CN102632510B - an automatic connector - Google Patents

Abstract

The invention proposes an automatic connector, which belongs to the technical field of modular robots, and is specifically a device for automatic docking and stable mechanical connection. The automatic connector includes an upper sleeve snap ring and a lower spring pin base; the upper sleeve snap ring includes two hollow cylindrical structures that are coaxially connected up and down in sequence; the lower spring pin base includes a central spring pin, a base and a motor component ; The center spring pin moves in the through hole of the hollow cone C on the base under the action of the top driven by the motor. The allowable matching error of the connecting piece of the present invention is relatively large, and has robust characteristics. In the case of axial force, the connection can be successfully connected even in the presence of fit errors. It can also carry out effective electrical connection, using the contact transmission between the slideway and the spring contact to control the transmission of electrical signals and electric energy, the connection is stable and reliable, and it has the anti-shear disturbance that the electromagnetic connection does not have.

Description

an automatic connector

technical field

The invention belongs to the technical field of modular robots, and in particular relates to an automatic connector, in particular to a device for automatic docking and stable mechanical connection.

Background technique

The development of robot technology has made the ability of robots continuously improved, and the field and scope of robot applications are constantly expanding. People hope that robots can complete more complex tasks. By reprogramming them, robots can easily complete many different tasks. However, the range of tasks that a robot can complete is limited by its own mechanical structure. For a given task, the optimal structure of the robot can be selected according to the task requirements.

However, in order to achieve unmanned docking in a specific environment, an automatic connection device is required to enable the robot to realize automatic docking under unmanned conditions.

Contents of the invention

Aiming at the problems existing in the prior art, the present invention proposes an automatic connector for realizing mutual docking between two modules. The automatic connector includes two parts, namely the upper sleeve snap ring and the lower spring pin base .

The upper sleeve snap ring includes two hollow cylindrical structures coaxially connected up and down in sequence, the inner wall surface of the upper hollow cylinder A is a conical surface, and the inner wall surface conical surface of the upper hollow cylinder A is a downward hollow cylinder B The conical surface shrinks in the direction, the inner wall surface of the lower hollow cylinder B is a conical surface, and the conical surface is a conical surface that shrinks in the direction of the upward hollow cylinder A, and the angle between the generatrix of the conical surface and the central axis is β;

The lower spring pin base includes a central spring pin, a base and a motor component, and the base includes an upper hollow cone C and a lower hollow cylinder D connected coaxially in sequence, and the inner diameter of the upper hollow cone C is the same as that of the lower hollow cylinder D. The inner diameters are equal, and more than three through holes are arranged on the side wall of the upper hollow cone C for installing the center spring pin. The inner wall of the lower hollow cylinder D is a threaded structure, and the bottom of the lower hollow cylinder D is coaxially connected with an internally threaded hollow cylinder E, and the interior of the lower hollow cylinder D and the internally threaded hollow cylinder E is connected with a motor component, which includes a top and a The motor has two parts, the tip is divided into two parts: the upper and lower coaxial cone F (the angle between the generatrix of the cone surface and its center line is ζ) and the cylinder G. The outer surface of the cone F is a smooth surface, and the outer surface of the cylinder G is an external thread surface. A motor is coaxially connected to the bottom of the cylinder G, and the output shaft of the motor is fixed circumferentially to the top. The motor part is connected to the internal thread structure of the hollow cylinder E and the lower hollow cylinder D through the external thread of the cylinder G. Driven by the motor, the Cylinder G travels in the internal thread of the lower hollow cylinder D and hollow cylinder E, and then drives the tip to move axially along the central axis; the center spring pin is a cylindrical structure with conical surfaces at both ends, and the angle of the conical surface at one end is the same as that of the tip. The conical surface of F matches, and the angle of the conical surface at the other end matches the angle of the inner conical surface of the upper hollow cylinder A, so that the center spring pin is located in the through hole of the side wall of the upper hollow cone C, and the center spring pin is driven by the top of the motor. , moving in the through hole of the upper hollow cone C;

The surface of the upper hollow cone C is provided with a conductive slide, and the surface of the lower hollow cylinder B is provided with a spring contact, and the electromagnetic connection is realized through the stable contact between the conductive slide and the spring contact.

The present invention has the advantage that:

1. The present invention proposes an automatic connector, which has a relatively large allowable matching error and has robust characteristics. In the case of axial force, the connection can be successfully connected even in the presence of fit errors.

2. The present invention proposes an automatic connector, which can be effectively electrically connected, and uses ingenious contact transmission between the slideway and the spring contact to control the transmission of electrical signals and electric energy

3. The present invention proposes an automatic connector, the connection is a mechanical connection instead of the electromagnetic connection used in the usual automatic connection, the connection is more stable and reliable, and it has the anti-shear disturbance that the electromagnetic connection does not have

4. The present invention proposes an automatic connector, which can realize automatic separation, thereby realizing mechanical self-assembly.

Description of drawings

Figure 1: The present invention proposes a schematic structural view of an automatic connector;

Figure 2: The present invention proposes a structural schematic diagram of an automatic connector without a motor structure;

Fig. 3: the schematic diagram of the spatial structure of the middle and upper sleeve snap ring of the present invention;

Fig. 4: the front view of the middle and upper sleeve snap ring of the present invention;

Fig. 5: a sectional view of the middle and upper sleeve snap ring of the present invention;

Fig. 6 is a schematic structural view of the base of the middle and lower spring pin base of the present invention;

Fig. 7: Structural schematic diagram of the motor part of the middle and lower spring pin base of the present invention;

Figure 8: Schematic diagram of the structure of the motor seat in the present invention;

Figure 9: Schematic diagram of the structure of the motor seat in the present invention;

Fig. 10: Schematic diagram of the structure of the center spring pin of the middle and lower spring pin base of the present invention.

In the figure: 1- the upper socket snap ring; 2- the lower spring pin base; 3- the upper hollow cylinder A;

4-lower hollow cylinder B; 5-center spring pin; 6-base;

7-motor parts; 8-upper hollow cone C; 9-lower hollow cylinder D;

10-top; 11-motor; 12-conical F;

13-Cylinder G; 14-Hollow cylinder E; 15-Motor seat.

Detailed ways

The present invention will be described in detail below in conjunction with accompanying drawing:

The present invention proposes an automatic connector, as shown in Figures 1 and 2, comprising an upper sleeve snap ring 1 and a lower spring pin base 2; as shown in Figures 3 and 4, the upper sleeve snap ring 1 includes two hollow cylinder structures connected coaxially up and down in sequence, the outer diameter of the upper hollow cylinder A3 is smaller than the outer diameter of the lower hollow cylinder B4, and the edge of the lower hollow cylinder B4 is connected to the external connecting piece to be connected by screws. The inner wall surface of the upper hollow cylinder A3 is a conical surface, and the conical surface is a conical surface that shrinks in the direction of the downward hollow cylinder B4, as shown in Figure 5, and the angle between the generatrix of the conical surface and the central axis is α, α>45 °, the inner wall surface of the lower hollow cylinder B4 is a conical surface, as shown in Figure 5, the conical surface is a conical surface that shrinks toward the upward hollow cylinder A3, and the angle between the generatrix of the conical surface and the central axis is β.

As shown in Figure 6, the lower spring pin base 2 includes a central spring pin 5, a base 6 and a motor part 7, the base 6 includes an upper hollow cone C8 and a lower hollow cylinder D9 connected coaxially in sequence, and the upper The inner diameter of the hollow cone C8 is equal to the inner diameter of the lower hollow cylinder D9, the outer diameter of the bottom surface of the upper hollow cone C8 is smaller than the outer diameter of the bottom surface of the lower hollow cylinder D9, and the outer diameter of the bottom surface of the lower hollow cylinder D9 is greater than that of the upper sleeve snap ring 1. The inner diameter of the bottom surface of the hollow cylinder B4, and the angle between the generatrix of the conical surface of the upper hollow cone C3 and the central axis is γ, preferably γ=β, and more than three through holes are arranged on the side wall of the upper hollow cone C8 for installing the center Bullpin 5. The inner wall of the lower hollow cylinder D9 is a threaded structure, and the bottom of the lower hollow cylinder D9 is coaxially connected with an internally threaded hollow cylinder E14, and the interior of the lower hollow cylinder D9 and the internally threaded hollow cylinder E14 is connected with a motor component 7, and the motor component 7 includes The top 10 and the motor 11 are two parts. As shown in Figure 7, the top 10 is divided into two parts: the upper and lower coaxial cone F12 and the cylinder G13. The outer surface of the cone F12 is smooth. is ζ, the outer surface of the cylinder G13 is an external thread surface, the motor 11 is coaxially connected to the bottom of the cylinder G13, and the output shaft of the motor 11 is fixed to the top 10 in the circumferential direction, and the motor part 7 is connected to the hollow cylinder E14 and the hollow cylinder E14 through the external thread of the cylinder G13. In the internal thread structure of the lower hollow cylinder D9. Driven by the motor 11, the cylinder G13 travels in the internal threads of the lower hollow cylinder D9 and the hollow cylinder E14, and then drives the tip 10 to move axially along the central axis. The motor 11 is fixed on the bottom of the lower hollow cylinder D9 through the motor base 15, as shown in Figure 8 and Figure 9, so that the motor base 15 is fixedly connected with the base. As shown in Figure 10, the central spring pin 5 is a cylindrical structure with conical surfaces at both ends, the angle of the conical surface at one end matches the conical F12 conical surface of the tip 10, and the angle between the generatrix of the conical surface at this end and the center line is δ , the preferred δ+ζ=90°, the angle of the conical surface at the other end of the center spring pin 5 matches the angle of the inner conical surface of the upper hollow cylinder A, the angle between the generatrix of the conical surface and the center line is θ, and the preferred θ+ α=90°, the center spring pin 5 is located in the through hole on the side wall of the upper hollow cone C8, and the center spring pin 5 moves in the through hole of the upper hollow cone C8 under the action of the top 10 driven by the motor 11. The motor 11 drives the threaded tip 10 to move axially, and pushes the center spring pin 5 to pop out. The center spring pin 5 cooperates with the inner conical surface of the upper hollow cylinder B4 to clamp the upper sleeve snap ring 1 and the lower spring pin base 2.

The surface of the upper hollow cone C is provided with a conductive slideway, and the surface of the lower hollow cylinder B4 is provided with a spring contact, and an effective electromagnetic connection is performed through the stable contact between the conductive slideway and the spring contact. When the upper sleeve snap ring 1 is connected to the lower spring pin base 2, the spring pin of the automatic connector is automatically locked and connected, and the conductive slideway and the spring contact are connected, so that they are respectively connected to the upper sleeve snap ring 1 and the lower spring pin. The active connecting piece and the passive connecting piece connected to the spring pin base 2 realize electrical connection. When the active connecting piece and the passive connecting piece need to be separated, the electrical signal control part of the active connecting piece and the passive connecting piece is used to socket the snap ring and the lower spring. Pin base detached.

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.