Bionic metamorphic mouthpart docking mechanism

Abstract

The invention discloses a bionic metamorphic mouthpart docking mechanism, and belongs to the technical field of robot docking. The mechanism comprises an active module (A) and a passive module (B), the active module (A) is a bionic mouthpart mechanism, comprises a female head, a C-shaped rod appendage, a push rod, a push rod bracket, a female head fixing piece, a static platform, a C-shaped rod and a U-shaped auxiliary rod, is driven by the single-degree-of-freedom push rod, and can realize switching between a locking state and a rolling rotation state; the passive module (B) is a metamorphic docking mechanism, comprises a plastic-coated bearing, a spherical pair rod, a box body cover, a box body, two groups of limiting rotation mechanisms, two push rods, a spherical pair groove and a frame, takes a spherical pair as a basic configuration, drives the limiting rotation mechanisms through the two groups of vertically arranged push rods, and can still automatically adjust the degree of freedom after docking; the active module and the passive module have seven butt joint modes, the system is simple and efficient, the function expansibility is high, dynamic reconfiguration such as bridging and cooperative obstacle crossing of a multi-robot cluster is supported, and the task adaptability can be remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of robot structural design, and in particular to a biomimetic variable cytostomosing docking mechanism based on bionic principles, which is suitable for rapid and reliable docking of modular self-reconfiguration, multi-legged robots and collaborative robot platforms. Background Technology

[0002] Traditional self-reconfigurable robots often face challenges in complex environments, such as high docking accuracy requirements, weak shock resistance, narrow tolerance range, and limited docking modes, resulting in restricted stability and adaptability of multi-module collaboration. Currently common docking mechanisms both domestically and internationally include structures based on electromagnetic adsorption and mechanical claws, such as the HITMSR series and Trimobot, which lack reliability in complex environments. While parallel variable-cell joint-based solutions offer high rigidity and reconfigurability, their locking mechanisms are complex and impose a heavy control burden. Biological mouth structures have evolved to possess extremely high mechanical efficiency and adaptive capabilities. This patent designs a novel docking mechanism that combines the efficient capture characteristics of biomimetic mouthparts with the adaptive degree-of-freedom control capabilities of variable-cell mechanisms to achieve highly reliable automatic docking in dynamic environments.

[0003] Chinese patent CN119217414B discloses a "Bionic Docking and Locking Device for Cooperative Goals," which consists of three components: a clamping device, a locking device, and a driving device. The clamping device, designed with a crab claw-like shape and closing principle, has its components evenly distributed around the top surface of the main body to clamp and fix the docking frame on the docking equipment. The clamping part of the clamping device is divided into upper and lower jaws connected by a sliding rod. The locking device includes a connecting rod and a triangular turntable; the triangular turntable is connected to the sliding rod via the connecting rod. During locking or unlocking, a servo motor drives the triangular turntable to rotate, causing the connecting rod to rotate, which pulls the sliding rod to close the upper jaw. The servo motor continues to rotate, and the connecting rod passes through a strange position to complete the unlocking. This invention is suitable for collaborative operations of autonomous mobile robots, repeatedly achieving stable locking and rapid unlocking; however, the docking mode is relatively simple, only supporting fixed connections, and relative rotation or movement is not possible after docking, thus requiring improved flexibility. Summary of the Invention

[0004] This invention aims to provide a biomimetic variable cell mouthpart docking mechanism that integrates the efficient capture characteristics of biological mouthparts with the adjustable degree of freedom of variable cell joints. This addresses the problems of weak tolerance, insufficient impact resistance, and single docking mode in traditional self-reconfigurable robot docking mechanisms in dynamic environments, thereby achieving reliable docking with multiple degrees of freedom that can be switched and multiple modes that can be flexibly adapted.

[0005] The technical solution of this invention: The biomimetic mouthpart docking mechanism includes an active module and a passive module. The active module is a biomimetic mouthpart mechanism, and its components include a female head, a C-shaped rod accessory, a push rod, a push rod bracket, a female head fixing component, a stationary platform, a C-shaped rod, and a U-shaped accessory rod. The female head fixing component of the active module A has 4 mounting holes, and the push rod bracket A-4 has 2 mounting holes for fixed connection with the bracket.

[0006] The passive module is a variable-cell docking mechanism. The components of the passive module include a plastic-coated bearing, a ball joint rod, a housing cover, a housing, a rotation limiting mechanism, a push rod, a ball joint groove, and a frame. The two sets of rotation limiting rods have identical structures and are arranged vertically. They are composed of rod 1, rod 2, rod 3, and rod 4, which are hinged end to end. The housing cover of the passive module has four mounting holes for fixed connection with the bracket.

[0007] When active module A and passive module B dock, seven docking modes can be achieved: fixed mode, yaw mode, pitch mode, roll mode, roll-yaw mode, roll-pitch mode, and spherical sub-mode.

[0008] The advantages of this invention compared to existing technologies are as follows: Diverse docking modes: The passive module supports dynamic switching between fixed joints, yaw joints, pitch joints, and spherical joints. Combined with the locked and tumbling rotation states of the active module A, this forms seven docking modes, meeting various collaborative needs such as heavy-duty handling, obstacle crossing, and attitude adjustment. The system is simple and efficient: The active module A uses a single-degree-of-freedom pushrod drive, while the passive module uses two pushrods to drive the limiting rotation mechanism, achieving variable cell configuration. This allows for compatibility with the power system of omnidirectional multi-legged robots, significantly reducing system complexity and energy consumption. Strong functional expandability: After docking, the passive module can still autonomously adjust its degrees of freedom, supporting dynamic reconfiguration of multi-robot clusters, such as bridging and collaborative obstacle crossing, significantly improving task adaptability. Attached Figure Description

[0009] Figure 1 A 3D diagram showing the interface between the active and passive modules; Figure 2 A 3D diagram of the active module; Figure 3 A 3D diagram of the passive module; Figure 4 This is a 3D diagram of the mother head's extended state in the active module; Figure 5 A three-dimensional diagram showing the contraction and relaxation states of the rotation-restricting mechanism in the passive module; Figure 6 This is a cross-sectional view of the female connector in the locked position during docking. Figure 7 This is a cross-sectional view showing the female head rotating and tumbling during docking. Figure 8 Switch the passive module to a spherical sub-3D graph; Figure 9 The passive module is switched to a pitch-rotation joint 3D diagram; Figure 10 A 3D diagram showing the switching of the passive module to a yaw joint; Figure 11 Switch the passive module to a fixed sub-3D graph; Figure 12 A 3D diagram of the U-shaped auxiliary rod in the active module; Figure 13 A 3D diagram of the C-shaped rod in the active module; Figure 14 This is a 3D diagram of the C-shaped rod appendage in the active module. Detailed Implementation

[0010] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the invention, and should not be construed as limiting the invention.

[0011] In the description of this invention, it should be understood that the directional descriptions, such as up, down, front, back, left, and right, indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings. These descriptions are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, unless otherwise explicitly limited, terms such as "set," "install," and "connect" should be interpreted broadly. Those skilled in the art can reasonably determine the specific meaning of these terms in this invention in conjunction with the specific content of the technical solution.

[0012] The invention will now be further described with reference to the accompanying drawings.

[0013] like Figure 2 As shown, the female head consists of 6 rods. The basic shape of the 6 rods is obtained by dividing the frustum structure into 6 equal parts along the circumference. The cross-section of each rod imitates the tooth-shaped outline of an animal. The push rod is the driving component. One end of the push rod is rotatably connected to the push rod frame through a cylindrical pin, and the other end is rotatably connected to the female head fixing component through a cylindrical pin. The C-shaped rod appendage connects three components: it is rotatably connected to the push rod and the stationary platform through a cylindrical pin, and it is rotatably connected to the female head through a U-shaped auxiliary rod. One end of the stationary platform has a disc-shaped structure that is rigidly connected to the female head fixing component through bolts, and the other end has a three-part structure that is rotatably connected to 2 C-shaped rod appendages and 4 C-shaped rods through cylindrical pins. One end of the C-shaped rod is rotatably connected to the three-part circumferentially symmetrical structure on one side of the stationary platform through a cylindrical pin, and the other end is rotatably connected to the rod of the female head through a U-shaped auxiliary rod.

[0014] Through the above connections, the assembly of the active module is completed. The motion transmission path of the active module is as follows: the push rod transmits the motion to the C-shaped rod appendage and then to the female head; the mechanism drives the female head to move along the trajectory of locked state, extended state, and tumbling rotation state through the extension and retraction of the push rod; the core joint angle of the mechanism... The range is limited to (-2π / 3, 2π / 3) to avoid the singular position of the mother head.

[0015] like Figure 3 As shown, the passive module is used to achieve dynamic switching of kinematic pair types. The plastic-coated bearing is connected to the female head in the active module by adapting to the shape of the female head tooth profile. The plastic-coated bearing is located at one end of the ball joint rod, and its axial position is defined by the boss at the end of the ball joint rod and the retaining spring. The cross-section of the ball joint rod is square, with one end connected to the plastic-coated bearing and the other end having a spherical structure to form a spherical pair. This spherical structure is placed inside the frame. The main body of the frame is square, and U-shaped grooves are respectively opened at two adjacent perpendicular corners of the main body. These grooves are rotatably connected to the limiting rotation mechanism and slidably connected to the push rod through cylindrical pins. The left and right ends of the frame are rigidly connected to the two ball joint grooves through bolts. The inner contour of the ball joint groove is adapted to the spherical structure of the ball joint rod. Together with the frame, they form a spherical pair, which is the basic configuration of the passive module.

[0016] The limiting rotation mechanism consists of rods 1, 2, 3, and 4, hinged end to end. Two limiting rotation mechanisms are vertically distributed on both sides of the spherical joint groove, corresponding to the yaw and pitch directions respectively. The push rod and frame are rotatably connected to the limiting rotation mechanism via cylindrical pins. The extension and retraction of the push rod drives the limiting rotation mechanism to contract or relax. When the limiting rotation mechanism in a single direction contracts, it clamps the square rod of the spherical joint rod, restricting the rotation of the spherical joint in two directions, thus switching the spherical joint to a yaw rotation joint or a pitch rotation joint with one degree of freedom. When the two limiting rotation mechanisms in the two vertical directions contract simultaneously, the square rod of the spherical joint rod is completely clamped, restricting all rotational degrees of freedom of the spherical joint, switching it to a fixed joint with 0 degrees of freedom. The box body is fixedly connected to the frame by bolts, and a circular observation hole is provided on one side to observe the internal mechanism configuration. The box cover is fastened to the box body by bolts, together forming a protective barrier for the internal components.

[0017] The passive module is assembled through the above connections; the passive module can reduce its degrees of freedom by gradually increasing constraints, thereby achieving the switching of docking modes.

[0018] like Figure 4 As shown, the female head opens by the retraction of the active push rod; the female head is composed of six rods that are divided into six equal parts along the circumference, and can rapidly increase in volume when opened, which facilitates docking with the passive module.

[0019] like Figure 5As shown, the rotation-limiting mechanism consists of rods 1, 2, 3, and 4. When the rotation-limiting mechanism retracts, the push rod drives rods 2 and 3 to the right via the cylindrical pin, causing rods 1 and 4 to close inward, clamping the ball joint rod and restricting its axial rotational freedom. When the rotation-limiting mechanism relaxes, the push rod drives rods 2 and 3 to the left via the cylindrical pin, causing rods 1 and 4 to open outward, restoring the axial rotational freedom of the ball joint rod.

[0020] like Figure 6 , 7 As shown, when the active module and the passive module dock, the female head moves along a trajectory of locked state, extended state, and tumbling rotation state, with two contracted states: locked state and tumbling rotation state. In the locked state, the stationary platform in the active module and the front end of the ball joint rod in the passive module are locked by the square rod cross-section shape, restricting the tumbling rotation of the ball joint rod B-2. When it changes to the tumbling rotation state, the push rod pushes the C-shaped rod limb to move, causing the female head to gradually open. When the female head opens to its maximum range, the active and passive modules move away from each other, increasing the distance. The push rod continues to push the C-shaped rod limb to move, causing the female head to dock with the plastic-coated bearing. The stationary platform in the active module and the front end of the ball joint rod in the passive module B no longer contact each other, releasing the shape locking state, and the ball joint rod regains its tumbling rotation freedom.

[0021] like Figure 8 As shown, the two sets of limiting rotation mechanisms on both sides of the ball joint groove are perpendicular to each other. When the left and right mechanisms are released at the same time, the ball joint rod can rotate in any direction to obtain a spherical joint. The locked state or tumbling rotation state of the active module, in conjunction with the spherical joint, obtains the spherical joint mode.

[0022] like Figure 9 As shown, when the left mechanism retracts and the right mechanism relaxes, the ball joint rod is restricted in its degrees of freedom along the Y and Z axes. The ball joint rod can only rotate around the X axis, resulting in a pitch rotation joint. The locked state of the active module, combined with the pitch rotation joint, produces a pitch mode. The roll rotation state, combined with the pitch rotation joint, produces a roll-pitch mode.

[0023] like Figure 10 As shown, when the left mechanism relaxes and the right mechanism retracts, the ball joint rod is restricted in its degrees of freedom along the X and Z axes, and can only rotate around the Y axis, thus obtaining the yaw joint. The locked state of the active module, combined with the yaw joint, produces the yaw mode, and the roll rotation state, combined with the yaw joint, produces the roll yaw mode.

[0024] like Figure 11 As shown, when the left and right mechanisms retract simultaneously, the three degrees of freedom of the ball joint rod are restricted, the ball joint rod is fixed, and a fixed joint is obtained; the locked state of the active module, in conjunction with the fixed joint, obtains the fixed mode, and the tumbling rotation state, in conjunction with the fixed joint, obtains the tumbling mode.

[0025] Based on the above diagrams, the passive module switches between fixed joints, pitch joints, yaw joints, and spherical joints by contracting or relaxing two mutually perpendicular limiting rotation mechanisms. The two states of the active module A, in conjunction with the four kinematic joints of the passive module, yield seven docking modes: the locked state with the fixed joint yields the fixed mode; the locked state with the pitch joint yields the pitch mode; the locked state with the yaw joint yields the yaw mode; the roll rotation state with the fixed joint yields the roll mode; the roll rotation state with the pitch joint yields the roll-pitch mode; the roll rotation state with the yaw joint yields the roll-yaw mode; and the locked state or the roll rotation state with the spherical joint yields the spherical joint mode.

Claims

1. A biomimetic variable cytostomosing organ docking mechanism, characterized in that: The biomimetic variable cytostomosing docking mechanism includes an active module (A) and a passive module (B); The active module (A) is a bionic mouthpart mechanism, and its components include a female head (A-1), a C-shaped rod appendage (A-2), a push rod (A-3), a push rod bracket (A-4), a female head fixing component (A-5), a static platform (A-6), a C-shaped rod (A-7), and a U-shaped auxiliary rod (A-8). The female head fixing component (A-5) of the active module (A) has 4 mounting holes, and the push rod bracket (A-4) has 2 mounting holes for fixed connection with the bracket. The passive module (B) is a variable-cell docking mechanism. The components of the passive module (B) include a plastic-coated bearing (B-1), a ball joint rod (B-2), a housing cover (B-3), a housing (B-4), two sets of rotation-limiting mechanisms (B-5), two push rods (B-6), a ball joint groove (B-7), and a frame (B-8). The two sets of rotation-limiting rods have identical structures, are arranged vertically, and are respectively composed of rod 1 (B-501), rod 2 (B-502), rod 3 (B-503), and rod 4 (B-504) hinged end to end. The housing cover (B-3) of the passive module (B) has four mounting holes for fixed connection with the bracket. When the active module (A) and the passive module (B) dock, seven docking modes can be achieved: fixed mode, yaw mode, pitch mode, roll mode, roll-yaw mode, roll-pitch mode, and spherical sub-mode.

2. The biomimetic variable cell mouthpiece docking mechanism according to claim 1, characterized in that: The female head (A-1) consists of six rods. The basic shape of the six rods is obtained by dividing the frustum structure into six equal parts along the circumference. The cross-section of each rod imitates the tooth-like outline of an animal. The push rod (A-3) is the driving component. One end of the push rod (A-3) is rotatably connected to the push rod frame (A-4) via a cylindrical pin, and the other end is rotatably connected to the female head fixing component (A-5) via a cylindrical pin. The C-shaped rod appendage (A-2) connects three components: it is rotatably connected to the push rod (A-3) and the stationary platform (A-6) via a cylindrical pin, and... The U-shaped auxiliary rod (A-8) is rotatably connected to the female head (A-1); one end of the static platform (A-6) is a disc-shaped structure rigidly connected to the female head fixing part (A-5) by bolts, and the other end is a three-part structure rotatably connected to two C-shaped rod attachments (A-2) and four C-shaped rods (A-7) by cylindrical pins; one end of the C-shaped rod (A-7) is rotatably connected to the three-part circumferentially symmetrical structure on one side of the static platform (A-6) by cylindrical pins, and the other end is rotatably connected to the rod of the female head (A-1) by the U-shaped auxiliary rod (A-8); Through the above connections, the assembly of the active module (A) is completed. The motion transmission path of the active module (A) is as follows: the push rod (A-3) transmits the motion to the C-shaped rod appendage (A-2) and then to the female head (A-1); the mechanism drives the female head (A-1) to move along the trajectory of the locked state, extended state, and tumbling rotation state through the extension and retraction of the push rod (A-3); the core joint angle of the mechanism... The range is limited to (-2π / 3, 2π / 3) to avoid the singular position of the mother head (A-1).

3. The biomimetic variable cell mouthpiece docking mechanism according to claim 1, characterized in that: The plastic-coated bearing (B-1) is connected to the female head (A-1) in the active module (A) by adapting to the shape of the tooth profile of the female head (A-1); the plastic-coated bearing (B-1) is located at one end of the ball joint rod (B-2), and the axial position of the plastic-coated bearing (B-1) is defined by the boss at the end of the ball joint rod (B-2) and the retaining spring; the cross-section of the ball joint rod (B-2) is square, one end is connected to the plastic-coated bearing (B-1), and the other end is a spherical structure to form a spherical pair, which is placed on the frame (B-8). Inside; the frame (B-8) is square in shape, with U-shaped grooves on the two adjacent perpendicular corners of the main body. It is rotatably connected to the limiting rotation mechanism (B-5) and slidably connected to the push rod (B-6) through cylindrical pins. The left and right ends of the frame (B-8) are rigidly connected to two ball joint grooves (B-7) through bolts. The inner contour of the ball joint groove (B-7) is adapted to the spherical structure of the ball joint rod (B-2). Together with the frame (B-8), they form a spherical joint, which is the basic configuration of the passive module (B). The limiting rotation mechanism (B-5) consists of rods 1 (B-501), 2 (B-502), 3 (B-503), and 4 (B-504) hinged end to end. Two limiting rotation mechanisms (B-5) are vertically distributed on both sides of the ball joint groove (B-7), corresponding to the yaw and pitch directions respectively. The push rod (B-6) and frame (B-8) are rotatably connected to the limiting rotation mechanism (B-5) via cylindrical pins. The extension and retraction of the push rod (B-6) drives the limiting rotation mechanism (B-5) to retract or relax. When the limiting rotation mechanism (B-5) in a single direction retracts, it clamps the ball joint rod (B-504). -2) The square rod body restricts the rotation of the spherical joint in two directions, allowing the spherical joint to switch to a yaw or pitch joint with one degree of freedom; when the two vertical rotation restriction mechanisms (B-5) retract simultaneously, the square rod body of the spherical joint rod (B-2) is completely clamped, all rotational degrees of freedom of the spherical joint are restricted, and it switches to a fixed joint with 0 degrees of freedom; the box (B-4) is fixedly connected to the frame (B-8) by bolts, and a circular observation hole is provided on one side to observe the internal mechanism configuration; the box cover (B-3) is fastened to the box (B-4) by bolts, together forming protection for the internal components; Through the above connections, the assembly of the passive module (B) is completed; the passive module (B) can reduce its own degrees of freedom by gradually increasing constraints, thereby realizing the switching of docking modes.

4. The biomimetic variable cell mouthpiece docking mechanism according to claim 1, characterized in that: When the active module (A) and the passive module (B) are docked, the female head (A-1) moves along a trajectory of locked, extended, and tumbling rotation states, exhibiting two contracted states: locked and tumbling rotation. In the locked state, the static platform (A-6) in the active module (A) and the foremost tip of the ball joint rod (B-2) in the passive module (B) are locked by the square rod cross-section shape, restricting the tumbling rotation of the ball joint rod (B-2). When transitioning to the tumbling rotation state, the push rod (A-3) pushes the C-shaped rod limb (A-2) to move, causing the female head to gradually open. When the female head opens to its maximum range, the active and passive modules move away from each other, increasing the distance. The push rod (A-3) continues to push the C-shaped rod limb (A-2) to move, causing the female head to dock with the plastic-coated bearing. The static platform (A-6) in the active module (A) and the foremost tip of the ball joint rod (B-2) in the passive module (B) are no longer in contact, releasing the shape-locked state, and the ball joint rod (B-2) regains its tumbling rotation freedom. The passive module (B) switches between fixed joint, pitch rotation joint, yaw rotation joint, and spherical joint by contracting or relaxing two mutually perpendicular limiting rotation mechanisms (B-5). The two states of the active module (A) cooperate with the four kinematic joints of the passive module (B) to obtain seven docking modes: the locked state cooperates with the fixed joint to obtain the fixed mode, the locked state cooperates with the pitch rotation joint to obtain the pitch mode, the locked state cooperates with the yaw rotation joint to obtain the yaw mode, the roll rotation state cooperates with the fixed joint to obtain the roll mode, the roll rotation state cooperates with the pitch rotation joint to obtain the roll-pitch mode, the roll rotation state cooperates with the yaw rotation joint to obtain the roll-yaw mode, and the locked state or the roll rotation state cooperates with the spherical joint to obtain the spherical joint mode.

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