CN102632510B - Automatic connecting element - Google Patents

Abstract

The present invention provides an automatic connection member is of modular robotics, and in particular to an automatic docking device connected mechanically stable. The automatic connection member includes an upper collar and a lower elastic sheathing pin base; upper socket collar comprises two vertical coaxial connector sequentially hollow cylindrical configuration; a lower elastic pin includes a central elastic pin base, the base member and the motor ; pin at the top center of elastic action of a motor-driven, motion of the through hole of the hollow base of the cone C. Connecting member of the present invention may allow the error with greater robustness characteristics. In the case of an axial force, even if there is an error it may be connected with success. Electrical connection and can be effectively used in contact with the slide spring contacts and the power transmission control electrical signal transmission, reliable connection, but do not have an electromagnetic connection Shear force-disturbance.

Description

An automatic connection

FIELD

[0001] The present invention belongs to the technical field of modular robots, particularly relates to an automatic connector, and particularly to an automatic docking device connected mechanically stable.

Background technique

[0002] development of robot technology allows the robot's ability to continuously improve the field and scope for robotic applications is expanding, people want a robot to complete more complex tasks, by reprogramming them, the robot can easily be done in many different task. However, a robot can be limited by the scope of the task mechanical structure itself, for a given task, the robot can be optimally selected according to the structure of mission requirements.

[0003] reconstructed robot in certain circumstances to achieve docking unmanned automatic connection device requires that the robot can automatically under docking unmanned conditions.

SUMMARY

[0004] For the problems in the prior art, the present invention provides an automatic connection, for realizing the mutual abutment between the two modules, which automatically connecting member comprises two parts, namely an upper and a lower elastic sheathing collar pin base.

An upper socket Card [0005] The ring comprises two vertical coaxial connector sequentially hollow cylindrical configuration, the inner wall surface of the hollow cylinder A is a conical surface, the conical surface of the inner wall surface of the hollow cylinder A is down B contractible hollow cylindrical conical surface, the inner wall surface of the hollow cylinder B is a conical surface, the conical surface of the hollow cylinder up to the contracting direction a conical surface, the angle between the generatrix of the conical surface of the central axis beta];

A lower elastic pin base [0006] The projectile comprises a central pin, and the motor base member, the base including a hollow cylindrical lower hollow cone C and D are sequentially connected coaxially, the inner diameter of the hollow cone with the lower hollow C D is equal to the inner cylinder, hollow cone the upper side wall C provided three or more through holes for mounting the central elastic pin. Coaxial inner bottom wall of the hollow cylinder is screw structure D, and the lower hollow cylinder is connected to a D Epsilon hollow cylinder, the interior of the inner hollow cylinder threaded internally threaded hollow cylinder D and E is connected to a motor member, which comprises a top member and a motor motor two parts, the top is divided into one coaxial conical F (surface generatrix of the cone angle of its center line [zeta]) and two G cylindrical portion, the conical outer surface of a smooth surface F, G cylindrical outer surface of the outer threaded surface, G coaxial cylinder is connected below the motor, and the motor output shaft and the fixed top circumference, the motor is connected to a hollow cylindrical member internally threaded structure at E and D of the hollow cylinder by means of an externally threaded cylinder G, in the motor driving the G inner threaded cylindrical lower hollow cylinder a hollow cylinder D and E of travel, so as to drive the top axial movement along the central axis; elastic center pin at both ends of the cylindrical configuration are conical surface, the angle of the conical surface at one end thereof with the top of the cone F mating conical surface, the angle of the conical surface and the other end of the inner conical surface on the angle a of the hollow cylinder cooperates, the central elastic pin through hole located on the side walls of the hollow cone C, the center Elastic pin at the top of the motor-driven action, movement in the through hole of the hollow cone C;

[0007] C of the upper surface of the hollow cone chute is provided with a conductive surface of the hollow cylinder B is provided with a spring contact, through the conductive runner stable contact with spring contacts, the electromagnetic connection.

[0008] The present invention has the advantage that:

[0009] 1, the present invention provides an automatic connection, which may allow the fitting error is large, robust characteristics. In the case of an axial force, even if there is an error it may be connected with success.

[0010] 2, the present invention provides an automatic connector, the electrical connection can effectively using ingenious contact with the transfer slide and the spring contact electrical power transmission control

[0011] 3, the present invention provides an automatic connector, the connection is a mechanical connection instead of the usual electromagnetic automatic connection used by the connection, the connection is more reliable, but also connected to the electromagnetic disturbance shear force do not have

[0012] 4, the present invention provides an automatic connection, automatic separation, enabling self-assembly machine.

BRIEF DESCRIPTION

[0013] Figure 1: a schematic view of the structure of the present invention provides an automatic connector;

[0014] FIG. 2: a schematic view of the structure of the present invention provides a time-piece is not automatic connection of the electric machinery structure;

[0015] FIG 3: a schematic view of the present invention, the upper socket of the spatial structure of the collar;

[0016] Figure 4: a front view of the present invention, the upper socket of the snap ring;

[0017] FIG. 5: a sectional view of the present invention, the upper socket of the snap ring;

[0018] FIG 6 is a structure of the present invention, the lower portion of the elastic pin is not intended to be the base of the base;

[0019] Figure 7: a schematic view of the motor structure of the present invention means a lower elastic pin base;

[0020] FIG. 8: a schematic view of the motor base structure of the present invention;

[0021] Figure 9: a schematic view of the motor base structure of the present invention;

[0022] FIG. 10: a schematic view of the structure of a lower elastic elastic pin center pin of the base of the present invention.

[0023] Reference Numerals 1: socket upper collar; 2- elastic pin lower portion of the base; a hollow cylinder A 3-;

[0024] The hollow cylinder of 4- B; 5- elastic center pin; 6- base;

[0025] 7- motor parts; 8- hollow cone C; 9- lower hollow cylinder D;

[0026] 10- top; 11- motor; F. 12- cone;

[0027] 13- cylindrical G; 14- hollow cylinder E; 15- motor base.

Detailed ways

[0028] The following with reference to the present invention in detail:

[0029] The present invention provides an automatic coupling, as shown in FIGS. 1 and 2, includes an upper socket and a lower elastic collar pin I base 2; FIG. 3, FIG. 4, the upper sleeve I then comprises upper and lower snap ring sequentially connecting two coaxial hollow cylindrical configuration, the outer diameter of the hollow cylinder is smaller than the outer diameter of the A3 hollow cylinder and B4, B4 of the lower edge of the hollow cylinder by a screw to be connected with an external connector is connected. A3 on the inner wall surface of the hollow cylinder is a conical surface, the conical surface is a downwardly hollow cylinder contracting direction conical surface B4, 5, and the angle between the generatrix of the conical surface of the central axis α, α> 45 °, the inner wall surface of the hollow cylinder Β4 conical surface, as shown in FIG. 5, the conical surface of the hollow cylinder up contracting direction A3 conical surface, the angle between the generatrix of the conical surface central axis β.

As shown in [0030] FIG. 6, the lower elastic pin base 2 includes a central elastic pin 5, the base member 6 and the motor 7, base 6 comprises a hollow cone C8 sequentially on the coaxial connector and a lower hollow cylinder D9, the inner diameter of the inner diameter C8 lower hollow cylinder with the hollow cone is equal to D9, the outer diameter of the bottom surface of the hollow cone at the bottom surface is smaller than the outer diameter of C8 hollow cylinder D9, the outer diameter of the bottom surface and the upper portion of the hollow cylinder is greater than D9 socket collar the inner diameter of the bottom surface Β4 I hollow cylinder, and the conical surface generatrix of the hollow cone with the center axis C3 of the angle of Y, preferably Υ = β, the upper side wall of the hollow cone CS provided three or more through holes, with elastic pin 5 is mounted in the center. D9 inside wall of the hollow cylinder is screw structure, and the bottom of the hollow cylinder coaxially D9 is connected to an internally threaded hollow cylindrical E14, D9 inside the hollow cylinder and the internal thread of the hollow cylindrical member E14 is connected to the motor 7, the motor member 7 comprises top portion 10 and two motors 11, shown in Figure 7, the top 10 is divided into one coaxial conical portion F12 and two cylindrical G13, F12 conical outer surface a smooth surface, the angle between the conical surface generatrix of the cone with its center line of [zeta], G13 the outer surface of the cylindrical outer threaded surface, coaxial with the lower cylinder G13 is connected to the motor 11, and the motor shaft 11 is fixed to the top 10 weeks, the motor 7 external threaded cylindrical member G13 is connected to the hollow cylinder and through Ε14 a hollow cylindrical structure at the internal thread of D9. Driven by the motor 11, so that the lower hollow cylinder D9 G13 column and an internally threaded hollow cylinder Ε14 of travel, so as to drive the top 10 along the central axis of the axial movement. Motor 11 through the bottom of the hollow cylindrical D9 motor 15 fixed to the lower seat, as shown in FIG. 8 and FIG. 9, the motor holder 15 is fixedly connected with the base. As shown, the center pin 5 to both ends of the shells 10 are cylindrical configuration of the conical surface, the angle which the conical end of the conical surface 10 of the top surface F12 conical fit, the end of the cone angle of the center line of surface generatrix of δ , preferably δ + ζ = 90 °, the center of the other end of the elastic pin 5 and the angle of the conical surface on the inner conical surface cooperating angle a hollow cylinder, the end of the conical surface generatrix angle of [Theta] with the center line, preferably θ + α = 90 °, the central elastic pin 5 located on the sidewall of the through hole C8 hollow cone, the central elastic pin 5 at the top 10 of the drive action of the motor 11, moving the through hole in the hollow cone CS. Motor 11 drives axial movement of the screw top 10, pushing the center pin 5 pop elastic, elastic center pin 5 fitted to the inner conical surface of the hollow cylinder Β4, the upper and lower sheathing elastic snap ring I susceptor 2 the pin chuck.

[0031] C of the upper surface of the hollow cone chute is provided with a conductive surface of the hollow cylinder is provided with a spring contact Β4, so as to perform effective electromagnetic connection with the slide by stabilizing contact with the conductive spring contacts. When the upper and lower sheathing collar elastic pin I connector base 2, the elastic pin automatically connected automatic locking member is connected, and a conductive spring contact and the slide communicates the respectively upper sheathing collar 1, the lower portion active elastic member connecting pin connected to the base 2, electrically connected passive connection member, when the active connections, passive connections need to be separated, the elastic sheathing and the lower collar portion by an electrical signal controlling the active and passive coupling connector the base pin separation.

Claims (7)

An automatic connector, wherein: the collar includes an upper socket and a lower elastic pin base; upper portion of said socket comprises upper and lower collar sequentially connecting two coaxial hollow cylindrical configuration, the hollow cylinder A the inner wall surface of a conical surface, the conical surface of the inner wall surface of the hollow cylinder a hollow cylinder is downwardly conical surface shrinkage direction B, the inner wall surface of the hollow cylinder B is a conical surface, the conical surface of the hollow cylinder up a contracting direction conical surface, the angle between the generatrix of the conical surface and the central axis beta]; lower elastic pin of said base includes a central elastic pin, the base member and the motor, the base of the coaxial connector comprising sequentially and a lower hollow cone C D hollow cylinder, hollow cone the inner diameter of the lower hollow cylinder C and D is equal to three or more through holes provided on the side wall of the hollow cone C, for mounting the elastic center pin, the hollow cylinder coaxial D bottom of the inner wall structure is threaded, and the lower hollow cylinder D is connected to an internally threaded hollow cylindrical Epsilon, inside the hollow cylinder D and E is an internally threaded hollow cylindrical member connected to the motor, the motor part comprises a motor and two top portion ,top Integrated into an outer vertical cylindrical coaxial conical F and G of two parts, a conical surface is a smooth surface F, G outer surface of the cylindrical outer threaded surface, coaxial with the lower cylinder G is connected to the motor, and the motor output shaft and the circumferential top fixing the motor member by an externally threaded cylindrical G is connected to the hollow cylinder E and the internal thread formation at the hollow cylinder D, at the motor drive, the inner threaded cylindrical G lower hollow cylinder D and a hollow cylinder E of travel, in order to stimulate top axial movement along the center axis; elastic center pin is cylindrical configuration both ends of the conical surface, the angle of the conical surface with the top end of the conical surface with the conical F, the angle between the end of the cone surface generatrix of the center line is S , the angle of the conical surface and the other end of the inner conical surface on an angle a of the hollow cylinder cooperates with the side surface generatrix of the conical angle of the centerline [Theta]; elastic pin is located on the center of the through-hole side wall of the hollow cone C, the central elastic pin at the top of the motor-driven action, movement in the through hole of the hollow cone C; C of the upper surface of the hollow cone chute is provided with a conductive surface of the hollow cylinder is provided with a spring contact B, by Stable contact with the conductive spring contacts slide, the electromagnetic connection.

An automatic according to claim 1 of the connector, wherein: the bottom of the hollow cylindrical motor by a motor D is fixed to the lower housing, the motor housing is fixedly connected to the base.

An automatic according to claim 1 of the connector, wherein: the outer diameter of the hollow cylinder is smaller than the outer diameter A of the hollow cylinder B, the lower edge of the hollow cylinder B is connected by screws to the outer member .

An automatic according to claim 1 of the connector, wherein: the angle between the generatrix of the conical surface of the inner wall surface of the hollow cylinder central axis A is α, α> 45 °.

5. An automatic connector according to claim 1, wherein: the outer diameter of the bottom surface of the hollow cone C is less than the outer diameter of the bottom surface of the hollow cylinder D, and the outer diameter of the bottom surface of the hollow cylinder is greater than D the inner diameter of the upper portion of the bottom surface of the hollow cylinder B socket retainer ring, and the angle between the conical surface generatrix of the hollow cone with the center axis C is γ, γ = β.

An automatic according to claim 1 of the connector, wherein: the conical surface generatrix of the center line of the center pin and elastic contact with the top end of the cone angle [delta] F satisfies δ + ζ = 90 °, ζ is the angle of the conical surface generatrix of the cone with its centerline F in the top.

An automatic according to claim 1 of the connecting element, characterized in that: said central elastic contact with the pin on the hollow cylinder with the center line A conical surface generatrix of an end of the angle Θ satisfies θ + α = 90 °, the angle α between the conical surface generatrix of the central axis a of the hollow cylinder.