Connection locking device for modular robot

Abstract

The utility model provides a connecting and locking device for a modular robot, which relates to the technical field of robots and comprises a locking connecting shaft and a locking connecting block. The adjacent module robots are connected in a matched mode through the locking connecting shafts and the locking connecting blocks. The locking connecting shaft comprises a connecting plate, a stepped shaft and a connecting disc, one side of the connecting plate is fixedly connected with the first end of the stepped shaft, the second end of the stepped shaft is fixedly connected with one side of the connecting disc, and the diameter of the connecting disc is larger than that of the smallest step on the stepped shaft; the locking connecting block comprises a connecting hole plate, a buckle, a first gear, a second gear, a limiting switch and a driving motor. According to the locking connection device, the locking connection shafts and the locking connection blocks are used in cooperation, so that locking connection between the module robots is achieved, and the locking connection device is simple in structure and convenient to operate.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a connection and locking device for modular robots. Background Technology

[0002] Modular robot connection and locking devices are core components of modular robot systems, primarily used to achieve rapid and reliable connection and separation between different functional modules. Typical designs include mechanical latches, electromagnetic locking, or hydraulic linkage mechanisms, achieving physical docking through precision-machined male and female interfaces, supplemented by sensors to monitor the locking status in real time. For example, spring-pin locking devices utilize a pre-compressed spring to drive a pin into a groove, combined with an electromagnetic release mechanism to achieve controllable separation; some high-end systems employ adaptive deformation materials, triggering locking through pressure. These devices must meet requirements for high load capacity, vibration resistance, and repeatability accuracy, and are widely used in industrial assembly, space exploration, and rescue robotics.

[0003] However, current modular robot connection and locking devices have the following drawbacks: 1. Wear and lifespan issues: Frequent insertion and removal cause wear on contact components such as clips and springs, resulting in decreased locking force after long-term use, requiring regular replacement of core components; 2. Size and weight limitations: High-strength mechanical locking structures increase the module's weight, affecting robot movement efficiency; 3. Alignment accuracy dependence: Most mechanical locking relies on strict alignment tolerances, and in complex environments, even slight misalignments can lead to locking failure; 4. Insufficient environmental adaptability: Extreme temperatures may cause thermal expansion and contraction of metal components, and dust or liquid intrusion can exacerbate mechanism jamming; 5. Energy efficiency bottleneck: Electromagnetic locking requires continuous power to maintain magnetic force, while passive mechanical locking relies on complex triggering mechanisms, both posing challenges in energy consumption optimization. Utility Model Content

[0004] To address the shortcomings of the existing technology, the present invention aims to provide a connection and locking device for modular robots. By using a locking connection shaft and a locking connection block in combination, a locking connection between modular robots is achieved. Moreover, the device has a simple structure and is easy to operate.

[0005] Specifically, this utility model provides a connection locking device for modular robots, which includes a locking connection shaft and a locking connection block; adjacent modular robots are connected by the locking connection shaft and the locking connection block.

[0006] The locking connecting shaft includes a connecting plate, a stepped shaft, and a connecting disc. One side of the connecting plate is fixedly connected to the first end of the stepped shaft, and the second end of the stepped shaft is fixedly connected to one side of the connecting disc. The diameter of the connecting disc is larger than the diameter of the smallest step on the stepped shaft.

[0007] The locking connecting block includes a connecting hole plate, a buckle, a first gear, a second gear, a limit switch, and a drive motor. The buckle, the first gear, the second gear, and the limit switch are located inside the connecting hole plate. The connecting hole plate has a connecting shaft groove for mounting a stepped shaft. The limit switch is located inside the connecting shaft groove. The first gear is a hollow structure, and the center of the first gear and the center of the connecting shaft groove are on the same axis. The first gear is provided with a first pin and a second pin. The buckle is located on the first gear and is movably connected to the first pin and the second pin. The drive motor is located on the outside of the connecting hole plate through a motor bracket, and the output end of the drive motor passes through the side wall of the connecting hole plate and connects to the second gear to drive it to rotate. The second gear meshes with the first gear.

[0008] Furthermore, adjacent modular robots are connected by two sets of locking connecting shafts and two sets of locking connecting blocks. The side wall of the modular robot is provided with a first threaded hole and a second threaded hole. The locking connecting shaft is connected to the modular robot through the first threaded hole, and the locking connecting block is connected to the modular robot through the second threaded hole.

[0009] Furthermore, the connecting plate includes a perforated plate and a rear shell. The center of the perforated plate has a first shaft groove for the stepped shaft to pass through. The rear shell has a motor output hole for the output end of the drive motor to pass through and a second shaft groove opposite to the first shaft groove. The first shaft groove and the second shaft groove form a connecting shaft groove, and a limit switch is installed in the second shaft groove.

[0010] Furthermore, the buckle has a pin hole and a slot, the pin hole is movably connected to the first pin, and the slot is movably connected to the second pin.

[0011] Furthermore, the center of the first gear and the center of the second gear are on the same axis, and the diameter of the first gear is larger than the diameter of the second gear.

[0012] Furthermore, it also includes a remote controller and a power supply. The remote controller is wirelessly connected to the drive motor, the limit switch is electrically connected to the drive motor, and the power supply is located inside the modular robot.

[0013] Furthermore, a third threaded hole of the same size as the first threaded hole is provided on the connecting plate, a fourth threaded hole is provided on the hole plate, and a fifth threaded hole is provided on the rear shell of the hole, and the second, fourth and fifth threaded holes are all equal in shape and area.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] (1) In this utility model, the cooperation between the stepped shaft and the connecting plate in the locking connecting shaft enables the buckle in the locking connecting block to effectively buckle the stepped shaft and the connecting plate after the locking connecting shaft is connected to the locking connecting block, thereby locking the locking connecting shaft and the locking connecting block and ultimately satisfying the connection of the two module robots.

[0016] (2) By using the locking connecting shaft and the locking connecting block in synergy, this utility model optimizes the shortcomings of the traditional locking structure: the locking connecting shaft adopts a stepped shaft structure design, which reduces the alignment accuracy requirements, and the stress dispersion design effectively reduces the wear rate of the contact surface; at the same time, the mechanical self-locking mechanism of the locking connecting block reduces the weight of the overall structure and improves the robot's motion efficiency while ensuring the equivalent locking force.

[0017] (3) The locking connecting shaft and locking connecting block in this utility model significantly improve the assembly fault tolerance rate by making the passive and precise guidance of axial insertion significantly improve the assembly fault tolerance rate and reduce the use of electromagnetic / hydraulic, so that this device can maintain stable mechanical connection performance in different environments, and is especially suitable for high reliability requirements such as spacecraft extravehicular maintenance robots. Attached Figure Description

[0018] Figure 1 This is a schematic diagram showing the locking connecting shaft and tightening connecting block of this utility model in conjunction with a modular robot;

[0019] Figure 2 This is a schematic diagram of the shell structure of the modular robot of this utility model;

[0020] Figure 3 This is a schematic diagram of the locking connecting shaft of this utility model;

[0021] Figure 4 This is a schematic diagram of the locking connecting block of this utility model;

[0022] Figure 5 This is a schematic diagram of the hole plate structure of the locking connecting block of this utility model;

[0023] Figure 6 This is an enlarged schematic diagram of the snap-fit ​​structure of the locking connecting block of this utility model;

[0024] Figure 7 This is a schematic diagram of the first gear of the locking connecting block of this utility model;

[0025] Figure 8 This is a schematic diagram of the rear shell of the locking connecting block of this utility model.

[0026] Key reference numerals:

[0027] 1. Modular robot; 2. Locking connecting shaft; 3. Locking connecting block; 111. First threaded hole; 112. Second threaded hole; 211. Third threaded hole; 212. Stepped shaft; 31. Hole plate; 32. Buckle; 33. First gear; 34. Second gear; 35. Limit switch; 36. Hole rear shell; 37. Drive motor; 311. First shaft groove; 312. Fourth threaded hole; 321. Pin hole; 322. Strip groove; 331. First pin; 361. Second pin; 362. Fifth threaded hole. Detailed Implementation

[0028] The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0029] This utility model discloses a connection locking device for modular robots, such as... Figures 1-8 As shown, it includes a modular robot 1, a locking connecting shaft 2, a locking connecting block 3, a remote operator, and a power supply; adjacent modular robots 1 are connected by the locking connecting shaft 2 and the locking connecting block 3.

[0030] Figure 1 In the enlarged view at point A, it is a schematic diagram of the connection between adjacent module robots 1 through locking connecting shaft 2 and locking connecting block 3.

[0031] The locking connecting shaft 2 includes a connecting plate, a stepped shaft 212 and a connecting disc. One side of the connecting plate is fixedly connected to the first end of the stepped shaft 212, and the second end of the stepped shaft 212 is fixedly connected to one side of the connecting disc. The diameter of the connecting disc is larger than the diameter of the smallest step on the stepped shaft 212.

[0032] The locking connecting block 3 includes a connecting hole plate, a buckle 32, a first gear 33, a second gear 34, a limit switch 35, and a drive motor 37. The buckle 32, the first gear 33, the second gear 34, and the limit switch 35 are disposed inside the connecting hole plate. The connecting hole plate has a connecting shaft groove for mounting the stepped shaft 212. The limit switch 35 is disposed inside the connecting shaft groove. The first gear 33 is a hollow structure, and the center of the first gear 33 and the center of the connecting shaft groove are on the same axis. The first gear 33 is provided with a first pin 331 and a second pin 361. The buckle 32 is disposed on the first gear 33 and is movably connected to the first pin 331 and the second pin 361. The drive motor 37 is disposed on the outside of the connecting hole plate through a motor bracket, and the output end of the drive motor 37 passes through the side wall of the connecting hole plate and is connected to the second gear 34 to drive it to rotate. The second gear 34 is meshed with the first gear 33.

[0033] Adjacent modular robots 1 are connected by two sets of locking connecting shafts 2 and two sets of locking connecting blocks 3. The housing of the modular robot 1 is provided with a first threaded hole 111 and a second threaded hole 112. The locking connecting shaft 2 is connected to the modular robot 1 through the first threaded hole 111, and the locking connecting block 3 is connected to the modular robot 1 through the second threaded hole 112.

[0034] The connecting plate includes a perforated plate 31 and a rear housing 36. The center of the perforated plate 31 has a first shaft groove 311 through which the stepped shaft 212 passes. The rear housing 36 has a motor output hole through which the output end of the drive motor 37 passes. The rear housing 36 also has a second shaft groove opposite to the position of the first shaft groove 311. The first shaft groove 311 and the second shaft groove form a connecting shaft groove, and a limit switch 35 is installed in the second shaft groove.

[0035] The outer wall of the buckle 32 has a gradually curved structure, and a pin hole 321 and a strip groove 322 are provided on the buckle 32. The pin hole 321 is movably connected to the first pin 331, and the strip groove 322 is movably connected to the second pin 361.

[0036] When the first gear 33 rotates, the latch 32 will move due to the engagement of the pin hole 321 with the first pin 331 and the engagement of the slot 322 with the second pin 361, so that the latch 32 moves to the connection point between the connecting seat and the stepped shaft 212 and contacts the stepped shaft 212. The number of rotations of the output end of the drive motor 37 is calculated in the early stage, and it is calculated that after the output end of the drive motor 37 rotates a certain number of times, the latch 32 will just move to the connection point between the connecting seat and the stepped shaft 212.

[0037] The first gear 33 and the second gear 34 are in a parallel state, and the diameter of the first gear 33 is larger than the diameter of the second gear 34.

[0038] The remote controller is wirelessly connected to the drive motor 37, the limit switch 35 is electrically connected to the drive motor 37, and the power supply is located inside the modular robot 1.

[0039] The remote control command takes precedence over the command issued by the limit switch 35. When there is a conflict between the two, the remote controller command shall prevail.

[0040] The connecting plate has a third threaded hole 211 of the same size as the first threaded hole 111, the hole plate 31 has a fourth threaded hole 312, and the rear shell 36 has a fifth threaded hole 362. The second threaded hole 112, the fourth threaded hole 312 and the fifth threaded hole 362 are the same size.

[0041] like Figure 3 As shown, the end taper of the stepped shaft in the locking connection shaft 2 is 1.43°, and there is a shoulder in the middle of the stepped shaft.

[0042] When in working state:

[0043] First, the locking connecting shaft 2 and the locking connecting block 3 are respectively installed on the shell of the modular robot 1, and the locking connecting shaft 2 and the locking connecting block 3 of the robots to be connected are arranged opposite each other, so that the locking connecting shaft 2 of the first modular robot 1 can be connected with the locking connecting block 3 of the second robot; and the locking connecting block 3 of the first modular robot 1 can be connected with the locking connecting shaft 2 of the second robot.

[0044] Then, when the locking connecting shaft 2 is inserted into the locking connecting block 3, the connecting plate of the locking connecting shaft 2 touches the limit switch 35 of the locking connecting block 3. The limit switch 35 controls the drive motor 37 to rotate in the forward direction. The drive motor 37 drives the second gear 34 to rotate, thereby driving the first gear 33 to rotate, so that the buckle 32 contacts the stepped shaft 212 to complete the locking process.

[0045] Finally, when separation is required, the drive motor 37 is controlled to rotate in the opposite direction by the remote controller, thereby separating the buckle 32 from the stepped shaft 212, and finally separating the two modular robots 1.

[0046] The embodiments described above are merely preferred embodiments of the present utility model and are not intended to limit the scope of the present utility model. Various modifications and improvements made to the technical solutions of the present utility model by those skilled in the art without departing from the spirit of the present utility model should fall within the protection scope defined by the claims of the present utility model.

Claims

1. A connection and locking device for a modular robot, characterized in that: It includes a locking connecting shaft and a locking connecting block; adjacent module robots are connected by the locking connecting shaft and the locking connecting block. The locking connecting shaft includes a connecting plate, a stepped shaft, and a connecting disc. One side of the connecting plate is fixedly connected to the first end of the stepped shaft, and the second end of the stepped shaft is fixedly connected to one side of the connecting disc. The diameter of the connecting disc is larger than the diameter of the smallest step on the stepped shaft. The locking connecting block includes a connecting hole plate, a buckle, a first gear, a second gear, a limit switch, and a drive motor. The buckle, the first gear, the second gear, and the limit switch are located inside the connecting hole plate. The connecting hole plate has a connecting shaft groove for mounting a stepped shaft. The limit switch is located inside the connecting shaft groove. The first gear is a hollow structure, and the center of the first gear and the center of the connecting shaft groove are on the same axis. The first gear is provided with a first pin and a second pin. The buckle is located on the first gear and is movably connected to the first pin and the second pin. The drive motor is located on the outside of the connecting hole plate through a motor bracket, and the output end of the drive motor passes through the side wall of the connecting hole plate and connects to the second gear to drive it to rotate. The second gear meshes with the first gear.

2. The connection and locking device for a modular robot according to claim 1, characterized in that: Adjacent modular robots are connected by two sets of locking connecting shafts and two sets of locking connecting blocks. The side wall of the modular robot is provided with a first threaded hole and a second threaded hole. The locking connecting shaft is connected to the modular robot through the first threaded hole, and the locking connecting block is connected to the modular robot through the second threaded hole.

3. The connection and locking device for a modular robot according to claim 2, characterized in that: The connecting plate includes a plate and a rear shell. The center of the plate has a first shaft groove for the stepped shaft to pass through. The rear shell has a motor output hole for the output end of the drive motor to pass through and a second shaft groove opposite to the first shaft groove. The first shaft groove and the second shaft groove form a connecting shaft groove, and a limit switch is installed in the second shaft groove.

4. The connection and locking device for a modular robot according to claim 2, characterized in that: The buckle has a pin hole and a slot. The pin hole is movably connected to the first pin, and the slot is movably connected to the second pin.

5. The connection and locking device for a modular robot according to claim 2, characterized in that: The center of the first gear and the center of the second gear are on the same axis, and the diameter of the first gear is larger than the diameter of the second gear.

6. The connection and locking device for a modular robot according to claim 2, characterized in that: It also includes a remote controller and a power supply. The remote controller is wirelessly connected to the drive motor, the limit switch is electrically connected to the drive motor, and the power supply is located inside the modular robot.

7. The connection and locking device for a modular robot according to claim 3, characterized in that: The connecting plate has a third threaded hole of the same size as the first threaded hole, the hole plate has a fourth threaded hole, and the rear shell has a fifth threaded hole. The second, fourth, and fifth threaded holes are all the same in shape and area.

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