CN107284698A - A kind of cone-rod-type docking mechanism - Google Patents
A kind of cone-rod-type docking mechanism Download PDFInfo
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- CN107284698A CN107284698A CN201710564069.0A CN201710564069A CN107284698A CN 107284698 A CN107284698 A CN 107284698A CN 201710564069 A CN201710564069 A CN 201710564069A CN 107284698 A CN107284698 A CN 107284698A
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 52
- 230000007246 mechanism Effects 0.000 title claims abstract description 28
- 230000013011 mating Effects 0.000 claims abstract description 28
- 230000009471 action Effects 0.000 claims abstract description 6
- 238000001514 detection method Methods 0.000 claims 2
- 230000000007 visual effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 14
- 230000008569 process Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 7
- 241000237858 Gastropoda Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 239000003638 chemical reducing agent Substances 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/646—Docking or rendezvous systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to a kind of cone-rod-type docking mechanism, including active mating module and passive to connection module.The passive self-locking action for completing dead bolt by back-moving spring to connection module.The active mating module includes to connection module, unlocked state and locking module again, three modules amount to four individual edge docking axis circumferentially, satisfaction connection module and unlocked state are individually fixed in above and below both sides and two locking modules are individually fixed in the left and right sides, while trapezoidal screw, solution lock collar expansion link and sliding straight guide rail are empty set structure.Whole docking mechanism make use of the low friction characteristic of higher pair contact and the reset response of spring, rapid abutting joint and the purpose of quick release are reached, and trapezoidal screw, worm and gear, rack-and-pinion are used as primary drive part, therefore, remain cone-rod-type docking mechanism institute it is functional on the basis of, its overall structure miniature compact is realized, simplify docking operation performs action.
Description
Technical field
Patent of the present invention is related to a kind of cone-rod-type docking mechanism, is mainly used in the combination pair of various mobile robot
Connect, belong to mobile robot docking technique field.
Background technology
At present, the docking mechanism used in Aero-Space mainly has four kinds：" ring-cone " formula, " cone-bar " formula, " allosome is same
Structure periphery " formula and " handgrip-collision lock " formula.As mobile robot development is increasingly ripe, to realize that multimachine is assisted under complex environment
With to complete increasingly complicated actual task, docking mechanism as Self-Reconfigurable Module mobile-robot system core quilt
It is widely studied.Wherein, " cone-bar " formula docking mechanism due to mechanism it is simple, total quality is smaller, the requirement to initial attitude compared with
Low, tolerance is big during docking, therefore starts to be widely used in small-sized spacecraft and the docking system of mobile robot.Due to moving machine
Device people still suffers from very big difference relative to the volume of small-sized spacecraft, it is therefore desirable to use " cone-bar " formula docking machine in spacecraft
Improved on the basis of structure, minimize its overall structure, and simplify docking action, to adapt to the mobile robot of small size
Carrying demand.
The content of the invention
There is provided a kind of compact mechanical structure, docking tolerance for the problem of present invention is directed to existing mobile robot docking technique
Greatly, simple " cone-bar " formula docking mechanism of execution action.
" cone-bar " the formula docking mechanism of the present invention is realized using following technical scheme：
" cone-bar " formula docking mechanism of the present invention includes：Active mating module is with passive to connection module.
It is described that passively connection module is included：Passively to connection module fixed plate, receiving cone, dead bolt, stop nut, spacing spiral shell
Mother, rail plate, back-moving spring, it is characterised in that：Dead bolt rear portion is inserted in rail plate through back-moving spring, passes through spacing spiral shell
Length of the pretightning force and dead bolt of mother's fine setting spring in cone is received, by stop nut formation pairs of anti-loose nut structure, is constituted
The lock body of Self-resetting, two lock bodies are symmetrically arranged in the rear side for receiving cone, and by screw bolt and nut with passively docking mould
Block fixed plate, receiving cone are fixed.
The active mating module is included to connection module, unlocked state, locking module.
It is described that connection module is included：It is oriented to bulb, guide cone, active mating module fixed plate, mounting flange, spacing branch
Frame, feed screw nut, driven gear, stress support, trapezoidal screw, docking motor, driving gear, it is characterised in that：It is driven
Gear is fixed by screw bolt and nut and feed screw nut and constitutes screw pair with trapezoidal screw, and trapezoidal screw two ends are worn respectively
Limiting bracket and stress support are crossed, docking motor is fixed on stress support by screw, and driving gear passes through clamp screw
Nail is connected in docking driving motor output shaft and composition single cylindrical gear reducer is engaged with driven gear, and stress support leads to
Cross screw bolt and nut and be fixed on mounting flange top, mounting flange is fixed in active mating module fixed plate by screw, ladder
Shape leading screw front end passes through guide cone, active mating module fixed plate, mounting flange, is oriented to bulb and is connected through a screw thread and is fixed on ladder
Shape leading screw front end.
The unlocked state includes：Solve lock collar, guide cone, active mating module fixed plate, mounting flange, unblock driving electricity
Machine, unlocked state fixed support, unblock worm screw, unblock gear, unblock rack, unblock gear shaft, solution lock collar expansion link, slide it is straight
Line guide rail, unblock rack fixed support, unblock worm gear, it is characterised in that：Sliding straight guide rail passes through screw and guide cone, active
Connection module fixed plate is fixed, unlocked state fixed support is fixed on mounting flange bottom, unblock driving by screw bolt and nut
Motor is fixed on unlocked state fixed support by screw, and it is defeated that unblock worm screw is connected in unblock motor by holding screw
On shaft, unblock gear shaft one end constitutes revolute pair through the hole on floor in the middle part of unlocked state fixed support, unblock gear and
Unblock worm gear is fixed on unblock gear shaft two ends by holding screw respectively, and unblock rack is fixed on unblock rack by screw to be consolidated
On fixed rack, solution lock collar expansion link constitutes prismatic pair through sliding straight guide rail, and solution lock collar and unblock rack fixed support pass through
The screw thread of solution lock collar expansion link front and back end is respectively fixedly connected therewith, now unlocks gear and unblock rack, unblock worm screw and unblock snail
Engagement constitutes two-stage gear-worm reducer to wheel respectively.
The locking module includes：Guide cone, active mating module fixed plate, mounting flange, active lock gear shaft, from
Dynamic locking teeth wheel shaft, stay, locking motor, locking worm screw, locking worm gear, locking motor fixed support, locking
Motor pad, driven lock gear, active lock gear, it is characterised in that：Locking motor fixed support passes through spiral shell
Nail is fixed in active mating module fixed plate, and locking motor, locking motor pad are fixed by screw bolt and nut
On locking motor fixed support, locking worm screw is fixed in locking driving motor output shaft by holding screw, actively
The hole that locking teeth wheel shaft, driven lock gear axle front end are each passed through on mounting flange constitutes revolute pair, stay, active lock
Gear is fixed on active lock gear shaft front end by holding screw respectively, and locking worm gear is fixed on by holding screw actively to be locked
Fixed gear shaft rear end, stay, driven lock gear are fixed on driven lock gear axle front end by holding screw respectively, now
Locking worm screw and locking worm gear, driven lock gear and active lock gear engage composition two-stage gear-worm speed-down respectively
Device.
Further, because worm screw deploys the worm and gear that helical angle is less than worm gear and unblock worm screw contact angle of friction, because
This its there is self-locking performance.
Further, due to trapezoidal screw and the self-locking performance of worm and gear, it is ensured that the overall stability of mechanism and docking
The certainty of action.
Optimization, to connection module, unlocked state, locking module, three modules amount to 4 individuals along the circumferential cloth of docking axis
Be placed on rear side of mounting flange, satisfaction connection module and unlocked state are individually fixed in above and below both sides and two locking modules are solid respectively
Due to the left and right sides, while trapezoidal screw, solution lock collar expansion link and sliding straight guide rail are empty set structure, it is ensured that each mechanism is moved
The overall quality balance of the independence and mechanism of work.
Brief description of the drawings
Fig. 1 is the overall composition schematic diagram of docking mechanism of the invention；
Fig. 2 a and Fig. 2 b are passive docking module mechanism composition schematic diagram of the invention；
Fig. 3 a and Fig. 3 b are active mating module mechanism composition schematic diagram of the invention；
Fig. 4 a, Fig. 4 b and Fig. 4 c are docking module mechanism composition schematic diagram of the invention；
Fig. 5 a and Fig. 5 b are unlocked state mechanism composition schematic diagram of the invention；
Fig. 6 a, Fig. 6 b and Fig. 6 c are locking module mechanism composition schematic diagram of the invention；
Fig. 7 is the peace under the trapezoidal screw of the present invention, solution lock collar expansion link, sliding straight guide rail and guide cone receiving state
Holding position relation schematic diagram；
Fig. 8 is docking operation principle schematic of the invention；
Fig. 9 is releasing process principle schematic of the invention；
Lockings and unlocking process principle schematic of Figure 10 a and Figure 10 b for the present invention.
In figure：A, active mating module；It is B, passive to connection module；Ith, to connection module；IIth, unlocked state；IIIth, mould is locked
Block；1st, it is passive to connection module fixed plate；2nd, cone is received；3rd, dead bolt；4th, stop nut；5th, stop nut；6th, rail plate；7th, it is multiple
Position spring；8th, it is oriented to bulb；9th, guide cone；10th, active mating module fixed plate；11st, mounting flange；12nd, limiting bracket；13、
Feed screw nut；14th, driven gear；15th, stress support；16th, trapezoidal screw；17th, motor is docked；18th, driving gear；19、
Solve lock collar；20th, motor is unlocked；21st, unlocked state fixed support；22nd, worm screw is unlocked；23rd, gear is unlocked；24th, tooth is unlocked
Bar；25th, gear shaft is unlocked；26th, lock collar expansion link is solved；27th, sliding straight guide rail；28th, rack fixed support is unlocked；29th, unlock
Worm gear；30th, active lock gear shaft；31st, driven lock gear axle；32nd, stay；33rd, motor is locked；34th, snail is locked
Bar；35th, worm gear is locked；36th, motor fixed support is locked；37th, motor pad is locked；38th, driven lock gear；
39th, active lock gear.
Embodiment
1st, docking operation
Docking motor 17 is rotated, and the driving gear 18 that drive motor output shaft end is fixed is rotated, and drives driven tooth
Wheel 14 and the feed screw nut 13 fixed therewith by screw-nut are rotated, and trapezoidal screw 16 is extend out to predetermined docking length.Connect
, active mating modules A with it is passive close to each other to connection module B, be oriented to bulb 8 after receiving the conical surface of cone 2 to lead to be slid downwardly into
In portion's cylinder accommodation space until with the front side contact of incline plane of dead bolt 3.Now, due to active mating modules A and passively to connection module B
Still adjacent to each other, and contacted due to being oriented between bulb 8 and the inclined-plane of dead bolt 3 for higher pair, therefore dead bolt 3 contracts under force
Return, back-moving spring 7 is in compressive state, active mating modules A continues close with passive to connection module B.Moved when being oriented to bulb 8
To when receiving 2 cylinder accommodation space top of cone, it is oriented to bulb 8 and is disengaged with dead bolt 3, dead bolt 3 is made in the elastic force of back-moving spring 7
Resetted with lower.Then, docking motor 17 is rotated backward, and trapezoidal screw 16 is retracted to the guiding rear part edge of bulb 8 and dead bolt 3
Rearward plane is in close contact, and now receives cone 2 and the conical surface of guide cone 9 to overlap, and limits active mating modules A and passive docking mould
The one-movement-freedom-degree in tri- directions of block B and pitching and the deflection free degree, now docking operation terminate.
2nd, locking process
After docking operation terminates, locking motor 33 is rotated, 34 turns of the locking worm screw that drive motor output end is fixed
It is dynamic, drive the locking worm gear 35 being engaged with to rotate.Because locking worm gear 35 and active lock gear 39 pass through holding screw
The both sides of active lock gear shaft 30 are fixed on, therefore active lock gear 39 is rotated, and drive the driven locking being engaged with
Gear 38 is rotated.Again due to active lock gear 39 and the gear that driven lock gear 38 is number of teeth modulus all same, therefore two
Person is rotated backward as constant speed, namely driven lock gear axle 31 is rotated backward with active lock gear shaft 30 as constant speed, then is driven
The reverse constant velocity rotation of stay 32 on front side of two axles is individually fixed in predetermined angle, makes stay 32 relative to the outside of steering
Face is with receiving 2 inside grooves upper and lower sides of cone to contact, and the active mating modules A that limitation is only remained is with passive to the relative of connection module B
Rotational freedom, now locking process terminate.
3rd, unlocking process
The process unlocked is the inverse process of locking process, that is, locks motor 33 and rotate backward, drive stay
32 reversion predetermined angles, return to initial position, now unlocking process terminates.
4th, releasing process
After unlocking process terminates, unblock motor 20 is rotated, the unblock worm screw that drive motor output end is fixed
22 rotate, and drive the unblock worm gear 29 being engaged with to rotate.Because unblock worm gear 29 and unblock gear 23 pass through holding screw
The both sides of unblock gear shaft 25 are fixed on, therefore unblock gear 23 is rotated, and drive the unblock rack 24 being engaged with to make straight line
Motion, drives the solution lock collar 19 being fixed with one by screw thread, solution lock collar expansion link 26, unblock rack fixed support 28 sliding
Leading for line slideway 27 is extended downwardly from, until the anterior conical surface and the front side contact of incline plane of dead bolt 3 of solution lock collar 19.Now, due to solution
Lock collar 19 is still being stretched out, and due to being contacted between solution lock collar 19 and the inclined-plane of dead bolt 3 for higher pair, therefore dead bolt 3 under force
Retract, back-moving spring 7 is in compressive state, solution lock collar 19 continues to extend out to be overlapped with being oriented to the trailing flank of bulb 8.Due to solution lock collar
The cylinder changeover portion at 19 middle parts limits the ejection of dead bolt 3, now controls active mating modules A to leave passive to connection module B, then
After the solution cylinder changeover portion of lock collar 19, the preceding surface of dead bolt 3 is with being oriented to the sphere-contact of bulb 8, with modules A and module B
Gradually resetted under relative displacement and the reset response of back-moving spring 7, now, releasing process terminates.
Above description is explanation of the invention, is not the restriction to invention, limited range of the present invention is referring to right
It is required that, in the case of the basic structure without prejudice to the present invention, the present invention can make any type of modification.
Claims (6)
1. a kind of cone-rod-type docking mechanism, it is characterised in that：Including active mating module and passively to connection module.
2. a kind of cone-rod-type docking mechanism according to claims 1 is passive to connection module, it is characterised in that：By multiple
Position spring completes the self-locking action of dead bolt.
3. a kind of cone-rod-type docking mechanism active mating module according to claims 1, it is characterised in that：Including right
Connection module, unlocked state, locking module, three modules amount to 4 individuals and prolong docking axis circumferentially in mounting flange rear side.
4. a kind of cone-rod-type docking mechanism according to claims 1, it is characterised in that：Active mating module during docking
With passive docking module axis direction as its docking need to be kept axially substantially uniform with the actual axis direction that docks as possible, due to connecing
Receive cone cone guidance quality, it is allowed to there is certain angular error.
5. a kind of cone-rod-type docking mechanism according to claims 1, it is characterised in that：Control system need to arrange correspondence
The need for the detection sensor of each execution parts is to meet operation precision.
6. a kind of cone-rod-type docking mechanism according to claims 1, it is characterised in that：Active mating module and passive
The visual actual control system situation of connection module is respectively arranged on active mating individual and passive docking individual.If docking detection
Carried with sensor by active mating individual, then install and pacify on active mating module, passive docking individual on active mating individual
Dress is passive to connection module；Conversely, then installing passive to connection module on active mating individual, install actively right on passive docking individual
Connection module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710564069.0A CN107284698A (en) | 2017-07-12 | 2017-07-12 | A kind of cone-rod-type docking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710564069.0A CN107284698A (en) | 2017-07-12 | 2017-07-12 | A kind of cone-rod-type docking mechanism |
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| Publication Number | Publication Date |
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| CN107284698A true CN107284698A (en) | 2017-10-24 |
Family
ID=60100589
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710564069.0A Withdrawn CN107284698A (en) | 2017-07-12 | 2017-07-12 | A kind of cone-rod-type docking mechanism |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107776917A (en) * | 2017-11-23 | 2018-03-09 | 水岩智能科技（宁波）有限公司 | Docking system |
| CN108502154A (en) * | 2018-03-21 | 2018-09-07 | 北京航空航天大学 | A kind of docking mechanism detached with Multifeet walking robot zoarium for more rotor robots |
| CN108747972A (en) * | 2018-06-13 | 2018-11-06 | 黄月涛 | A kind of tool extension rod device |
| CN109050991A (en) * | 2018-09-17 | 2018-12-21 | 哈尔滨工业大学 | Spacecraft radial locking-type capture lock and its working method |
| CN109398767A (en) * | 2018-12-14 | 2019-03-01 | 哈尔滨工业大学 | A kind of electromagnetism docking facilities and method based on high-speed motor |
| WO2019100297A1 (en) * | 2017-11-23 | 2019-05-31 | 水岩智能科技（宁波）有限公司 | Docking system |
| CN110068743A (en) * | 2019-03-25 | 2019-07-30 | 国网山东省电力公司临沂供电公司 | Distribution scheduling intelligent detection device based on voice prompting |
| CN110578617A (en) * | 2019-08-08 | 2019-12-17 | 陕西蓝箭航天技术有限公司 | Liquid rocket pipeline butt joint method and separation method |
| CN110775305A (en) * | 2019-11-11 | 2020-02-11 | 西北工业大学 | Self-locking type plane connecting device of modular docking mechanism |
| CN111516911A (en) * | 2020-04-02 | 2020-08-11 | 北京科技大学 | Small-size space docking mechanism of action chronogenesis decoupling zero |
| CN113184231A (en) * | 2021-05-24 | 2021-07-30 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN114683313A (en) * | 2022-05-06 | 2022-07-01 | 哈尔滨工业大学 | Be applied to interfacing apparatus of modularization self-reconstruction arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5364046A (en) * | 1992-02-24 | 1994-11-15 | Environmental Research Institute Of Michigan | Automatic compliant capture and docking mechanism for spacecraft |
| US20090146011A1 (en) * | 2004-03-18 | 2009-06-11 | Greg Alan Ritter | Docking system |
-
2017
- 2017-07-12 CN CN201710564069.0A patent/CN107284698A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5364046A (en) * | 1992-02-24 | 1994-11-15 | Environmental Research Institute Of Michigan | Automatic compliant capture and docking mechanism for spacecraft |
| US20090146011A1 (en) * | 2004-03-18 | 2009-06-11 | Greg Alan Ritter | Docking system |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019100297A1 (en) * | 2017-11-23 | 2019-05-31 | 水岩智能科技（宁波）有限公司 | Docking system |
| CN107776917A (en) * | 2017-11-23 | 2018-03-09 | 水岩智能科技（宁波）有限公司 | Docking system |
| CN108502154B (en) * | 2018-03-21 | 2020-09-04 | 北京航空航天大学 | Docking mechanism for separating multi-rotor robot from multi-legged walking robot in fit |
| CN108502154A (en) * | 2018-03-21 | 2018-09-07 | 北京航空航天大学 | A kind of docking mechanism detached with Multifeet walking robot zoarium for more rotor robots |
| CN108747972A (en) * | 2018-06-13 | 2018-11-06 | 黄月涛 | A kind of tool extension rod device |
| CN109050991A (en) * | 2018-09-17 | 2018-12-21 | 哈尔滨工业大学 | Spacecraft radial locking-type capture lock and its working method |
| CN109398767A (en) * | 2018-12-14 | 2019-03-01 | 哈尔滨工业大学 | A kind of electromagnetism docking facilities and method based on high-speed motor |
| CN109398767B (en) * | 2018-12-14 | 2021-07-27 | 哈尔滨工业大学 | Electromagnetic docking device and method based on high-speed motor |
| CN110068743A (en) * | 2019-03-25 | 2019-07-30 | 国网山东省电力公司临沂供电公司 | Distribution scheduling intelligent detection device based on voice prompting |
| CN110578617A (en) * | 2019-08-08 | 2019-12-17 | 陕西蓝箭航天技术有限公司 | Liquid rocket pipeline butt joint method and separation method |
| CN110775305A (en) * | 2019-11-11 | 2020-02-11 | 西北工业大学 | Self-locking type plane connecting device of modular docking mechanism |
| CN111516911A (en) * | 2020-04-02 | 2020-08-11 | 北京科技大学 | Small-size space docking mechanism of action chronogenesis decoupling zero |
| CN113184231A (en) * | 2021-05-24 | 2021-07-30 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN113184231B (en) * | 2021-05-24 | 2022-08-05 | 北京科技大学 | Small-size space docking mechanism based on profile direction three-jaw locking action time sequence |
| CN114683313A (en) * | 2022-05-06 | 2022-07-01 | 哈尔滨工业大学 | Be applied to interfacing apparatus of modularization self-reconstruction arm |
| CN114683313B (en) * | 2022-05-06 | 2022-09-09 | 哈尔滨工业大学 | Be applied to interfacing apparatus of modularization self-reconstruction arm |
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Application publication date: 20171024 |
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| WW01 | Invention patent application withdrawn after publication |