CN114683313A - Be applied to interfacing apparatus of modularization self-reconstruction arm - Google Patents

Abstract

A docking device applied to a modular self-reconfigurable mechanical arm belongs to the field of modular space robots. To solve the problem. The invention comprises two butt-joint mechanisms which are coaxially and oppositely arranged, wherein each butt-joint mechanism comprises a driving motor, a screw, a guide disc, N resetting mechanisms, a movable support inner shell, N unlocking slide blocks, a guide outer shell and N semicircular handles; the two docking mechanisms are driven by the driving motor, and under the combined action of the reset mechanism, the semicircular handle and the semicircular handle locking shell, self-locking of two different modular mechanical arms can be realized after docking, and the locking poses of the two docking mechanisms are kept without continuous braking of the motor; the two docking mechanisms realize bilateral unlocking and unilateral unlocking under the action of the unlocking slide block, so that the unlocking success rate and fault tolerance of the two docking mechanisms are improved; the invention is suitable for quick connection and separation actions among different modularized mechanical arm units; the invention is mainly used for the direct butt joint of two different modularized mechanical arms.

Description

A docking device applied to a modular self-reconfigurable manipulator

technical field

The invention relates to the field of modular space robots, in particular to a docking device applied to a modular self-reconfigurable mechanical arm.

Background technique

In recent years, with the continuous diversification and complexity of exploration tasks in space operations, there are more and more functional requirements for space manipulators. However, due to the limitation of launch space and launch weight, it is impossible to equip a professional manipulator for each type of space operation. Therefore, the manipulator needs to have certain self-reconfiguration and self-repair capabilities, and to change its configuration according to different mission requirements. The modular self-reconfigurable manipulator can meet the above requirements by changing the number of modular units of each branch. The modular self-reconfigurable manipulator is composed of multiple modular units with the same structure and function, which can automatically and quickly complete the splicing, separation and repair of each branch chain according to the requirements. Therefore, the energy consumption, reliability and fault tolerance of the docking mechanism are of great significance for the modular self-reconfigurable manipulator.

The traditional manipulator docking mechanism is generally divided into active-passive connection modules, which have limited versatility. Once the active or passive connection module is damaged, the two self-reconfigurable manipulators cannot be unlocked and separated; , the drive motor needs to be braked and locked all the time, and there are problems such as high power consumption and weak endurance.

Under this background, a docking mechanism for modular self-reconfigurable manipulators is proposed. The mechanism adopts a purely mechanical structure and has the advantages of low energy consumption, reliable locking, and high fault tolerance. It can be widely used in modular self-reconfigurable manipulators. Refactor the module docking of the robot.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is: in the docking and locking process of the existing mechanical arm docking mechanism, it needs to rely on the driving brake to lock the posture at all times, and cannot rely on pure mechanical locking. In addition, the existing docking mechanism has two problems. There are different active and passive connection modules, once the active connection module is damaged, it cannot be unlocked and separated, and there is a problem that the universality cannot be achieved; further, a docking device applied to a modular self-reconfigurable manipulator is provided.

The technical scheme that the present invention adopts for solving the above-mentioned technical problems is:

A docking device applied to a modular self-reconfigurable manipulator, comprising two coaxially opposite docking mechanisms, each docking mechanism comprising a drive motor, a screw, a guide disc, N reset units, a mobile support inner shell, N unlocking sliders, guide shells and N semicircular handles; the drive motor, the screw rod, the guide disc, the moving support inner shell and the guide shell are coaxially arranged in sequence, and the drive end of the drive motor is connected to one end of the screw rod. The guide disc is screwed on the other end of the screw, and can be rotated or moved along the axis of the screw driven by the screw; the guide disc is rotatably connected with the moving support inner shell, and can drive The mobile support inner shell moves axially; the mobile support inner shell is inserted into the guide shell and can move along the axis direction of the guide shell, and the guide shell is connected to the central module of the modular mechanical arm; the The mobile support inner shell includes a support disc body and N semicircular handle locking shells, and the N semicircular handle locking shells are evenly arranged at the side wall of the supporting disc body in the circumferential direction. The ends respectively protrude from the two sides of the support plate body; each of the semicircular handles is provided with a straightening through hole, and each semicircular handle is obliquely installed in the semicircular handle locking shell through a reset unit, and a part of the semicircular handle is in the semicircular handle. In the handle locking shell, the other part protrudes from the semicircular handle locking shell; N slider guide holes are evenly opened on the circumference of the disk surface of the guide disk, and the slider guide holes are long arcs One end of the slider guide hole is set towards the center of the guide disc, and the other end is set towards the edge of the guide disc; the N unlocking sliders are evenly arranged circumferentially on the guide disc and the inner shell of the mobile support In between, each unlocking slider includes a guide column and a slider, one end of the guide column is vertically screwed to one end of the slider, and the other end of the guide column is inserted into the guide hole of the slider of the guide disc. The outer wall of the guide column abuts on the inner wall of one end of the guide hole of the slider near the center of the guide disc; the other end of the slider is set as a wedge-shaped part, and the middle part of the slider is an insertion part with a rectangular cross-section; the The sliding block is slidably connected to the inner casing of the mobile support, and the wedge-shaped part of the sliding block is aligned with the straightening through hole on the semicircular block and can be inserted into the straightening through hole.

Further, each reset unit includes a self-locking tension spring and an arc-shaped plate, an arc-shaped plate is arranged between the two shell plates of each semicircular handle locking shell, and an arc-shaped plate is opened on the arc-shaped plate. An eccentric through hole, a semicircular handle mounting slot is formed between the arc plate and the two shell plates of the semicircular handle locking shell; the semicircular handle includes a semicircular block and a toggle handle, and the straightening through hole is provided at the On the semicircular block, the semicircular block is arranged in the semicircular handle mounting groove, the arc-shaped wall of the semicircular block is in contact with the inner wall of the arc-shaped plate, and one end of the toggle handle is eccentrically installed on the arc-shaped wall of the semicircular block. The other end of the toggle handle is connected to one end of the self-locking tension spring through the eccentric through hole on the arc plate, and the other end of the self-locking tension spring is connected to the inner wall of the semicircular handle locking shell.

Further, the mobile support inner shell also includes N chutes, the N chutes are evenly installed on the disk surface of the support plate body in the circumferential direction, and the two opposite chutes are staggered, each corresponding to a semicircular handle. The locking shell is perpendicular to the side wall of one side of the corresponding semicircular handle locking shell close to the supporting plate body, and the sliding block is slidably connected in the chute.

Further, an insertion hole is respectively opened on the two shell plates of each semicircular handle locking shell, the two insertion holes are located in the semicircular handle installation groove, and the two insertion holes are connected with the semicircular handle. The alignment through holes on the block are arranged oppositely; one end of each chute close to the semicircular handle locking shell is set at the two insertion holes on the semicircular handle locking shell.

Further, the mobile support inner shell also includes N interlocking blocks, an interlocking block is arranged between two adjacent semicircular handle locking shells, and the interlocking block is installed on one of the semicircular handle locking blocks. On one side wall of the shell, an insertion opening is left between the locking block and the other half-round shank locking shell; The length direction is arranged along the circumferential direction of the support disc body; the side wall of the guide disc is uniformly provided with N fan-shaped blocks in the circumferential direction, and each fan-shaped block on the guide disc is respectively embedded in the mobile support inner shell In one of the free travel grooves, the thickness of the sector block is matched with the thickness of the free travel groove and can move along the length direction of the free travel groove.

Further, a T-shaped protrusion is provided on the upper end surface of the interlocking block; the guide casing is a circular structure, and a circular edge strip is provided on the side of the guide casing facing the driving motor. The annular edge strip is provided with N gaps in the circumferential direction, and the support feet of the T-shaped protrusions are inserted into the gaps.

Further, the cross-section of the semicircular handle locking shell is a right-angled trapezoid, the side of the guide shell facing away from the drive motor is screwed with a guide butt plate, and the guide butt plate is evenly arranged with N pieces in the circumferential direction. The butt-joint hole is an isosceles trapezoid, which matches with the isosceles trapezoid joined by the two semicircular handle locking shells.

Further, a trapezoidal boss is provided on the side of each half-round handle locking shell facing away from the guiding disc, and the tip of the trapezoidal boss is located in the butting hole of the guiding butting plate.

Further, a center cylinder is provided on the side of the guide disc facing away from the inner casing of the mobile support, one end of the center cylinder is vertically installed at the center of the guide disc, and the other end of the center cylinder has a peripheral surface. A number of screw chutes are evenly arranged in the direction; the side wall of the screw is evenly arranged with a number of elongated protrusions in the circumferential direction, the elongated protrusions are spirally arranged, and the screws are inserted into the guide disc. In the central cylinder of the central cylinder, an elongated protrusion is inserted into each screw chute in the central cylinder.

Further, the value of N is 4.

The beneficial effects that the present invention produces compared with the prior art are:

1. The docking mechanism of the modular self-reconfigurable manipulator of the present invention has the same structure on both sides of the docking mechanism, which can realize single-side unlocking and double-side unlocking. Once one of the connecting modules is damaged, another docking mechanism can be used. One-sided unlocking, no distinction between active and passive docking mechanisms, solves the previous situation that the active docking mechanism could not be unlocked and separated due to damage, and the same docking mechanism enables different modular robotic arms to be docked at will, making docking more versatile.

2. The present invention is suitable for quick connection and separation between different modular robotic arm units. Under the combined action of the reset unit, the semicircular handle and the semicircular handle locking shell, the two semicircles that are staggered in the two docking mechanisms are formed. The mating surfaces of the handles form a complete circle and are respectively located in the locking shells of each other's semi-circle handle, which realizes the mechanical self-locking of the two docking mechanisms connected to different modular robotic arms, without the need for the motor to continue to brake and hold. The locking posture of the two docking mechanisms reduces the power consumption and has strong endurance; the docking mechanism realizes double-side unlocking and single-side unlocking under the action of the unlocking slider, which improves the success rate and fault tolerance of the two docking mechanisms for unlocking.

3. In the present invention, a trapezoidal boss is arranged on the back of the semicircular handle locking shell, and a butt hole is arranged on the butt surface of the two butt joint mechanisms (the outer plate surface of the guide butt plate), so as to realize the guiding function and ensure the two butt joints. Fast docking and precise docking of institutions.

4. In the docking mechanism of the modular self-reconfigurable mechanical arm of the present invention, when the docking mechanisms on both sides are docked, the mobile support inner shells on both sides extend their respective guide docking plates to dock and realize self-locking. When the docking mechanism is separated, the mobile support inner shell retreats to the inner end faces of the respective guiding butt plates, which can effectively protect the internal structure of the docking mechanism and help the end effector to perform tasks.

Description of drawings

The accompanying drawings are used as a part of the present application to provide a further understanding of the present invention, and the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but do not constitute an improper limitation of the present invention.

Figure 1 is an isometric view of two docking mechanisms;

Figure 2 is an exploded view of a docking mechanism;

Figure 3 is an axonometric view of the guide disc;

Figure 4 is an isometric view of the front of the mobile support inner shell;

Fig. 5 is the partial enlarged view of A place in Fig. 4;

Fig. 6 is a partial enlarged view at B in Fig. 4;

Figure 7 is an isometric view of the back of the mobile support inner shell;

8 is a schematic structural diagram of an unlocking slider;

Fig. 9 is the structural representation of semicircular handle;

Figure 10 is a schematic structural diagram of the unlocking slider inserted into the semicircular handle locking shell;

Figure 11 is a front view of the guide housing;

Figure 12 is an isometric view of the guide housing;

Figure 13 is a side view of the initial state of the docking mechanism on both sides;

Figure 14 is a front view of the locked state of the docking mechanism on both sides;

Figure 15 is a side view of the locked state of the docking mechanism on both sides;

Figure 16 is a front view of the bilateral unlocking of the two-side docking mechanism;

Figure 17 is a side view of the bilateral unlocking of the two-side docking mechanism;

Fig. 18 is a side view of the single-side unlocking of the two-side docking mechanism.

In the figure: 1-drive motor; 2-screw; 2-1-long strip protrusion; 3-guide disc; 3-1-center cylinder; 3-1-1-screw chute; 3-2- Slider guide hole; 3-3- sector block; 4- self-locking tension spring; 5- mobile support inner shell; 5-1- support plate body; 5-2- chute; 5-3- lock block; 5 -3-1-empty stroke groove; 5-3-2-T-shaped protrusion; 5-4-semi-round handle locking shell; 5-4-1-insertion hole; trapezoidal boss 5-4-2;5 -5-Arc plate; 5-5-1-Eccentric through hole; 5-6-Half-circle handle installation slot; 5-7-Insertion port; 6-Unlock slider; 6-1-Guide post; -Slider; 6-2-1-wedge; 6-2-2-insertion; 7-guide housing; 7-1-circular edge; 7-1-1-gap; 7-2- 7-2-1-docking hole; 8-semi-circle handle; 8-1-semi-circle block; 8-2- toggle handle; 8-1-1- straightening through hole.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used to illustrate the present invention , but are not intended to limit the scope of the present invention.

In the description of the present invention, it should be noted that the orientations or positional relationships indicated by the terms "upper", "lower", "inner", "outer", etc. are based on the orientations or positional relationships shown in the accompanying drawings, only for the purpose of It is convenient to describe the present invention and to simplify the description, rather than indicating or implying that the device or element referred to must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that, unless otherwise expressly specified and limited, the terms "installation" and "connection" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated connection. Ground connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

Referring to FIG. 1 to FIG. 18 , an embodiment of the present application provides a docking device applied to a modular self-reconfigurable manipulator, including two coaxially oppositely arranged docking mechanisms, each of which is respectively installed in a docking mechanism that needs to be docked. On the docking modules of the two modular manipulators; each docking mechanism includes a drive motor 1, a screw 2, a guide disc 3, N reset units, a moving support inner shell 5, N unlocking sliders 6, a guide shell 7 and N semicircular handles 8;

As shown in FIG. 1 and FIG. 2 , the drive motor 1 , the screw 2 , the guide disc 3 , the moving support inner shell 5 and the guide shell 7 are coaxially arranged in sequence, and the drive end of the drive motor 1 is connected to the screw 2 One end is connected to realize the rotation of the screw 2, the drive motor 1 is a deceleration motor; the guide disc 3 is screwed on the other end of the screw 2, and can be rotated under the drive of the screw 2 or along the The axial direction of the screw 2 moves linearly, and the relationship between the guide disc 3 and the screw 2 is a screw and a nut; the guide disc 3 is rotatably connected with the mobile support inner shell 5, and can drive the mobile support inner shell 5. The shell 5 moves axially; the inner shell 5 is inserted into the guide shell 7 and can move along the axis of the guide shell 7, and the guide shell 7 is connected to the central module of the modular robot arm, The guide shell 7 is used to support the mobile support inner shell 5 to ensure that the mobile support inner shell 5 only moves in the axial direction, and will not rotate with the guide disc 3;

As shown in FIG. 4 to FIG. 7 , the mobile support inner shell 5 includes a support disk body 5-1 and N semicircular handle locking shells 5-4, and the support disk body 5-1 is used to support the semicircular handle The locking shell 5-4, the guiding disc 3 and the unlocking slider 6, the semicircular handle locking shell 5-4 is used to support the semicircular handle 8 and to lock another semicircular handle 8 arranged opposite to it, so as to realize The docking locking function of the two modular manipulators; the N semicircular handle locking shells 5-4 are evenly arranged on the side wall of the support plate 5-1 in the circumferential direction, and the two adjacent semicircular handles are locked There is a certain space between the shells 5-4, the two ends of each semicircular handle locking shell 5-4 respectively protrude from both sides of the support plate 5-1, and each semicircular handle locking the shell 5-4. The butt end face is on the radial surface of the support disc body 5-1, that is, the arrangement of the support disc body 5-1 and the N semicircular handle locking shells 5-4 is similar to the structural style of the rotary windmill. When the two opposing docking mechanisms are docked, the two semicircular handle locking shells 5-4 can be staggered, so as to achieve contact between the butt surfaces of the two semicircular handle locking shells 5-4; The protruding end of the semicircular handle locking shells 5-4 is inserted into the position between the two adjacent semicircular handle locking shells 5-4 of each other, so that the two semicircular handle locking shells 5-4 which are relatively misaligned can be connected. docking.

As shown in FIG. 9 , each of the semicircular handles 8 is provided with a straightening through hole 8-1-1, and each semicircular handle 8 is obliquely installed in the semicircular handle locking shell 5-4 through a reset unit. A part of the handle 8 is in the semicircular handle locking shell 5-4, and the other part extends out of the semicircular handle locking shell 5-4, as shown in Figure 13; the reset unit is used to realize the return of the semicircular handle 8 from a horizontal state to tilted state;

As shown in FIG. 3 , the disk surface of the guide disk 3 has N slider guide holes 3-2 arranged obliquely evenly in the circumferential direction, and the slider guide holes 3-2 are elongated arcs. One end of the slider guide hole 3-2 is set near the center of the guide disc 3, and the other end is set towards the edge of the guide disc 3. The inclination direction of the slider guide hole 3-2 is the same as that of the screw 2. The thread directions are opposite; the slider guide hole 3-2 is used to drive the unlocking slider 6 to move, and has a guiding effect on the movement of the unlocking slider 6, so that the unlocking slider 6 moves toward the semicircular handle 8 and toggles the semicircle The handle 8 makes the semicircular handle 8 change from the inclined state to the horizontal state, thereby realizing the two-way unlocking or one-way unlocking of the docking mechanism of the two mechanical arms;

As shown in FIG. 8 , the N unlocking sliders 6 are uniformly arranged between the guide disk 3 and the inner mobile support shell 5 in the circumferential direction, and each unlocking slider 6 corresponds to a semicircular handle locking shell 5-4. Setting; each unlocking slider 6 includes a guide column 6-1 and a slider 6-2, one end of the guide column 6-1 is vertically screwed on one end of the slider 6-2, and the other end of the guide column 6-1 It is inserted into the slider guide hole 3-2 of the guide disk 3, and the outer wall of the guide column 6-1 abuts on the inner wall of one end of the slider guide hole 3-2 close to the center of the guide disk 3, as shown in the figure 14; the other end of the sliding block 6-2 is set as a wedge-shaped part 6-2-1, and the middle part of the sliding block 6-2 is an inserting part 6-2-2 with a rectangular cross-section; The block 6-2 is slidably connected to the inner casing 5 of the mobile support, and the wedge-shaped portion 6-2-1 of the slider 6-2 is aligned with the through hole 8-1-1 on the semicircular block 8-1 and can be inserted into the through hole 8-1-1 of the semicircle block 8-1. Inside hole 8-1-1.

In this embodiment, the locking process of the two docking mechanisms is as follows: As shown in FIG. 13 , when the driving motors 1 in the two docking mechanisms drive the corresponding screw rods 2 to rotate clockwise, since the guide shell 7 is connected to the modular mechanical On the central module of the arm, the guide shell 7 has a restriction on the mobile support inner shell 5 connected to it, and the guide disc 3 screwed with the screw 2 cannot be under the joint constraints of the mobile support inner shell 5 and the unlocking slider 6. Clockwise rotation is realized, as shown in Figure 14, so the two guiding discs 3 in the two docking mechanisms move linearly along the axis direction of the respective screw 2, and the two guiding discs 3 drive the moving supports connected to them. The shells 5 move toward each other, and the two moving support inner shells 5 drive the semicircular handles 8 installed on them to move toward each other; Each movement supports the continued movement of the inner shell 5, and the protruding part of the semicircular handle 8 is in contact with the side of the opposite semicircular handle locking shell 5-4 until the semicircular handle 8 is in contact with the opposite semicircular handle locking shell 5-4. Under the action of the side abutting, the inclined state is gradually turned to the horizontal state. When the two semicircular handle locking shells 5-4 arranged in a relative dislocation are completely butted together, the two semicircular handles 8 arranged in a relative dislocation at this time are in the reset unit. It changes from the horizontal state back to the inclined state under the action of , and inserts into the semicircular handle locking shell 5-4 of each other respectively, as shown in Figure 15, the locking of the two docking mechanisms is realized.

In this embodiment, the automatic unlocking process of the two docking mechanisms can be divided into two-side unlocking and one-side unlocking;

The double-side unlocking process is as follows: when the two docking structures are in a locked state, as shown in Figures 14 and 15, the driving motors 1 in the two docking mechanisms drive the corresponding screw rods 2 to rotate counterclockwise. Restricted by the unlocking slider 6, the guide disc 3 also rotates counterclockwise under the drive of the screw 2 and does not move linearly along the axis of the screw 2. The slider guide holes 3-2 on the guide disc 3 are paired The unlocking slider 6 generates a driving force, so that the slider 6-2 in the unlocking slider 6 moves toward the direction of the semicircular handle locking shell 5-4, and the wedge 6-2-1 of the slider 6-2 passes through the semicircle The handle locks the shell plate of the shell 5-4 and inserts it into the straightening through hole 8-1-1 of the semicircular handle 8. As the slider 6-2 is inserted into the correcting through hole 8-1-1 of the semicircular handle 8 The deeper the depth, the semi-circular handle 8 changes from the inclined state to the horizontal state under the action of the slider 6-2; at this time, the outer wall of the guide column 6-1 abuts on the guide hole 3-2 of the slider and is close to the edge of the guide disc 3 On the inner wall of one end of the position, and the sector block 3-3 also moves to the bottom of the idle travel groove 5-3-1 and cannot continue to rotate. As shown in Figure 16, the guide disc 3 moves to support the inner shell 5 and unlock the slide. The counterclockwise rotation cannot be realized under the common restriction of the block 6, and the two guide discs 3 in the two docking mechanisms begin to move linearly along the axis direction of the respective screw 2, and the two guide discs 3 drive the moving supports connected to them. The inner shell 5 moves backwards, and the two moving support inner shells 5 drive the semicircular handle 8 installed on it to move backwards, as shown in FIG.

The unilateral unlocking process is as follows: when the two docking structures are in a locked state, as shown in Figures 14 and 15, the drive motor 1 in one of the docking mechanisms drives the corresponding screw 2 to rotate counterclockwise. Restricted by the unlocking slider 6, the guide disc 3 also rotates counterclockwise under the drive of the screw 2 and does not move linearly along the axis of the screw 2. The slider guide holes 3-2 on the guide disc 3 are paired The unlocking slider 6 generates a driving force, so that the slider 6-2 in the unlocking slider 6 moves toward the direction of the semicircular handle locking shell 5-4, and the wedge 6-2-1 of the slider 6-2 passes through the semicircle The handle locks the shell plate of the shell 5-4 and inserts it into the straightening through hole 8-1-1 of the semicircular handle 8. As the slider 6-2 is inserted into the correcting through hole 8-1-1 of the semicircular handle 8 The deeper the depth, the semicircular handle 8 is turned from the inclined state to the horizontal state under the action of the inserting part 6-2-2 of the slider 6-2. At this time, the semicircular handle 8 is not locked by the opposite semicircular handle 5-4. At this time, the outer wall of the guide column 6-1 also abuts on the inner wall of one end of the slider guide hole 3-2 close to the edge of the guide disc 3, and the sector block 3-3 also moves to the idle travel groove 5 -3-1 can not continue to rotate at the bottom of the groove, as shown in Figure 16, the guide disc 3 cannot achieve counterclockwise rotation under the joint restriction of the moving support inner shell 5 and the unlocking slider 6, in one of the docking mechanisms The guide disc 3 starts to move linearly along the axis of the screw 2, the guide disc 3 drives the mobile support inner shell 5 connected to it to move away from the other docking mechanism, and the mobile support inner shell 5 drives the semicircular handle installed on it. 8 is moved away from the other docking mechanism, as shown in FIG. 18 , achieving a one-sided unlocking of the two docking mechanisms.

Reset process: the drive motor 1 rotates in the opposite direction of the unlocking process, the screw 2 drives the guide disc 3 to rotate in the opposite direction, and the guide disc 3 drives the unlocking slider to move, so that the slider 6-2 is under the action of the chute 5-2 Pull out from the alignment through hole 8-1-1 of the semicircular handle 8 until the docking mechanism returns to the initial state, reducing the elastic potential energy of the self-locking tension spring 4 and improving the service life.

The present invention is suitable for quick connection and separation between different modular mechanical arm units. After docking, self-locking can be realized, and there is no need for the motor to continue to brake to maintain the locking posture of the two docking mechanisms, which reduces the power consumption, and the mechanism is safe and reliable; Side unlocking improves the success rate and fault tolerance of the unlocking of the two docking mechanisms.

In this embodiment, the structures of the two docking mechanisms are exactly the same, which eliminates the difference between the active and passive connection modules of the existing docking structure, and has stronger versatility. At the same time, it solves the problem that the position and posture cannot be unlocked by relying on the driving brake and the active connection module is damaged. separation, etc.

In a possible embodiment, as shown in Fig. 1, Fig. 5, Fig. 13 to Fig. 18, each reset unit includes a self-locking tension spring 4 and an arc-shaped plate 5-5. An arc-shaped plate 5-5 is arranged between the two shell plates of the tight shell 5-4, and an eccentric through hole 5-5-1 is opened on the arc-shaped plate 5-5. The eccentric through hole 5 -5-1 is set on the side of the drive motor 1, and there is an installation opening on the butting surface of the semicircular handle locking shell 5-4. The arc plate 5-5 and the two semicircular handle locking shells 5-4 A semicircular handle installation groove 5-6 is formed between the shell plates; the open side of the semicircular handle installation groove 5-6 is set towards the installation opening of the semicircular handle locking shell 5-4, and the semicircular handle 8 is locked by the semicircular handle The installation port on the butt surface of the tight shell 5-4 is inserted obliquely into the installation groove 5-6 of the semicircular handle;

As shown in FIG. 9, the semicircular handle 8 includes a semicircular block 8-1 and a toggle handle 8-2, the correcting through hole 8-1-1 is provided on the semicircular block 8-1, and the semicircular block 8- The arc-shaped wall of 1 is attached to the inner wall of the arc-shaped plate 5-5, the semicircular block 8-1 can be rotated in the semicircular handle installation groove 5-6, and one end of the toggle handle 8-2 is eccentrically installed On the arc-shaped wall of the semicircular block 8-1, the other end of the toggle handle 8-2 is connected to one end of the self-locking tension spring 4 through the eccentric through hole 5-5-1 on the arc-shaped plate 5-5. The outer diameter of the toggle handle 8-2 is smaller than the inner diameter of the eccentric through hole 5-5-1 and can swing in the eccentric through hole 5-5-1, and the other end of the self-locking tension spring 4 is connected to the semicircular handle locking shell. 5-4 On the inner wall of the butting surface, the self-locking tension spring 4 is in a stretched state at this time, the semicircular block 8-1 is in an inclined state under the action of the self-locking tension spring 4, and a part of the semicircular block 8-1 is in a state of inclination. In the semicircular handle mounting groove 5-6, the other part of the semicircular block 8-1 protrudes from the semicircular handle mounting groove 5-6, and the horizontal end face of the semicircular block 8-1 and the butt surface of the semicircular handle locking shell 5-4 are not at the same level on the horizontal plane.

In this embodiment, the reset unit is used for resetting the semicircular handle 8 from the horizontal state to the inclined state, and the specific process is as follows: when the two moving support inner shells 5 drive the semicircular handle 8 installed thereon to move toward each other, the semicircular handle 8 The protruding part is in contact with the side of the opposite side of the semicircular handle locking shell 5-4. With the continuous movement of the two moving support inner shells 5, the semicircular handle 8 is on the side of the opposite semicircular handle locking shell 5-4. Under the action of the side contact, the inclined state is gradually turned to the horizontal state. At this time, the self-locking tension spring 4 is stretched again. Under the action of the self-locking tension spring 4, the semicircular shanks 8, which are arranged in a relatively staggered position, return from the horizontal state to the inclined state again, and are respectively inserted into the opposite semicircular shank installation grooves from the slots of the opposite semicircular shank installation grooves 5-6. In 5-6, as shown in Fig. 15, the locking of the two docking mechanisms is achieved.

The reset of the semicircular handle 8 in this embodiment can also be realized in the form of a torsion spring.

In a possible embodiment, as shown in FIG. 4 , the mobile support inner shell 5 further includes N chutes 5-2, and the N chutes 5-2 are evenly installed on the support plate body 5-2 in the circumferential direction. 1, the two opposite chutes 5-2 are staggered, and each chute 5-2 corresponds to a semicircular handle locking shell 5-4, and is perpendicular to the corresponding semicircular handle locking shell 5-4. One side wall of the support plate body 5-1 is supported, and the slider 6-2 is slidably connected in the chute 5-2.

In this embodiment, the sliding groove 5-2 is used for the installation of the sliding block 6-2 and has a guiding effect on the sliding of the sliding block 6-2. When the guide disk 3 rotates counterclockwise, the sliding block 6-2 is in the guide column. 6-1 and the chute 5-2 move towards the semicircular handle locking shell 5-4, and have a toggle action on the semicircular handle 8; on the contrary, when the guide disc 3 rotates clockwise, the slider 6- 2 Under the action of the guide column 6-1 and the chute 5-2, move away from the semicircular handle locking shell 5-4, and the slider 6-2 is pulled out from the straightening through hole 8-1-1 of the semicircular handle 8 , no longer has an effect on the semicircular handle 8.

In a possible embodiment, an insertion hole 5-4-1 is respectively opened on the two shell plates of each semicircular handle locking shell 5-4, and the two insertion holes 5 -4-1 is located in the half-circle handle installation slot 5-6, and the two insertion holes 5-4-1 are arranged opposite to the straightening through hole 8-1-1 on the half-circle block 8-1; as shown in Figure 6, One end of each chute 5-2 close to the semicircular handle locking shell 5-4 is aligned with the two insertion holes 5-4-1 on the semicircular handle locking shell 5-4.

In this embodiment, the wedge-shaped portion 6-2-1 and the insertion portion 6-2-2 on the slider 6-2 are inserted into the dial on the semi-circular block 8-1 through the insertion hole 5-4-1. inside the positive through hole 8-1-1.

In a possible embodiment, the mobile support inner shell 5 further includes N interlocking blocks 5-3, and an interlocking block 5-4 is arranged between two adjacent semicircular handle locking shells 5-4. 3. The interlocking block 5-3 is installed on one side wall of one of the semicircular handle locking shells 5-4, and the interlocking block 5-3 is connected to the other semicircular handle locking shell 5-4. There is an insertion port 5-7 between them; the interlocking block 5-3 is provided with an empty stroke slot 5-3-1, and the length direction of the idle stroke slot 5-3-1 is along the support plate The circumferential direction of the body 5-1 is arranged; the side wall of the guide disk 3 is evenly provided with N sector blocks 3-3 in the circumferential direction, and each sector block 3-3 on the guide disk 3 is embedded in the In a free travel groove 5-3-1 on the inner casing 5 of the mobile support, the thickness of the sector block 3-3 is in clearance fit with the thickness of the free travel groove 5-3-1, and can move along the free travel groove 5-3- 1 moves in the length direction.

In this embodiment, before the two docking mechanisms are docked and self-locked and when the docking and self-locking is completed, the sector block 3-3 on the guide disk 3 is always in the empty travel groove 5-3-1 above the locking block 5-3 At the entrance of , as shown in Figure 14; when the two docking mechanisms enter the process of unlocking from the locked state, the guide disc 3 rotates counterclockwise under the action of the screw 2, and the sector on the guide disc 3 rotates counterclockwise. The block 3-3 moves from the entrance to the innermost (bottom of the slot) of the idle stroke slot 5-3-1 along the length direction of the idle stroke slot 5-3-1, as shown in Figure 16, at this time the slider is unlocked The outer wall of the guide column 6-1 in 6 abuts on the inner wall of one end of the guide hole 3-2 of the slider near the edge of the guide disc 3, and the slider 6-2 is completely inserted into the half-circle block 8-1. inside hole 8-1-1, as shown in Figure 10.

In this embodiment, the sliding block 6-2 of the unlocking block 6 is inserted into the sliding groove 5-2 of the moving support inner shell 5, and the guide column 6-1 is removed from the sliding block 6-2, so the The sector block 3-3 on the described guide disk 3 is aligned with the insertion port 5-7 on the mobile support inner shell 5, and the guide disk 3 is rotated counterclockwise, so that the sector block 3- 3 Slide to the notch of the free travel groove 5-3-1 on the locking block 5-3, and then the threaded end of the guide post 6-1 passes through the guide hole 3-2 of the slider and is screwed to the slider 6- 2, the installation of the guide disc 3, the moving support inner shell 5 and the unlocking slider 6 is completed.

In a possible embodiment, as shown in FIG. 4 , FIG. 11 and FIG. 12 , a T-shaped protrusion 5-3-2 is provided on the upper end surface of the interlocking block 5-3; the guide shell 7 is an annular structure, and the side of the guide housing 7 facing the drive motor 1 is provided with a circular edge strip 7-1, and the annular edge strip 7-1 is provided with N gaps 7-1- 1. The legs of the T-shaped protrusion 5-3-2 are inserted into the gap 7-1-1.

In this embodiment, the moving support inner shell 5 is inserted into the guide shell 7 from the back of the guide shell 7, and the legs of the T-shaped protrusions 5-3-2 are inserted into the gaps on the circular edge strip 7-1. In 7-1-1, the mobile support inner shell 5 can only move axially, and the two wings of the T-shaped protrusion 5-3-2 play a limiting role on the axial movement of the mobile support inner shell 5 .

In a possible embodiment, the cross-section of the semicircular handle locking shell 5-4 is a right-angled trapezoid, and a guide butt plate 7-2 is screwed on the side of the guide shell 7 facing away from the drive motor 1, The guide butt plate 7-2 is evenly provided with N docking holes 7-2-1 in the circumferential direction. -4 to match the isosceles trapezoid stitched together.

In this embodiment, the moving support inner shell 5 is inserted into the guide shell 7 from the back of the guide shell 7, and then the guide butt plate 7-2 is screwed to the back of the guide shell 7 through a plurality of screws.

In this embodiment, the guide butt plate 7-2 plays a guiding role for the two semicircular handle locking shells 5-4 arranged opposite to each other. When the two semicircular handle locking shells 5 in the two docking mechanisms -4 When in the initial position, the two semicircular handle locking shells 5-4 face a butt hole 7-2-1 of the guiding butt plate 7-2 respectively, when the two semicircular handle locking shells 5-4 move towards each other , the two semicircular handle locking shells 5-4 immediately enter the docking hole 7-2-1, and the two semicircular handle locking shells 5-4 can realize Precise butt locking.

In a possible embodiment, a trapezoidal boss 5-4-2 is provided on the side of each semicircular handle locking shell 5-4 facing away from the guide disc 3, and the trapezoidal boss 5-4 The tip of the -2 is in the docking hole 7-2-1 leading to the docking plate 7-2.

In this embodiment, as shown in FIG. 13 , before the docking mechanisms of the two manipulators are docked and locked, the guide docking plates 7-2 of the two docking mechanisms are in close contact with each other. There is a small dislocation phenomenon in the upward direction, that is, there is a small dislocation phenomenon in the radial direction of the two guide butt plates 7-2. The design of the trapezoidal boss 5-4-2 has a correcting effect on the two butt joint mechanisms. The correcting process is as follows: when the two relatively coaxially arranged moving support inner shells 5 move towards each other with the semicircular handle locking shell 5-4, the trapezoidal boss 5-4-2 passes through the docking hole 7-2-1. The length gradually increases, and because of its narrow end, it is easy to enter the butt hole 7-2-1 on the opposite guide butt plate 7-2, because the outer diameter of the trapezoidal boss 5-4-2 is in The docking hole 7-2-1 gradually increases until the right-angled trapezoidal part of the semi-circular handle locking shell 5-4 enters the docking hole 7-2-1 of the other side. At this time, the two guiding docking plates 7-2 are in Under the action of the two semicircular handle locking shells 5-4, the complete opposite is achieved, which speeds up the docking efficiency of the two docking mechanisms.

In a possible embodiment, a central cylinder 3-1 is provided on the side of the guide disc 3 facing away from the inner casing 5 of the moving support, and one end of the central cylinder 3-1 is vertically installed on the guide At the center position of the disk 3, the other end face of the central cylinder 3-1 is provided with a number of screw chutes 3-1-1 evenly in the circumferential direction; the side wall of the screw 2 is uniformly provided with a number of long strips in the circumferential direction The elongated projection 2-1 is spirally arranged, and the inclination direction of the elongated projection 2-1 is opposite to the inclination direction of the slider guide hole 3-2, that is, the elongated projection If the protrusion 2-1 is inclined counterclockwise, the slider guide hole 3-2 is inclined clockwise; on the contrary, if the elongated protrusion 2-1 is inclined clockwise, the slider guide hole 3-2 is anticlockwise. Inclined, the screw 2 is inserted into the central cylinder 3-1 of the guide disc 3, and each screw chute 3-1-1 in the central cylinder 3-1 is fitted with a long strip of convex up 2-1.

In this embodiment, the elongated protrusion 2-1 on the screw 2 realizes the rotational movement and the axial movement of the guide disc 3 .

In a possible embodiment, the value of N is 4.

Although the invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and other arrangements can be devised without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the features described in the various dependent claims and herein may be combined in different ways than are described in the original claims. It will also be appreciated that features described in connection with a single embodiment may be used in other described embodiments.

Claims (10)

1. A docking device applied to a modular self-reconfigurable mechanical arm, characterized in that it comprises two coaxially oppositely arranged docking mechanisms, each docking mechanism comprising a drive motor (1), a screw (2), a guide circle a disk (3), N reset units, a moving support inner shell (5), N unlocking sliders (6), a guide outer shell (7) and N semicircular handles (8); The drive motor (1), the screw (2), the guide disc (3), the moving support inner casing (5) and the guide casing (7) are coaxially arranged in sequence, and the drive end of the drive motor (1) Connected with one end of the screw (2), the guide disc (3) is screwed on the other end of the screw (2), and can be rotated under the driving of the screw (2) or along the axis of the screw (2) moving; the guide disc (3) is rotatably connected with the mobile support inner shell (5), and can drive the mobile support inner shell (5) to move axially; the mobile support inner shell (5) is inserted into the guide shell (7), and can move along the axis of the guide shell (7), the guide shell (7) is connected to the central module of the modular robotic arm; The moving support inner shell (5) includes a support disc body (5-1) and N semicircular handle locking shells (5-4), and the N semicircular handle locking shells (5-4) are circumferentially arranged. Evenly arranged at the side wall of the support plate body (5-1), the two ends of each semicircular handle locking shell (5-4) respectively protrude from both sides of the support plate body (5-1); Each semicircular shank (8) is provided with a straightening through hole (8-1-1). 8) A part is in the semicircular handle locking shell (5-4), and the other part extends out of the semicircular handle locking shell (5-4); N slider guide holes (3-2) are evenly opened on the surface of the guide disk (3) in the circumferential direction, and the slider guide holes (3-2) are elongated arc-shaped holes. One end of the slider guide hole (3-2) is arranged towards the center of the guide disc (3), and the other end is arranged towards the edge of the guide disc (3); The N unlocking sliders (6) are uniformly arranged between the guide disc (3) and the inner mobile support shell (5) in the circumferential direction, and each unlocking slider (6) includes a guide column (6-1) and The slider (6-2), one end of the guide column (6-1) is vertically screwed to one end of the slider (6-2), and the other end of the guide column (6-1) is inserted into the guide disc ( 3) in the slider guide hole (3-2), the outer wall of the guide column (6-1) abuts on the inner wall of one end of the slider guide hole (3-2) close to the center of the guide disc (3) ; The other end of the slider (6-2) is arranged as a wedge-shaped portion (6-2-1), and the middle portion of the slider (6-2) is an inserting portion (6-2-2) with a rectangular cross-section ; The slider (6-2) is slidably connected to the moving support inner shell (5), and the wedge-shaped portion (6-2-1) of the slider (6-2) is aligned with the semicircular block (8-1) The correcting through hole (8-1-1) can be inserted into the correcting through hole (8-1-1). 2. A docking device applied to a modular self-reconfigurable manipulator according to claim 1, wherein each reset unit comprises a self-locking tension spring (4) and an arc-shaped plate (5-5 ), an arc-shaped plate (5-5) is arranged between the two shell plates of each semicircular handle locking shell (5-4), and an eccentric through-hole is opened on the arc-shaped plate (5-5). A hole (5-5-1), a semicircular handle mounting groove (5-6) is formed between the arc plate (5-5) and the two shell plates of the semicircular handle locking shell (5-4); The semicircular handle (8) includes a semicircular block (8-1) and a toggle handle (8-2), and the correcting through hole (8-1-1) is arranged on the semicircular block (8-1), The semicircular block (8-1) is arranged in the semicircular handle mounting groove (5-6), and the arc-shaped wall of the semi-circular block (8-1) is in contact with the inner wall of the arc-shaped plate (5-5). One end of the toggle handle (8-2) is eccentrically installed on the arc wall of the semicircular block (8-1), and the other end of the toggle handle (8-2) passes through the The eccentric through hole (5-5-1) is connected to one end of the self-locking tension spring (4), and the other end of the self-locking tension spring (4) is connected to the inner wall of the semicircular handle locking shell (5-4). 3. A docking device applied to a modular self-reconfigurable manipulator according to claim 2, characterized in that: the mobile support inner shell (5) further comprises N chutes (5-2), The N chutes (5-2) are evenly installed on the disk surface of the support disk body (5-1) in the circumferential direction, the two opposite chutes (5-2) are staggered, and each chutes (5-2) correspond to A semicircular handle locking shell (5-4) is perpendicular to the side wall of the corresponding semicircular handle locking shell (5-4) close to the side wall of the supporting disc body (5-1). -2) Slidingly connected in the chute (5-2). 4. A docking device applied to a modular self-reconfigurable manipulator according to claim 3, characterized in that: on the two shell plates described in each semicircular handle locking shell (5-4), respectively There is an insertion hole (5-4-1), the two insertion holes (5-4-1) are in the semicircular handle installation groove (5-6), and the two insertion holes (5- 4-1) Set opposite to the through hole (8-1-1) on the semicircular block (8-1); each chute (5-2) is close to one end of the semicircular handle locking shell (5-4). The two insertion holes (5-4-1) on the semicircular handle locking shell (5-4) are provided. 5. A docking device applied to a modular self-reconfigurable manipulator according to claim 4, characterized in that: the mobile support inner shell (5) further comprises N interlocking blocks (5-3) , an interlocking block (5-3) is arranged between two adjacent semicircular handle locking shells (5-4), and the interlocking block (5-3) is installed in one of the semicircular handle locking shells (5-3). 5-4) On the side wall of one side, an insertion opening (5-7) is left between the locking block (5-3) and the other half-round handle locking shell (5-4); the There is an idle travel groove (5-3-1) on the locking block (5-3), and the length direction of the idle travel groove (5-3-1) is along the length of the support plate (5-1). The circumferential direction is arranged; the side wall of the guide disk (3) is uniformly provided with N sector blocks (3-3) in the circumferential direction, and each sector block (3-3) on the guide disk (3) They are respectively embedded in an empty travel groove (5-3-1) on the inner shell (5) of the mobile support, and the thickness of the sector block (3-3) is matched with the thickness of the empty travel groove (5-3-1), and It can move along the length direction of the idle travel groove (5-3-1). 6. A docking device applied to a modular self-reconfigurable manipulator according to claim 5, characterized in that: a T-shaped protrusion (5) is provided on the upper end surface of the interlocking block (5-3). -3-2); the guide casing (7) is a circular structure, and the side of the guide casing (7) facing the drive motor (1) is provided with a circular edge (7-1), so The annular edge strip (7-1) is provided with N gaps (7-1-1) in the upper direction, and the legs of the T-shaped protrusions (5-3-2) are inserted into the gaps (7-1-1) Inside. 7. A docking device applied to a modular self-reconfigurable manipulator according to claim 6, characterized in that: the cross-section of the semicircular handle locking shell (5-4) is a right-angled trapezoid, and the guide A guide butt plate (7-2) is screwed on the side of the casing (7) facing away from the drive motor (1), and the guide butt plate (7-2) is uniformly provided with N butt holes (7) in the circumferential direction. -2-1), the butting hole (7-2-1) is an isosceles trapezoid, and matches the isosceles trapezoid spliced by the two semicircular handle locking shells (5-4). 8. A docking device applied to a modular self-reconfigurable manipulator according to claim 7, wherein each of the semicircular handle locking shells (5-4) faces away from the guiding disc (3). ) is provided with a trapezoidal boss (5-4-2), and the tip of the trapezoidal boss (5-4-2) is located in the butting hole (7-2-1) of the guiding butting plate (7-2). middle. 9. A docking device applied to a modular self-reconfigurable manipulator according to claim 8, characterized in that: the guide disc (3) is arranged on the side facing away from the inner casing (5) of the mobile support There is a central cylinder (3-1), one end of the central cylinder (3-1) is vertically installed at the center of the guide disc (3), and the other end of the central cylinder (3-1) faces the circumferential direction A number of screw chutes (3-1-1) are evenly arranged; a number of elongated protrusions (2-1) are evenly arranged on the side wall of the screw (2) in the circumferential direction. The protrusions (2-1) are spirally arranged, the screw rods (2) are inserted into the central cylinder (3-1) of the guide disc (3), and each screw rod in the central cylinder (3-1) slides. An elongated protrusion (2-1) is inserted into the groove (3-1-1). 10 . The docking device applied to a modular self-reconfigurable manipulator according to claim 9 , wherein the value of N is 4. 11 .

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