Multipurpose butt joint structure of modular robot

Abstract

The multipurpose butt-joint structure comprises a first connecting shell and a second connecting shell, butt-joint assemblies are connected to the inner side walls of the first connecting shell and the second connecting shell in a clamped mode, each butt-joint assembly comprises a fixing block and a first connecting pipe, the fixing blocks are connected to the inner side walls of the first connecting shell and the second connecting shell in a clamped mode, and the fixing blocks are connected to the inner side walls of the first connecting shell and the second connecting shell in a clamped mode. The first connecting pipe is fixedly connected to one side of the fixing block, the top of the second connecting shell is fixedly provided with a connecting frame, and the top of the first connecting shell is connected with a first threaded rod through a bearing. According to the multi-purpose butt joint structure of the modular robot, through the arranged butt joint assembly, butt joint work can be conducted on multiple robots, butt joint is easy and convenient, no tool is needed in the butt joint process, the butt joint work is more convenient, the time cost of robot assembling and recombining is greatly shortened, and the butt joint efficiency is improved. The overall working efficiency is improved, and the requirement for professional skills of operators is lowered.

Description

TECHNICAL FIELD

[0001] The utility model relates to modular robot technical field, concretely is a kind of multi-purpose docking structure of modular robot. BACKGROUND

[0002] Modular robot needs to use docking device, following is some common docking device and its characteristics;Mechanical docking device, shaft hole type docking mechanism: by the shaft on one module and the hole on another module are composed, connection is realized by shaft insertion hole.Structure is simple, reliability is high, can bear larger axial load, but the tolerance of docking error is lower, needs accurate docking algorithm and high-precision sensor configuration, after connection, it generally needs additional locking mechanism to maintain connection, spherical hinge docking mechanism: the cooperation of ball head and ball socket is used to realize the rotation of multiple degrees of freedom and a certain degree of translation, can adapt to certain docking error and attitude change, but the carrying capacity is relatively limited, under large load, problems such as wear and precision decline may occur, buckle type docking mechanism: quick connection and separation are realized by the cooperation of buckle and card slot, operation is simple, connection is fast, but the strength and durability of buckle are limited, long-term use may cause buckle damage or looseness.

[0003] Patent announcement number "CN219235294U" discloses "modular robot structure technical field, especially a self-reconfigurable modular robot structure, aiming at the problem that existing module connection mode is often single, difficult to meet relevant needs, the following scheme is proposed, which includes unit module, unit module includes active docking mechanism, passive docking mechanism, permanent magnet, heat dissipation port and sensor, unit module is regular hexagonal structure, is central symmetric, contains eight connectable surfaces in horizontal direction and vertical direction, each docking surface in horizontal direction has one active docking mechanism and passive docking mechanism, and they are arranged alternately in clockwise direction.The utility model expands or connects other robot modules or actuators, the number of interfaces is sufficient, the clearance is avoided as far as possible, when multiple unit modules are connected, it is stable enough, and can resist interference of external environment to a certain extent".

[0004] In the above patent, the existing robot docking usually uses bolts to fix, which is inconvenient to fix in actual use, and has no good extension function, so it is difficult to adjust the distance between multiple robots, thus affecting the use effect.

[0005] Therefore, the utility model provides a kind of multi-purpose docking structure of modular robot to solve the above problems. UTILITY MODEL CONTENTS

[0006] The utility model provides a modular robot's multi -use docking structure, solved above -mentioned existing robot docking time usually adopted the bolt to fix, in the process of actually using to fix the problem of inconvenient.

[0007] In order to realize above -mentioned purpose, the utility model discloses a modular robot's multi -use docking structure through following technical scheme to realize: a modular robot's multi -use docking structure, including connecting shell one and connecting shell two, the inner side wall of connecting shell one and connecting shell two all are connected with docking assembly, the docking assembly includes fixed block and connecting pipe no.

[0008] Further, one side of the connecting pipe no. The extension assembly includes an extension pipe and a connecting pipe no.

[0009] The above technical scheme can adjust the spacing according to actual needs.

[0010] Further, the extension assembly further includes an adjusting groove, and the adjusting groove is formed in the sidewall of the extension pipe.

[0011] The above technical scheme can be adjusted according to actual needs.

[0012] Further, the extension assembly further includes an L-shaped frame, and the L-shaped frame is fixedly connected to the sidewall of the connecting pipe no.

[0013] The above technical scheme can achieve good fixing effect.

[0014] Further, the extension assembly further includes a knob no.

[0015] The above technical scheme uses the knob no. To rotate the threaded rod no.

[0016] Further, the docking assembly further includes a knob no.

[0017] The technical scheme has the beneficial effects that the knob is convenient to rotate the threaded rod.

[0018] Beneficial effects

[0019] The utility model provides a modular robot's multi -use butt joint structure. Compared with prior art has the following beneficial effects:

[0020] 1. The modular robot's multi -use butt joint structure, through the butt joint component that sets up, can carry out butt joint work between multiple robots, and it is simple and convenient to butt joint, does not need to lend any tool in the butt joint process, so that the butt joint work will be more convenient, this not only greatly shortens the time cost of robot assembly, reorganization, improves the overall work efficiency, also reduces the requirement of professional skill to operating personnel.

[0021] 2. The modular robot's multi -use butt joint structure, through the extension component that sets up, can adjust the spacing between multiple robots, and it is simple and convenient to adjust, so that its distance can be well controlled, for example, when operating in a small space, the extension component can be retracted to reduce the spacing between robots, making the overall structure more compact, convenient for shuttle and operation, and in the monitoring task that needs to cover a larger range, the extension component can be lengthened to increase the distance between each robot module, thereby realizing effective monitoring of a wider area. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical scheme in the embodiment of the utility model or prior art, the following will be briefly introduced the drawings needed to be used in the embodiment or prior art description, obviously, the drawings in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying the creative labor, other drawings can also be obtained according to these drawings.

[0023] Figure 1 It is the overall structure schematic diagram of the utility model;

[0024] Figure 2 It is the enlarged view of structure A in the utility model; Figure 1

[0025] Figure 3 It is the overall structure side view of the utility model;

[0026] Figure 4 It is the enlarged view of structure B in the utility model. Figure 3

[0027] ​​In the figure: 1, connecting shell one; 2, connecting shell two; 3, docking assembly; 31, fixed block; 32, connecting pipe one; 33, connecting frame; 34, threaded rod one; 35, lifting frame; 36, connecting rod; 37, moving block; 38, clamping plate; 39, knob one; 4, extension assembly; 41, extension pipe; 42, connecting pipe two; 43, adjusting groove; 44, L-shaped frame; 45, threaded rod two; 46, knob two. DETAILED DESCRIPTION

[0028] It should be noted that in the description of the embodiments of the present application, the terms "front, back, left, right, up, down" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. The terms "mounting", "connecting", "connected" should be broadly understood, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be directly connected, or indirectly connected through an intermediate medium; it can be the communication between the two elements inside. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0029] The present application will be further described in detail below with the aid of the drawings and examples.

[0030] Reference Figures 1 to 4 The embodiments of the present application provide a multi-purpose docking structure of a modular robot, which comprises a connecting shell one 1 and a connecting shell two 2, the inner side walls of the connecting shell one 1 and the connecting shell two 2 are clamped with a docking assembly 3, the docking assembly 3 comprises a fixed block 31 and a connecting pipe one 32, the fixed block 31 is clamped on the inner side walls of the connecting shell one 1 and the connecting shell two 2, the connecting pipe one 32 is fixedly connected on one side of the fixed block 31, the top of the connecting shell two 2 is fixedly installed with a connecting frame 33, the top of the connecting shell one 1 is connected with a threaded rod one 34 through a bearing, the side wall of the threaded rod one 34 is connected with a lifting frame 35 through a thread, the two sides of the lifting frame 35 are respectively hinged with a connecting rod 36, the bottom of the connecting rod 36 is hinged with a moving block 37, the moving block 37 is slidably connected between the connecting shell one 1, one side of the moving block 37 is fixedly installed with a clamping plate 38, the clamping plate 38 is clamped between the connecting frame 33, the docking assembly 3 further comprises a knob one 39, the knob one 39 is fixedly connected on the top end of the threaded rod one 34.

[0031] In this embodiment, then the fixed block 31 is clamped in the connection shell one 1 and the connection shell two 2, then rotate the knob one 39 can drive the threaded rod one 34 in the top of the connection shell one 1 rotation, so that the threaded rod one 34 can drive the lifting frame 35 downward movement, so that the lifting frame 35 can be driven by connecting rod 36 moving block 37 sliding, so that the moving block 37 can drive the clamping plate 38 and connecting frame 33 together, to clamp together the connection shell one 1 and the connection shell two 2, to complete the installation work.

[0032] Referring to Figures 1 to 4 In one aspect of the embodiment, the side of the connecting pipe one 32 slidingly connected with the extension assembly 4, extension assembly 4 includes extension pipe 41 and connecting pipe two 42, extension pipe 41 slidingly connected to the inner side wall of the connecting pipe one 32, connecting pipe two 42 fixedly connected to one end of the extension pipe 41, extension assembly 4 further comprises adjusting groove 43, adjusting groove 43 is set in the sidewall of the extension pipe 41, extension assembly 4 further comprises L-shaped frame 44, L-shaped frame 44 is fixedly connected to the sidewall of the connecting pipe one 32, the top of the L-shaped frame 44 is connected with the threaded rod two 45 through screw thread, the threaded rod two 45 and the adjusting groove 43 are connected through screw thread, extension assembly 4 further comprises knob two 46, knob two 46 is fixedly connected to the top end of the threaded rod two 45.

[0033] In this embodiment, first, the connecting pipe two 42 is pulled out from the inside of the extension pipe 41, then rotate the knob two 46 can make the threaded rod two 45 and the adjusting groove 43 together, in order to fix the connecting pipe two 42, then use the bolt to fix the robot and the connecting pipe two 42 together, to complete the preliminary fixing work, and the distance between the robots can be adjusted according to actual needs.

[0034] Working principle: first, the connecting pipe two 42 is pulled out from the inside of the extension pipe 41, then rotate the knob two 46 can make the threaded rod two 45 and the adjusting groove 43 together, in order to fix the connecting pipe two 42, then use the bolt to fix the robot and the connecting pipe two 42 together, to complete the preliminary fixing work, and the distance between the robots can be adjusted according to actual needs.

[0035] Then the fixed block 31 is clamped in the connection shell one 1 and the connection shell two 2, then rotate the knob one 39 can drive the threaded rod one 34 in the top of the connection shell one 1 rotation, so that the threaded rod one 34 can drive the lifting frame 35 downward movement, so that the lifting frame 35 can be driven by connecting rod 36 moving block 37 sliding, so that the moving block 37 can drive the clamping plate 38 and connecting frame 33 together, to clamp together the connection shell one 1 and the connection shell two 2, to complete the installation work.

[0036] It is to be understood that the terminology used herein such as first and second, and the like, is only used to distinguish one entity or action from another entity or action, and does not necessarily require or imply any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus.

[0037] While embodiments of the present application have been shown and described with reference to particular embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the spirit and scope of the application. The scope of the application is thus defined by the appended claims and their equivalents.

Claims

1. A multi-purpose docking structure for a modular robot comprising a first connection housing (1) and a second connection housing (2), characterized in that: The inner side wall of the connecting shell one (1) and the connecting shell two (2) is clamped with the docking assembly (3), the docking assembly (3) includes fixed block (31) and connecting pipe one (32), the fixed block (31) is clamped in the inner side wall of the connecting shell one (1) and the connecting shell two (2), the connecting pipe one (32) is fixedly connected on one side of the fixed block (31), the top of the connecting shell two (2) is fixedly installed with the connecting frame (33), the top of the connecting shell one (1) is connected with the threaded rod one (34) through the bearing, the side wall of the threaded rod one (34) is connected with the lifting frame (35) through the thread, the two sides of the lifting frame (35) are respectively hinged with the connecting rod (36), the bottom of the connecting rod (36) is hinged with the moving block (37), the moving block (37) and the connecting shell one (1) are slidably connected, one side of the moving block (37) is fixedly installed with the clamping plate (38), the clamping plate (38) and the connecting frame (33) are clamped.

2. The multi-purpose docking structure of a modular robot according to claim 1, wherein: The side of the connecting pipe one (32) is slidably connected with the extension assembly (4), the extension assembly (4) includes extension pipe (41) and connecting pipe two (42), the extension pipe (41) is slidably connected with the inner side wall of the connecting pipe one (32), and the connecting pipe two (42) is fixedly connected with one end of the extension pipe (41).

3. The multi-purpose docking structure of a modular robot according to claim 2, wherein: The extension assembly (4) further includes an adjusting groove (43), and the adjusting groove (43) is formed in the side wall of the extension pipe (41).

4. The multi-use docking structure of a modular robot of claim 3, wherein: The extension assembly (4) further includes an L-shaped frame (44), and the L-shaped frame (44) is fixedly connected with the side wall of the connecting pipe one (32), and the top of the L-shaped frame (44) is connected with the threaded rod two (45) through the thread.

5. The multi-purpose docking structure of a modular robot according to claim 4, wherein: The extension assembly (4) further includes a knob two (46), and the knob two (46) is fixedly connected with the top end of the threaded rod two (45).

6. The multi-use docking structure of a modular robot of claim 1, wherein: The docking assembly (3) further includes a knob one (39), and the knob one (39) is fixedly connected with the top end of the threaded rod one (34).

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