CN102632510B - Automatic connecting element - Google Patents
Automatic connecting element Download PDFInfo
- Publication number
- CN102632510B CN102632510B CN201210096404.6A CN201210096404A CN102632510B CN 102632510 B CN102632510 B CN 102632510B CN 201210096404 A CN201210096404 A CN 201210096404A CN 102632510 B CN102632510 B CN 102632510B
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- circuit cylinder
- hollow circuit
- taper seat
- cylinder
- angle
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Abstract
The invention provides an automatic connecting element, belonging to the technical field of modularized robots and particularly relates to a device for automatic butting connection and stabilizing mechanical connection. The automatic connecting element comprises an upper socket snap ring and a lower elastic pin base, wherein the upper socket snap ring comprises two hollow cylindrical structures which are orderly and coaxially connected up and down; the lower elastic pin base comprises a central elastic pin, a base and a motor component; and the central elastic pin moves in the through hole of the upper hollow cone C of the base under the ejection action of driving by a motor. The automatic connecting element provided in the invention has great allowable cooperation error, thereby having robustness. In case of axial force exertion, connection can be realized successfully even in the presence of cooperation error. Besides, effective electrical connection can be performed and controlling electric signals and electric energy are transferred via the contact of a slideway with the contact of a spring; the connection is stable and reliable; and shear disturbance resistance unavailable for electromagnetic connection can be realized.
Description
Technical field
The invention belongs to modularization robot technical field, be specifically related to a kind of automated attachment, be specially the device that a kind of automatic butt stabilizing mechanical connect.
Background technology
The development of Robotics improves constantly the ability of robot, the field of robot application and scope be constantly expansion, people wish that robot can complete more complicated task, and by it is reprogramed, robot can complete many different tasks at an easy rate.Yet the scope that Yi Tai robot can finish the work is subject to the restriction of himself frame for movement, for Given task, can select according to mission requirements the optimum structure of robot.
And reconstruct robot will realize unmanned docking and just required Automatic Link Establishment that robot can be realized automatically under unmanned condition to dock under specific environment.
Summary of the invention
For problems of the prior art, the present invention proposes a kind of automated attachment, and for realizing the mutual docking of two intermodules, this automated attachment comprises two parts, is respectively top socket snap ring and bottom bullet pin pedestal.
Described top socket snap ring comprises and coaxially connects in turn up and down two hollow cylindrical structures, the internal face of upper hollow circuit cylinder A is taper seat, the internal face taper seat of described upper hollow circuit cylinder A is the taper seat that downward hollow circuit cylinder B direction is shunk, the internal face of lower hollow circuit cylinder B is taper seat, this taper seat is the taper seat that upwards hollow circuit cylinder A direction is shunk, and the angle between this taper seat bus and central axis is β;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, pedestal comprises coaxial upper hollow cone C and the lower hollow circuit cylinder D connecting in turn, the internal diameter of upper hollow cone C equates with the internal diameter of lower hollow circuit cylinder D, three above through holes are set, for mounting center bullet pin on the sidewall of upper hollow cone C.The inwall of lower hollow circuit cylinder D is helicitic texture, and the bottom of lower hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E, lower hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, this motor component comprises top and motor two parts, it is top that to be divided into this wire clamp angle, taper seat bus Yu Qi center of the coaxial circular cone F(of upper and lower one be ζ) and cylinder G two parts, circular cone F outer surface is smooth surface, cylinder G outer surface is external threaded surface, the below of cylinder G is coaxially connected with motor, and motor output shaft and top circumferentially fixing, motor component is connected in the female thread structure of hollow circuit cylinder E and lower hollow circuit cylinder D by the external screw thread of cylinder G, under motor drives, cylinder G is advanced in the internal thread of lower hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along central axis axially-movable, Dan Xiaowei two ends, center are the column structure of taper seat, the angle of its one end taper seat matches with top circular cone F taper seat, the angle of other end taper seat matches with the internal conical surface angle of upper hollow circuit cylinder A, make center bullet pin be arranged in the through hole of hollow cone C sidewall, center bullet pin, under motor-driven top effect, moves in the through hole of upper hollow cone C,
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B is provided with spring contact, by conduction slideway, contacts with the stable of spring contact, realizes electromagnetism and connects.
The advantage that the present invention has is:
1, the present invention proposes a kind of automated attachment, and its admissible mismatch error is larger, has robust property.The in the situation that of axial force distribution, even if exist mismatch error also can successfully connect.
2, the present invention proposes a kind of automated attachment, can effectively be electrically connected, and adopts slideway cleverly to transmit and control the signal of telecommunication and electrical energy transfer with contacting of spring contact
3, the present invention proposes a kind of automated attachment, is connected to mechanical connection, but not conventionally from the electromagnetism that is dynamically connected used, connects, and connects more reliable and more stablely, and has electromagnetism to connect not available shearing resistance disturbance
4, the present invention proposes a kind of automated attachment, can realize automatic separation, thus can realize machinery from assembled.
Accompanying drawing explanation
Fig. 1: the present invention proposes a kind of structural representation of automated attachment;
Fig. 2: structural representation when the present invention proposes a kind of automated attachment without electric machine structure;
Fig. 3: the space structure schematic diagram of socket snap ring in middle and upper part of the present invention;
Fig. 4: the front view of socket snap ring in middle and upper part of the present invention;
Fig. 5: the sectional view of socket snap ring in middle and upper part of the present invention;
Fig. 6 is the structural representation of the pedestal of middle and lower part of the present invention bullet pin pedestal;
Fig. 7: the motor component structural representation of middle and lower part of the present invention bullet pin pedestal;
Fig. 8: motor cabinet structural representation in the present invention;
Fig. 9: motor cabinet structural representation in the present invention;
Figure 10: the center bullet latch structure schematic diagram of middle and lower part of the present invention bullet pin pedestal.
In figure: 1-top socket snap ring; 2-bottom bullet pin pedestal; The upper hollow circuit cylinder A of 3-;
Hollow circuit cylinder B under 4-; 5-center bullet pin; 6-pedestal;
7-motor component; The upper hollow cone C of 8-; Hollow circuit cylinder D under 9-;
10-is top; 11-motor; 12-circular cone F;
13-cylinder G; 14-hollow circuit cylinder E; 15-motor cabinet.
The specific embodiment
Below in conjunction with accompanying drawing, the present invention is described in detail:
The present invention proposes a kind of automated attachment, as depicted in figs. 1 and 2, comprises top socket snap ring 1 and bottom bullet pin pedestal 2; As shown in Figure 3, Figure 4, described top socket snap ring 1 comprises and coaxially connects in turn up and down two hollow cylindrical structures, the external diameter of upper hollow circuit cylinder A3 is less than the external diameter of lower hollow circuit cylinder B4, and the edge of lower hollow circuit cylinder B4 connects with the outside connector being connected that needs by screw.The internal face of upper hollow circuit cylinder A3 is taper seat, this taper seat is the taper seat that downward hollow circuit cylinder B4 direction is shunk, as shown in Figure 5, and the angle between taper seat bus and central axis is α, 45 ° of α >, the internal face of lower hollow circuit cylinder B4 is taper seat, as shown in Figure 5, this taper seat is the taper seat that upwards hollow circuit cylinder A3 direction is shunk, and the angle between this taper seat bus and central axis is β.
As shown in Figure 6, described bottom bullet pin pedestal 2 comprises center bullet pin 5, pedestal 6 and motor component 7, pedestal 6 comprises coaxial upper hollow cone C8 and the lower hollow circuit cylinder D9 connecting in turn, the internal diameter of upper hollow cone C8 equates with the internal diameter of lower hollow circuit cylinder D9, the bottom surface external diameter of upper hollow cone C8 is less than the bottom surface external diameter of lower hollow circuit cylinder D9, and the bottom surface external diameter of lower hollow circuit cylinder D9 is greater than the lower hollow circuit cylinder B4 bottom surface internal diameter of top socket snap ring 1, and the taper seat bus of upper hollow cone C3 and the angle of central axis are γ, be preferably γ=β, three above through holes are set on the sidewall of upper hollow cone C8, for mounting center bullet pin 5.The inwall of lower hollow circuit cylinder D9 is helicitic texture, and the bottom of lower hollow circuit cylinder D9 is coaxially connected with internal thread hollow circuit cylinder E14, lower hollow circuit cylinder D9 and internal thread hollow circuit cylinder E14 are internally connected with motor component 7, this motor component 7 comprises top 10 and motor 11 two parts, as shown in Figure 7, top 10 are divided into the coaxial circular cone F12 of upper and lower one and cylinder G13 two parts, circular cone F12 outer surface is smooth surface, the taper seat bus of circular cone and the angle of its center line are ζ, cylinder G13 outer surface is external threaded surface, the below of cylinder G13 is coaxially connected with motor 11, and motor 11 shafts and top 10 are circumferentially fixing, motor component 7 is connected in the female thread structure of hollow circuit cylinder E14 and lower hollow circuit cylinder D9 by the external screw thread of cylinder G13.Under motor 11 drives, cylinder G13 is advanced in the internal thread of lower hollow circuit cylinder D9 and hollow circuit cylinder E14, and then drive top 10 along central axis axially-movable.Motor 11 is fixed on the bottom of lower hollow circuit cylinder D9 by motor cabinet 15, as shown in Figure 8 and Figure 9, motor cabinet 15 is fixedly connected with pedestal.As shown in figure 10, center bullet pin 5 is the column structure of taper seat for two ends, the angle of its one end taper seat matches with top 10 circular cone F12 taper seat, the angle of this end taper seat bus and center line is δ, preferred δ+ζ=90 °, the angle of center bullet pin 5 other end taper seats matches with the internal conical surface angle of upper hollow circuit cylinder A, this end taper seat bus and center line angle are θ, preferred θ+α=90 °, center bullet pin 5 is arranged in the through hole of hollow cone C8 sidewall, under top 10 effects that center bullet pin 5 drives at motor 11, in the through hole of upper hollow cone C8, move.Motor 11 drives top 10 axially-movables of screw thread, promotes center bullet pin 5 and ejects, and center bullet pin 5 coordinates with the internal conical surface of upper hollow circuit cylinder B4, and top is socketed to snap ring 1 and bottom bullet pin pedestal 2 clampings.
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B4 is provided with spring contact, contacts, thereby carry out effective electromagnetism connection by conduction slideway with the stable of spring contact.After top socket snap ring 1 is connected with bottom bullet pin pedestal 2, the bullet pin auto lock of automated attachment connects, and make to conduct electricity slideway and spring contact and be communicated with, make the active connector, the passive connector that are connected with top socket snap ring 1, bottom bullet pin pedestal 2 respectively realize electrical connection, when active connector, passive connector need separation, by signal of telecommunication control part socket snap ring and the bottom bullet pin base-separation of active connector and passive connector.
Claims (7)
1. an automated attachment, is characterized in that: comprise top socket snap ring and bottom bullet pin pedestal; Described top socket snap ring comprises and coaxially connects in turn up and down two hollow cylindrical structures, the internal face of upper hollow circuit cylinder A is taper seat, the internal face taper seat of described upper hollow circuit cylinder A is the taper seat that downward hollow circuit cylinder B direction is shunk, the internal face of lower hollow circuit cylinder B is taper seat, this taper seat is the taper seat that upwards hollow circuit cylinder A direction is shunk, and the angle between this taper seat bus and central axis is β;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, pedestal comprises coaxial upper hollow cone C and the lower hollow circuit cylinder D connecting in turn, the internal diameter of upper hollow cone C equates with the internal diameter of lower hollow circuit cylinder D, three above through holes are set on the sidewall of upper hollow cone C, for mounting center bullet pin, the inwall of lower hollow circuit cylinder D is helicitic texture, and the bottom of lower hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E, lower hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, this motor component comprises top and motor two parts, the top coaxial circular cone F of upper and lower one and cylinder G two parts of being divided into, circular cone F outer surface is smooth surface, cylinder G outer surface is external threaded surface, the below of cylinder G is coaxially connected with motor, and motor output shaft and top circumferentially fixing, motor component is connected in the female thread structure of hollow circuit cylinder E and lower hollow circuit cylinder D by the external screw thread of cylinder G, under motor drives, cylinder G is advanced in the internal thread of lower hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along central axis axially-movable, Dan Xiaowei two ends, center are the column structure of taper seat, the angle of its one end taper seat matches with top circular cone F taper seat, the angle of this end taper seat bus and center line is δ, the angle of other end taper seat matches with the internal conical surface angle of upper hollow circuit cylinder A, and this end taper seat bus and center line angle are θ, center bullet pin is arranged in the through hole of hollow cone C sidewall, and center bullet pin, under motor-driven top effect, moves in the through hole of upper hollow cone C,
Described upper hollow cone C surface is provided with conduction slideway, and the surface of lower hollow circuit cylinder B is provided with spring contact, by conduction slideway, contacts with the stable of spring contact, realizes electromagnetism and connects.
2. a kind of automated attachment according to claim 1, is characterized in that: described motor is fixed on the bottom of lower hollow circuit cylinder D by motor cabinet, and motor cabinet is fixedly connected with pedestal.
3. a kind of automated attachment according to claim 1, is characterized in that: the external diameter of described upper hollow circuit cylinder A is less than the external diameter of lower hollow circuit cylinder B, and the edge of lower hollow circuit cylinder B is connected with exterior part by screw.
4. a kind of automated attachment according to claim 1, is characterized in that: internal face taper seat bus and the angle between central axis of described upper hollow circuit cylinder A are α, 45 ° of α >.
5. a kind of automated attachment according to claim 1, it is characterized in that: the bottom surface external diameter of described upper hollow cone C is less than the bottom surface external diameter of lower hollow circuit cylinder D, and the bottom surface external diameter of lower hollow circuit cylinder D is greater than the lower hollow circuit cylinder B bottom surface internal diameter of top socket snap ring, and the taper seat bus of upper hollow cone C and the angle of central axis are γ, γ=β.
6. a kind of automated attachment according to claim 1, it is characterized in that: described center bullet pin contacts one end taper seat bus and center line angle δ with top circular cone F meet δ+ζ=90 °, described ζ is the taper seat bus of top circular cone F and the angle of its center line.
7. a kind of automated attachment according to claim 1, it is characterized in that: described center bullet pin contacts one end taper seat bus and center line angle theta with upper hollow circuit cylinder A meet θ+α=90 °, described α is the taper seat bus of upper hollow circuit cylinder A and the angle between central axis.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096404.6A CN102632510B (en) | 2012-04-01 | 2012-04-01 | Automatic connecting element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210096404.6A CN102632510B (en) | 2012-04-01 | 2012-04-01 | Automatic connecting element |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102632510A CN102632510A (en) | 2012-08-15 |
| CN102632510B true CN102632510B (en) | 2014-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210096404.6A Expired - Fee Related CN102632510B (en) | 2012-04-01 | 2012-04-01 | Automatic connecting element |
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| Country | Link |
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| CN (1) | CN102632510B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790B (en) * | 2013-05-27 | 2015-03-25 | 北京航空航天大学 | Quick connecting device with changeable rigidity |
| CN104212963A (en) * | 2014-09-17 | 2014-12-17 | 平湖市当湖街道飞天人机械图文设计服务部 | Industrial sewing machine oil pump head connecting piece and heat treatment technology thereof |
| CN105299002B (en) * | 2015-10-12 | 2017-10-27 | 北京可以科技有限公司 | A kind of revolving joint |
| CN109950760B (en) * | 2019-03-19 | 2020-10-23 | 苏州幕特克自动化设备有限公司 | Automatic formula car charging plug is inhaled to magnetism of butt joint |
| CN109949949A (en) * | 2019-03-28 | 2019-06-28 | 中国工程物理研究院激光聚变研究中心 | A kind of self-locking column chamber and its application method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6084373A (en) * | 1997-07-01 | 2000-07-04 | Engineering Services Inc. | Reconfigurable modular joint and robots produced therefrom |
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| CN101670586A (en) * | 2009-10-19 | 2010-03-17 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN102059709A (en) * | 2010-12-15 | 2011-05-18 | 上海交通大学 | Mechanical butting device for robots |
-
2012
- 2012-04-01 CN CN201210096404.6A patent/CN102632510B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6084373A (en) * | 1997-07-01 | 2000-07-04 | Engineering Services Inc. | Reconfigurable modular joint and robots produced therefrom |
| US6568869B1 (en) * | 1999-11-09 | 2003-05-27 | Agency Of Industrial Science & Technology | Three dimensional universal unit for movable structure |
| CN101670586A (en) * | 2009-10-19 | 2010-03-17 | 上海交通大学 | Butt joint mechanism for self-reconstruction modular robot based on pin-shaft wedging |
| CN102059709A (en) * | 2010-12-15 | 2011-05-18 | 上海交通大学 | Mechanical butting device for robots |
Non-Patent Citations (4)
| Title |
|---|
| 一种新型模块化可重组机器人的设计与研究;马建军等;《制造业自动化》;20040930;第26卷(第9期);第33-35页 * |
| 一种新的自组装模块化群体机器人——对接机构设计与自组装控制;魏洪兴;《机器人》;20100930;第32卷(第5期);第614-619页 * |
| 马建军等.一种新型模块化可重组机器人的设计与研究.《制造业自动化》.2004,第26卷(第9期), * |
| 魏洪兴.一种新的自组装模块化群体机器人——对接机构设计与自组装控制.《机器人》.2010,第32卷(第5期), * |
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| Publication number | Publication date |
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| CN102632510A (en) | 2012-08-15 |
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