized in that: A groove (26) is also provided on one side of the second connection panel (21); a rotating plate (27) is rotatably connected to an inner wall of one side of the groove (26); a spring (28) is fixedly connected to one side of the rotating plate (27); and the other end of the spring (28) is fixedly connected to the bottom inner wall of the groove (26).

Images