CN102632510A - Automatic connecting element - Google Patents
Automatic connecting element Download PDFInfo
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- CN102632510A CN102632510A CN2012100964046A CN201210096404A CN102632510A CN 102632510 A CN102632510 A CN 102632510A CN 2012100964046 A CN2012100964046 A CN 2012100964046A CN 201210096404 A CN201210096404 A CN 201210096404A CN 102632510 A CN102632510 A CN 102632510A
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- circuit cylinder
- hollow circuit
- taper seat
- cylinder
- hollow
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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 the modularization robot technical field, be specifically related to a kind of automated attachment, be specially the device that a kind of automatic butt and stabilizing mechanical connect.
Background technology
The development of Robotics makes the ability of robot improve constantly; The field of robot application and scope be constantly expansion; People hope that robot can accomplish complicated more task, and through it is programmed again, robot can accomplish many various tasks at an easy rate.Yet the scope that robot can finish the work receives the restriction of himself frame for movement, for given task, can select the optimum structure of robot according to mission requirements.、
And the reconstruct robot will realize that unmanned butt joint has just required Automatic Link Establishment to make robot can under unmanned condition, realize butt joint automatically under specific environment.
Summary of the invention
To the problem that exists in the prior art, the present invention proposes a kind of automated attachment, is used to realize the mutual butt joint of two intermodules, and this automated attachment comprises two parts, is respectively top socket snap ring and bottom bullet pin pedestal.
Described top socket snap ring comprises two hollow cylindrical structures of coaxial in order up and down connection; The internal face of last hollow circuit cylinder A is a taper seat; The internal face taper seat of the described hollow circuit cylinder A of going up is the taper seat that downward hollow circuit cylinder B direction is shunk; The internal face of following hollow circuit cylinder B is a taper seat, the taper seat that this taper seat shrinks for the hollow circuit cylinder A direction that makes progress, and the angle between this taper seat bus and the central axis is β;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component; Pedestal comprises the last hollow cone C and following hollow circuit cylinder D of coaxial connection in order; The internal diameter of last hollow cone C equates with the internal diameter of following hollow circuit cylinder D; Through hole more than three is set on the sidewall of last hollow cone C, is used for mounting center bullet pin.The inwall of following hollow circuit cylinder D is a helicitic texture, and down the bottom of hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E, and following 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; Top coaxial circular cone F (this taper seat bus and its wire clamp angle, center are ζ) and the cylinder G two parts of one up and down that are divided into, circular cone F outer surface is a smooth surface, cylinder G outer surface is an external threaded surface; The below of cylinder G is coaxially connected with motor; And Motor Shaft and top circumferentially fixing, motor component is connected in the female thread structure of hollow circuit cylinder E and following hollow circuit cylinder D, under motor-driven through the external screw thread of cylinder G; Cylinder G is advanced in the internal thread of following hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along the central axis axially-movable; Center bullet pin is the column structure that two ends are taper seat; The angle of one of which 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 last hollow circuit cylinder A; Make center bullet pin be arranged in the through hole of hollow cone C sidewall, center bullet pin moves in the through hole of last hollow cone C under motor-driven top effect;
The described hollow cone C surface of going up is provided with the conduction slideway, and the surface of following hollow circuit cylinder B is provided with spring contact, contacts with the stable of spring contact through the conduction slideway, realizes that electromagnetism 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 bigger, has robust property.Under the situation of axial force distribution, even exist mismatch error also can successfully connect.
2, the present invention proposes a kind of automated attachment, can be electrically connected effectively, and adopting cleverly, slideway transmits the control 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 usually connects from the employed electromagnetism that is dynamically connected, 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 assembly unit.
Description of drawings
Fig. 1: the present invention proposes a kind of structural representation of automated attachment;
Fig. 2: the structural representation when the present invention proposes a kind of automated attachment and do not have electric machine structure;
Fig. 3: the space structure sketch map 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 among the present invention;
Fig. 9: motor cabinet structural representation among the present invention;
Figure 10: the center bullet latch structure sketch map of middle and lower part of the present invention bullet pin pedestal.
Among the figure: 1-top socket snap ring; 2-bottom bullet pin pedestal; The last hollow circuit cylinder A of 3-;
Hollow circuit cylinder B under the 4-; 5-center bullet pin; The 6-pedestal;
The 7-motor component; The last hollow cone C of 8-; Hollow circuit cylinder D under the 9-;
10-is top; The 11-motor; 12-circular cone F;
13-cylinder G; 14-hollow circuit cylinder E; The 15-motor cabinet.
The specific embodiment
To combine accompanying drawing that the present invention is elaborated below:
The present invention proposes a kind of automated attachment, and is as depicted in figs. 1 and 2, comprises top socket snap ring 1 and bottom bullet pin pedestal 2; Like Fig. 3, shown in Figure 4; Described top socket snap ring 1 comprises two hollow cylindrical structures of coaxial in order up and down connection; The external diameter of last hollow circuit cylinder A3 is less than the external diameter of following hollow circuit cylinder B4, and the edge of following hollow circuit cylinder B4 connects through screw and the outside connector that needs be connected.The internal face of last hollow circuit cylinder A3 is a taper seat, and this taper seat is the taper seat that downward hollow circuit cylinder B4 direction is shunk, and is as shown in Figure 5; And the angle between taper seat bus and the central axis is α; α＞45 °, the internal face of following hollow circuit cylinder B4 is taper seat, and is as shown in Figure 5; The taper seat that this taper seat shrinks for the hollow circuit cylinder A3 direction that makes progress, the angle between this taper seat bus and the 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, and pedestal 6 comprises the last hollow cone C8 and following hollow circuit cylinder D9 of coaxial connection in order, and the internal diameter of last hollow cone C8 equates with the internal diameter of following hollow circuit cylinder D9; The bottom surface external diameter of last hollow cone C8 is less than the bottom surface external diameter of following hollow circuit cylinder D9; And the bottom surface external diameter of following hollow circuit cylinder D9 is greater than the following hollow circuit cylinder B4 bottom surface internal diameter of top socket snap ring 1, and goes up the taper seat bus of hollow cone C3 and the angle of central axis is γ, is preferably γ=β; Through hole more than three is set on the sidewall of last hollow cone C8, is used for mounting center bullet pin 5.The inwall of following hollow circuit cylinder D9 is a helicitic texture; And the bottom of following hollow circuit cylinder D9 is coaxially connected with internal thread hollow circuit cylinder E14, and following hollow circuit cylinder D9 and internal thread hollow circuit cylinder E14 are internally connected with motor component 7, this motor component 7 comprise top 10 with motor 11 two parts; As shown in Figure 7; Top 10 are divided into coaxial circular cone F12 and cylinder G13 two parts of one up and down, and circular cone F12 outer surface is a smooth surface, and the taper seat bus of circular cone and the angle of its center line are ζ; Cylinder G13 outer surface is an external threaded surface; The below of cylinder G13 is coaxially connected with motor 11, and motor 11 shafts and top 10 are circumferentially fixing, and motor component is connected in the female thread structure of hollow circuit cylinder E14 and following hollow circuit cylinder D9 through the external screw thread of cylinder G13.Under motor 11 drives, cylinder G13 is advanced in the internal thread of following hollow circuit cylinder D9 and hollow circuit cylinder E14, and then drive top 10 along the central axis axially-movable.Motor 11 is fixed in the bottom of hollow circuit cylinder D9 down through motor cabinet 15, like Fig. 8 and shown in Figure 9, motor cabinet 15 is fixedly connected with pedestal.Shown in figure 10, center bullet pin 5 is the column structure of taper seat for two ends, and the angle of one of which 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 last hollow circuit cylinder A, and 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, and center bullet pin 5 moves in the through hole of last hollow cone C8 under top 10 effects that motor 11 drives.Motor 11 drives top 10 axially-movables of screw thread, promotes center bullet pin 5 and ejects, and center bullet pin 5 cooperates with the internal conical surface of last hollow circuit cylinder B4, with top socket snap ring 1 and bottom bullet pin pedestal 2 chuckings.
The described hollow cone C surface of going up is provided with the conduction slideway, and the surface of following hollow circuit cylinder B4 is provided with spring contact, contacts with the stable of spring contact through the conduction slideway, connects thereby carry out effective electromagnetism.When top socket snap ring 1 with after bottom bullet pin pedestal 2 is connected; The bullet pin auto lock of automated attachment connects; And conduction slideway and spring contact are communicated with; Make the active connector that is connected with top socket snap ring 1, bottom bullet pin pedestal 2 respectively, passive connector realize being electrically connected, when the active connector, when passive connector need separate, through the 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 two hollow cylindrical structures of coaxial in order up and down connection; The internal face of last hollow circuit cylinder A is a taper seat; The internal face taper seat of the described hollow circuit cylinder A of going up is the taper seat that downward hollow circuit cylinder B direction is shunk; The internal face of following hollow circuit cylinder B is a taper seat, the taper seat that this taper seat shrinks for the hollow circuit cylinder A direction that makes progress, and the angle between this taper seat bus and the central axis is β;
Described bottom bullet pin pedestal comprises center bullet pin, pedestal and motor component, and pedestal comprises the last hollow cone C and following hollow circuit cylinder D of coaxial connection in order, and the internal diameter of last hollow cone C equates with the internal diameter of following hollow circuit cylinder D; Through hole more than three is set on the sidewall of last hollow cone C, is used for mounting center bullet pin, the inwall of following hollow circuit cylinder D is a helicitic texture; And the bottom of following hollow circuit cylinder D is coaxially connected with internal thread hollow circuit cylinder E; Following hollow circuit cylinder D and internal thread hollow circuit cylinder E are internally connected with motor component, and this motor component comprises top and motor two parts, top coaxial circular cone F and the cylinder G two parts of one up and down that are divided into; Circular cone F outer surface is a smooth surface; Cylinder G outer surface is an external threaded surface, and the below of cylinder G is coaxially connected with motor, and Motor Shaft and top circumferentially fixing; Motor component is connected in the female thread structure of hollow circuit cylinder E and following hollow circuit cylinder D through the external screw thread of cylinder G; Under motor-driven, cylinder G is advanced in the internal thread of following hollow circuit cylinder D and hollow circuit cylinder E, and then drive top along the central axis axially-movable; Center bullet pin is the column structure that two ends are taper seat; The angle of one of which 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 last 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 moves in the through hole of last hollow cone C under motor-driven top effect;
The described hollow cone C surface of going up is provided with the conduction slideway, and the surface of following hollow circuit cylinder B is provided with spring contact, contacts with the stable of spring contact through the conduction slideway, realizes that electromagnetism connects.
2. a kind of automated attachment according to claim 1 is characterized in that: described motor is fixed in the bottom of hollow circuit cylinder D down through 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 described external diameter of going up the external diameter of hollow circuit cylinder A less than following hollow circuit cylinder B, the edge of following hollow circuit cylinder B is connected with exterior part through screw.
4. a kind of automated attachment according to claim 1 is characterized in that: described internal face taper seat bus and the angle between the central axis of going up hollow circuit cylinder A is α, α＞45 °.
5. a kind of automated attachment according to claim 1; It is characterized in that: the bottom surface external diameter of the described hollow cone C of going up is less than the bottom surface external diameter of following hollow circuit cylinder D; And the bottom surface external diameter of following hollow circuit cylinder D is greater than the following hollow circuit cylinder B bottom surface internal diameter of top socket snap ring; And the taper seat bus of last hollow cone C and the angle of central axis are γ, γ=β.
6. a kind of automated attachment according to claim 1 is characterized in that: described center bullet pin contacts an end with top circular cone F taper seat bus and center line angle δ satisfies δ+ζ=90 °.
7. a kind of automated attachment according to claim 1 is characterized in that: described center bullet pin contacts an end with last hollow circuit cylinder A taper seat bus and center line angle theta satisfies θ+α=90 °.
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 true CN102632510A (en) | 2012-08-15 |
| CN102632510B 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 |
Country Status (1)
| Country | Link |
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| CN (1) | CN102632510B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 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 |
| CN105299002A (en) * | 2015-10-12 | 2016-02-03 | 北京可以科技有限公司 | Rotary connecting device |
| CN109950760A (en) * | 2019-03-19 | 2019-06-28 | 宁波市鄞州特尔斐电子有限公司 | A kind of magnetic-type automobile charging plug of automatic butt |
| 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 (2)
| Title |
|---|
| 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》 * |
| 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》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103286790A (en) * | 2013-05-27 | 2013-09-11 | 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 |
| CN105299002A (en) * | 2015-10-12 | 2016-02-03 | 北京可以科技有限公司 | Rotary connecting device |
| CN109950760A (en) * | 2019-03-19 | 2019-06-28 | 宁波市鄞州特尔斐电子有限公司 | A kind of magnetic-type automobile charging plug of automatic butt |
| 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 |
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| Publication number | Publication date |
|---|---|
| CN102632510B (en) | 2014-11-05 |
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Granted publication date: 20141105 Termination date: 20150401 |
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