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A Quick Docking Mechanism with Incomplete Constraints

A docking mechanism and fully constrained technology, applied in the direction of manipulators, manufacturing tools, etc., can solve the problems of high precision requirements in the pre-docking process, difficulty in popularization and application, and complex mechanisms, so as to achieve convenient and fast disconnection process, improve flexibility, and install The effect of simple structure

Active Publication Date: 2022-06-03
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

At present, most of the existing multi-unit module docking mechanisms are slow in connection and require high precision in the pre-docking process, and most of them are designed with rigid connection mechanisms, which have low flexibility and complex mechanisms. Therefore, they are still in the prototype test stage, and it is difficult to truly popularize and apply them.

Method used

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  • A Quick Docking Mechanism with Incomplete Constraints
  • A Quick Docking Mechanism with Incomplete Constraints
  • A Quick Docking Mechanism with Incomplete Constraints

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0021] see Figure 1-Figure 2 , Figure 7 As shown, a fast docking mechanism with incomplete restraint includes an active docking joint 1 and a passive docking joint 2; 11 is driven to rotate, and the inner wall surface of the passive docking shell 20 of the passive docking joint 2 is processed with a card slot 21 matched with the self-locking device 12; The self-locking device 12 restricts the axial movement of the active butt joint 1 and the passive butt joint 2 .

[0022] see Figure 4 and Figure 5 As shown, preferably, the self-locking device 12 includes a wheel 120 and a ball 121; the outer peripheral side of the wheel 120 is fixed with a plurality of convex teeth 1201, and in the circumferential direction, one side of the convex tooth 1201 is an arc surface 1202, the other side of the protruding tooth 1201 is the elevation 1203, and the accommodating space for arranging the ball 121 is formed between the adjacent arc surface 1202 and the elevation 1203, and the side...

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Abstract

A fast docking mechanism with incomplete constraints, which relates to a docking mechanism, which includes active butt joints and passive butt joints; the active docking shell of the active butt joint is provided with a self-locking device, and the self-locking device is driven by the motor of the active butt joint Rotate, the inner wall surface of the passive docking shell of the passive butt joint is processed with a card slot that matches the self-locking device; after the passive docking shell is inserted into the active docking shell, the self-locking device placed in the card slot restricts the active butt joint and passive Axial movement of the butt joint. The fast docking mechanism has simple structure, high connection reliability and low pre-docking requirements.

Description

technical field [0001] The invention relates to a docking mechanism, in particular to an incompletely constrained rapid docking mechanism for a reconfigurable multi-unit module mobile robot. Background technique [0002] The current robot development process usually designs a robot with a single function for a specific task requirement and working environment. Faced with the complex conditions of task changes and changes in the working environment, reconfigurable robots can be reconfigured into different configurations through reconfiguration and deformation motion according to needs. Robots, which meet the requirements of tasks and environments, have the advantages of powerful functions, flexible capabilities, and cost savings, have become a research hotspot in the field of robotics. A reconfigurable multi-unit module robot is composed of standard multiple unit modules that can move independently. A single unit module has an independent drive mechanism, power source, and in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J19/00
CPCB25J19/00
Inventor 赵杰韦若鹏朱延河王成志
Owner HARBIN INST OF TECH
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