CN102632510B - Automatic connecting element - Google Patents

Automatic connecting element Download PDF

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Publication number
CN102632510B
CN102632510B CN 201210096404 CN201210096404A CN102632510B CN 102632510 B CN102632510 B CN 102632510B CN 201210096404 CN201210096404 CN 201210096404 CN 201210096404 A CN201210096404 A CN 201210096404A CN 102632510 B CN102632510 B CN 102632510B
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China
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hollow cylinder
hollow
surface
conical surface
motor
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CN 201210096404
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Chinese (zh)
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CN102632510A (en
Inventor
王子剑
杨健勃
王少萍
高杰
叶祥深
洪葳
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北京航空航天大学
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Abstract

本发明提出一种自动连接件,属于模块化机器人技术领域,具体为一种自动对接并稳定机械连接的装置。 The present invention provides an automatic connection member is of modular robotics, and in particular to an automatic docking device connected mechanically stable. 该自动连接件包括上部套接卡环和下部弹销基座;上部套接卡环包括上下顺次同轴连接两个中空圆柱结构;下部弹销基座包括中心弹销、基座和电机部件;中心弹销在电机驱动的顶尖作用下,在基座的上中空圆锥C的通孔中运动。 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. 本发明的连接件的可允许的配合误差较大,具有鲁棒特性。 Connecting member of the present invention may allow the error with greater robustness characteristics. 在轴向施力的情况下,即使存在配合误差也可以成功连接。 In the case of an axial force, even if there is an error it may be connected with success. 并可进行有效地电气连接,采用滑道与弹簧触点的接触传递控制电信号和电能传递,连接稳定可靠,而且有电磁连接所不具备的抗剪力扰动。 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

一种自动连接件 An automatic connection

技术领域 FIELD

[0001] 本发明属于模块化机器人技术领域,具体涉及一种自动连接件,具体为一种自动对接并稳定机械连接的装置。 [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.

背景技术 Background technique

[0002] 机器人技术的发展使得机器人的能力不断提高,机器人应用的领域和范围正在不断扩展,人们希望机器人能完成更加复杂的任务,通过对其进行重新编程,机器人能很容易地完成许多不同的任务。 [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. 然而一台机器人能完成任务的范围受到其自身机械结构的限制,对于给定任务,可以根据任务要求选择机器人的最佳结构。 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] 而在特定环境下重构机器人要实现无人的对接就要求有自动连接装置使机器人可以在无人条件下实现自动的对接。 [0003] reconstructed robot in certain circumstances to achieve docking unmanned automatic connection device requires that the robot can automatically under docking unmanned conditions.

发明内容 SUMMARY

[0004] 针对现有技术中存在的问题,本发明提出一种自动连接件,用于实现两个模块间的相互对接,该自动连接件包括两部分,分别为上部套接卡环和下部弹销基座。 [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.

[0005] 所述的上部套接卡环包括上下顺次同轴连接两个中空圆柱结构,上中空圆柱A的内壁面为圆锥面,所述的上中空圆柱A的内壁面圆锥面为向下中空圆柱B方向收缩的圆锥面,下中空圆柱B的内壁面为圆锥面,该圆锥面为向上中空圆柱A方向收缩的圆锥面,该圆锥面母线与中心轴线之间的夹角为β ; 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];

[0006] 所述的下部弹销基座包括中心弹销、基座和电机部件,基座包括顺次同轴连接的上中空圆锥C和下中空圆柱D,上中空圆锥C的内径与下中空圆柱D的内径相等,上中空圆锥C的侧壁上设置三个以上的通孔,用于安装中心弹销。 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. 下中空圆柱D的内壁为螺纹结构,且下中空圆柱D的底部同轴连接有内螺纹中空圆柱Ε,下中空圆柱D和内螺纹中空圆柱E的内部连接有电机部件,该电机部件包括顶尖和电机两部分,顶尖分为上下一体同轴的圆锥F(该圆锥面母线与其中心线夹角为ζ )和圆柱G两部分,圆锥F外表面为光滑表面,圆柱G外表面为外螺纹表面,圆柱G的下方同轴连接有电机,且电机输出轴与顶尖周向固定,电机部件通过圆柱G的外螺纹连接于中空圆柱E和下中空圆柱D的内螺纹结构中,在电机驱动下,使圆柱G在下中空圆柱D和中空圆柱E的内螺纹中行进,进而带动顶尖沿中心轴线轴向运动;中心弹销为两端均为圆锥面的圆柱结构,其一端圆锥面的角度与顶尖的圆锥F圆锥面相配合,另一端圆锥面的角度与上中空圆柱A的内圆锥面角度相配合,使中心弹销位于上中空圆锥C侧壁的通孔中,中心 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 弹销在电机驱动的顶尖作用下,在上中空圆锥C的通孔中运动; Elastic pin at the top of the motor-driven action, movement in the through hole of the hollow cone C;

[0007] 所述的上中空圆锥C表面设置有导电滑道,下中空圆柱B的表面设置有弹簧触点,通过导电滑道与弹簧触点的稳定接触,实现电磁连接。 [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] 本发明具有的优点在于: [0008] The present invention has the advantage that:

[0009] 1、本发明提出一种自动连接件,其可允许的配合误差较大,具有鲁棒特性。 [0009] 1, the present invention provides an automatic connection, which may allow the fitting error is large, robust characteristics. 在轴向施力的情况下,即使存在配合误差也可以成功连接。 In the case of an axial force, even if there is an error it may be connected with success.

[0010] 2、本发明提出一种自动连接件,可进行有效地电气连接,采用巧妙的滑道与弹簧触点的接触传递控制电信号和电能传递 [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、本发明提出一种自动连接件,连接为机械连接,而非通常自动连接所使用的电磁连接,连接更加稳定可靠,而且有电磁连接所不具备的抗剪力扰动 [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、本发明提出一种自动连接件,可实现自动分离,从而可实现机械的自拼装。 [0012] 4, the present invention provides an automatic connection, automatic separation, enabling self-assembly machine.

附图说明 BRIEF DESCRIPTION

[0013] 图1:本发明提出一种自动连接件的结构示意图; [0013] Figure 1: a schematic view of the structure of the present invention provides an automatic connector;

[0014] 图2:本发明提出一种自动连接件无电机结构时的结构示意图; [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] 图3:本发明中上部套接卡环的空间结构示意图; [0015] FIG 3: a schematic view of the present invention, the upper socket of the spatial structure of the collar;

[0016] 图4:本发明中上部套接卡环的主视图; [0016] Figure 4: a front view of the present invention, the upper socket of the snap ring;

[0017] 图5:本发明中上部套接卡环的截面图; [0017] FIG. 5: a sectional view of the present invention, the upper socket of the snap ring;

[0018] 图6是本发明中下部弹销基座的基座的结构不意图; [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] 图7:本发明中下部弹销基座的电机部件结构示意图; [0019] Figure 7: a schematic view of the motor structure of the present invention means a lower elastic pin base;

[0020] 图8:本发明中电机座结构示意图; [0020] FIG. 8: a schematic view of the motor base structure of the present invention;

[0021] 图9:本发明中电机座结构示意图; [0021] Figure 9: a schematic view of the motor base structure of the present invention;

[0022] 图10:本发明中下部弹销基座的中心弹销结构示意图。 [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] 图中:1-上部套接卡环;2-下部弹销基座; 3-上中空圆柱A; [0023] Reference Numerals 1: socket upper collar; 2- elastic pin lower portion of the base; a hollow cylinder A 3-;

[0024] 4-下中空圆柱B ; 5-中心弹销; 6-基座; [0024] The hollow cylinder of 4- B; 5- elastic center pin; 6- base;

[0025] 7-电机部件; 8-上中空圆锥C ; 9-下中空圆柱D ; [0025] 7- motor parts; 8- hollow cone C; 9- lower hollow cylinder D;

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

[0027] 13-圆柱G ; 14-中空圆柱E ; 15-电机座。 [0027] 13- cylindrical G; 14- hollow cylinder E; 15- motor base.

具体实施方式 Detailed ways

[0028] 下面将结合附图对本发明进行详细说明: [0028] The following with reference to the present invention in detail:

[0029] 本发明提出一种自动连接件,如图1和图2所示,包括上部套接卡环I和下部弹销基座2 ;如图3、图4所示,所述的上部套接卡环I包括上下顺次同轴连接两个中空圆柱结构,上中空圆柱A3的外径小于下中空圆柱B4的外径,下中空圆柱B4的边缘通过螺钉与外部需连接的连接件连接。 [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. 上中空圆柱A3的内壁面为圆锥面,该圆锥面为向下中空圆柱B4方向收缩的圆锥面,如图5所示,且圆锥面母线与中心轴线之间的夹角为α,α >45°,下中空圆柱Β4的内壁面为圆锥面,如图5所示,该圆锥面为向上中空圆柱A3方向收缩的圆锥面,该圆锥面母线与中心轴线之间的夹角为β。 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.

[0030] 如图6所示,所述的下部弹销基座2包括中心弹销5、基座6和电机部件7,基座6包括顺次同轴连接的上中空圆锥C8和下中空圆柱D9,上中空圆锥C8的内径与下中空圆柱D9的内径相等,上中空圆锥C8的底面外径小于下中空圆柱D9的底面外径,且下中空圆柱D9的底面外径大于上部套接卡环I的下中空圆柱Β4底面内径,且上中空圆锥C3的圆锥面母线与中心轴线的夹角为Y,优选为Υ = β,上中空圆锥CS的侧壁上设置三个以上的通孔,用于安装中心弹销5。 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. 下中空圆柱D9的内壁为螺纹结构,且下中空圆柱D9的底部同轴连接有内螺纹中空圆柱E14,下中空圆柱D9和内螺纹中空圆柱E14的内部连接有电机部件7,该电机部件7包括顶尖10和电机11两部分,如图7所示,顶尖10分为上下一体同轴的圆锥F12和圆柱G13两部分,圆锥F12外表面为光滑表面,圆锥的圆锥面母线与其中心线的夹角为ζ,圆柱G13外表面为外螺纹表面,圆柱G13的下方同轴连接有电机11,且电机11出轴与顶尖10周向固定,电机部件7通过圆柱G13的外螺纹连接于中空圆柱Ε14和下中空圆柱D9的内螺纹结构中。 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. 在电机11驱动下,使圆柱G13在下中空圆柱D9和中空圆柱Ε14的内螺纹中行进,进而带动顶尖10沿中心轴线轴向运动。 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. 电机11通过电机座15固定于下中空圆柱D9的底部,如图8和图9所示,使电机座15与基座固定连接。 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. 如图10所示,中心弹销5为两端均为圆锥面的圆柱结构,其一端圆锥面的角度与顶尖10的圆锥F12圆锥面相配合,该端圆锥面母线与中心线的夹角为δ,优选的δ + ζ =90°,中心弹销5另一端圆锥面的角度与上中空圆柱A的内圆锥面角度相配合,该端圆锥面母线与中心线夹角为Θ,优选的θ + α =90°,中心弹销5位于上中空圆锥C8侧壁的通孔中,中心弹销5在电机11驱动的顶尖10作用下,在上中空圆锥CS的通孔中运动。 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. 电机11带动螺纹顶尖10轴向运动,推动中心弹销5弹出,中心弹销5与上中空圆柱Β4的内圆锥面配合,将上部套接卡环I和下部弹销基座2卡紧。 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] 所述的上中空圆锥C表面设置有导电滑道,下中空圆柱Β4的表面设置有弹簧触点,通过导电滑道与弹簧触点的稳定接触,从而进行有效的电磁连接。 [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. 当上部套接卡环I和下部弹销基座2连接后,自动连接件的弹销自动锁紧连接,并使导电滑道和弹簧触点连通,使分别与上部套接卡环1、下部弹销基座2连接的主动连接件、被动连接件实现电气连接,当主动连接件、被动连接件需要分离时,通过主动连接件和被动连接件的电信号控制部套接卡环和下部弹销基座分离。 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)

1.一种自动连接件,其特征在于:包括上部套接卡环和下部弹销基座;所述的上部套接卡环包括上下顺次同轴连接两个中空圆柱结构,上中空圆柱A的内壁面为圆锥面,所述的上中空圆柱A的内壁面圆锥面为向下中空圆柱B方向收缩的圆锥面,下中空圆柱B的内壁面为圆锥面,该圆锥面为向上中空圆柱A方向收缩的圆锥面,该圆锥面母线与中心轴线之间的夹角为β ; 所述的下部弹销基座包括中心弹销、基座和电机部件,基座包括顺次同轴连接的上中空圆锥C和下中空圆柱D,上中空圆锥C的内径与下中空圆柱D的内径相等,上中空圆锥C的侧壁上设置三个以上的通孔,用于安装中心弹销,下中空圆柱D的内壁为螺纹结构,且下中空圆柱D的底部同轴连接有内螺纹中空圆柱Ε,下中空圆柱D和内螺纹中空圆柱E的内部连接有电机部件,该电机部件包括顶尖和电机两部分,顶 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 分为上下一体同轴的圆锥F和圆柱G两部分,圆锥F外表面为光滑表面,圆柱G外表面为外螺纹表面,圆柱G的下方同轴连接有电机,且电机输出轴与顶尖周向固定,电机部件通过圆柱G的外螺纹连接于中空圆柱E和下中空圆柱D的内螺纹结构中,在电机驱动下,使圆柱G在下中空圆柱D和中空圆柱E的内螺纹中行进,进而带动顶尖沿中心轴线轴向运动;中心弹销为两端均为圆锥面的圆柱结构,其一端圆锥面的角度与顶尖的圆锥F圆锥面相配合,该端圆锥面母线与中心线的夹角为S,另一端圆锥面的角度与上中空圆柱A的内圆锥面角度相配合,该端圆锥面母线与中心线夹角为Θ ;中心弹销位于上中空圆锥C侧壁的通孔中,中心弹销在电机驱动的顶尖作用下,在上中空圆锥C的通孔中运动; 所述的上中空圆锥C表面设置有导电滑道,下中空圆柱B的表面设置有弹簧触点,通过 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 导电滑道与弹簧触点的稳定接触,实现电磁连接。 Stable contact with the conductive spring contacts slide, the electromagnetic connection.
2.根据权利要求1所述的一种自动连接件,其特征在于:所述的电机通过电机座固定于下中空圆柱D的底部,使电机座与基座固定连接。 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.
3.根据权利要求1所述的一种自动连接件,其特征在于:所述的上中空圆柱A的外径小于下中空圆柱B的外径,下中空圆柱B的边缘通过螺钉与外部件连接。 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 .
4.根据权利要求1所述的一种自动连接件,其特征在于:所述的上中空圆柱A的内壁面圆锥面母线与中心轴线之间的夹角为α,α >45°。 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.根据权利要求1所述的一种自动连接件,其特征在于:所述的上中空圆锥C的底面外径小于下中空圆柱D的底面外径,且下中空圆柱D的底面外径大于上部套接卡环的下中空圆柱B底面内径,且上中空圆锥C的圆锥面母线与中心轴线的夹角为γ,γ = β。 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.
6.根据权利要求1所述的一种自动连接件,其特征在于:所述的中心弹销与顶尖的圆锥F接触一端的圆锥面母线与中心线夹角δ满足δ + ζ =90°,所述ζ为顶尖的圆锥F的圆锥面母线与其中心线的夹角。 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.
7.根据权利要求1所述的一种自动连接件,其特征在于:所述的中心弹销与上中空圆柱A接触一端的圆锥面母线与中心线夹角Θ满足θ+α =90°,所述α为上中空圆柱A的圆锥面母线与中心轴线之间的夹角。 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.
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CN103286790B (en) * 2013-05-27 2015-03-25 北京航空航天大学 Quick connecting device with changeable rigidity
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