CN103286790A - Quick connecting device with changeable rigidity - Google Patents
Quick connecting device with changeable rigidity Download PDFInfo
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- CN103286790A CN103286790A CN2013101998839A CN201310199883A CN103286790A CN 103286790 A CN103286790 A CN 103286790A CN 2013101998839 A CN2013101998839 A CN 2013101998839A CN 201310199883 A CN201310199883 A CN 201310199883A CN 103286790 A CN103286790 A CN 103286790A
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Abstract
The invention discloses a quick connecting device with changeable rigidity, and belongs to the technical field of mechanical design. The device comprises a motor, a motor fixing plate, an awl disc, a guide rail, a spring piece, a quick connecting component a, a quick connecting component b and an abutting plate. The motor fixing plate is used for connecting a module a, and the abutting plate is used for connecting a module b. The motor is mounted on the motor fixing plate, and one end of the guide rail fixes the motor fixing plate while the other end of the same fixes the quick connecting component a. The quick connecting component b is connected outside the quick connecting component a in a sleeved manner. The abutting plate is connected outside the quick connecting component b in a sleeved manner to realize abutting joint. Functions of quick connection and rigidity changing are integrated, so that convenience is brought to modularized production and application, and industrial application and promotion are facilitated. Through ingenious mechanical structure design, the functions of quick connection and rigidity changing are driven by a same device to be completed, number of needed driving units is reduced, production cost is reduced, and size of the device is diminished.
Description
Technical field
The invention belongs to the mechanical designing technique field, relate to a kind of mechanical connecting device of two intermodules, specifically is a kind of quick connection that can either realize two intermodules, can realize this coupling stiffness adjustable device again.This device adopts modular mentality of designing, will connect fast with stiffness variable two big functions to become one.
Background technology
Traditional industry is made in the link, and external environment condition is known, and robot relies on accurate position control, moves according to the route that planning is good in advance, finishes dullness and the work that repeats.For this industrial robot, focus on the control of accurate some position motion, thereby adopt is rigidly connected more between the industrial robot each several part.But when end effector of robot and surrounding environment came in contact, accurate position control also can seem not enough again.If after combining contact force control, just can loosen the requirement to positional precision control.Like this, adopt flexible variable rigidity to connect between the industrial robot each several part and have extremely strong industrial application value.
In today of market competition globalization, the range of application of robot is more and more wider, and every kind of robot configuration only adapts to certain range of application, and this can not satisfy the demand of the marketization.Solution to this problem is developed the reconstruction robot system exactly, and it is made up of the tradable module that a cover has various sizes and performance characteristic, and the robot that can be assembled into various not isomorphism types adapts to different work requirements.Thereby the modularization of the jockey development trend that also is inevitable between the module.Therefore need badly in the prior art field and can solve the device that intermodule connects.
Summary of the invention
The object of the present invention is to provide the mechanical device of a kind of integrated quick connection and stiffness variable, its quick linkage function can guarantee quick stable connection the between two modules; Its stiffness variable function can guarantee that two intermodules connect flexible adjusting to rigidity.Two functions integrated processed easy for installationly, is convenient to modular production and use.
Described quick linkage function, the awl disk by activity ejects the screens addendum cone and realizes.Ring spring on the screens addendum cone roundlet cylinder can guarantee resetting smoothly of screens addendum cone, thereby guarantees that mechanism can remove quick connection.The Quick Connect Kit of stiffness variable provided by the invention, comprise motor, motor fixed disk, awl disk, guide rail, spring leaf, quick attaching parts a, quick attaching parts b and butt plate, the motor fixed disk is used for link block A, and butt plate is used for link block B.Described motor is installed on the circular motor fixed disk, after motor shaft passes the central through hole of motor fixed disk, connect the leading screw screw rod by shaft coupling, the leading screw screw rod other end passes the centre bore of awl disk, leading screw screw rod intermediate thread attaching nut seat simultaneously, nut seat is fixed on the awl disk by screw, can guarantee like this in the process of the motor shaft rotation of motor, drive the leading screw screw rod and rotate relative to nut seat, and the awl disk that driving is connected on the nut seat moves up and down.Described guide rail one end is fixed on the motor fixed disk, and after the other end passed motor fixed disk and awl disk successively, screw thread was fixed on the quick attaching parts a.The head of guide rail adopts the screens nut thread to be fastened on the motor fixed disk, like this, in the process that the awl disk moves up and down, can realize the location slip by guide rail.General preferred uniform four guide rails that around motor, arrange.Lower surface at described awl disk is fixedly connected with spring leaf, and spring leaf is the rectangle laminated structure, and the other end of spring leaf matches with spring leaf draw-in groove on the butt plate, and spring leaf can move up and down in spring card slot.The outer quick attaching parts b of socket of described quick attaching parts a, the outer socket butt plate of attaching parts b is spacing by the screens addendum cone between butt plate and the quick attaching parts b fast, realizes connecting.At described screens addendum cone the ring spring structure is set, connection is removed in can achieve a butt joint dish and the quick separation between the attaching parts b fast.
The invention has the advantages that:
1, the most outstanding characteristics of this Quick Connect Kit are to connect fast and stiffness variable two big functions become one, and are convenient to modular production and use, are conducive to industrial application and popularization.
2, by frame for movement design dexterously, linkage function and stiffness variable function are driven by same Quick Connect Kit and finish fast, have reduced the quantity of required driver element, have both reduced production cost, have dwindled the volume of device again.
3, the concept of stiffness variable is incorporated into the connection of intermodule, realizes that intermodule connects the adjusting from the flexibility to the rigidity, this to be connected industrial purposes very extensive.
4, the structural design compactness of this Quick Connect Kit, volume ratio is less, can satisfy the installation requirement under the limited situation of volume.
Description of drawings
The Quick Connect Kit overall structure schematic diagram of Fig. 1 stiffness variable;
The whole assembling of the Quick Connect Kit of Fig. 2 stiffness variable explosive view;
The motor-driven connection design of Fig. 3 and assembling explosive view thereof;
The design of Fig. 4 spring leaf and awl disk and assembling explosive view thereof;
The design of the quick attaching parts of Fig. 5 and assembling explosive view thereof;
The design of Fig. 6 guide rail attaching parts and assembling explosive view thereof;
The design drawing of Fig. 7 butt plate;
Device overall structure schematic diagram before Fig. 8 A connects fast;
Device overall structure schematic diagram during Fig. 8 B connects fast;
Fig. 8 C connects finishing device overall structure schematic diagram fast;
Fig. 9 becomes rigidity process apparatus overall structure schematic diagram.
Label declaration in the accompanying drawing is as follows:
1. motor; 2. guide rail; 3. motor fixed disk; 4. awl disk; 5. spring leaf; 6. quick attaching parts a;
7. screens addendum cone; 8. quick attaching parts b; 9. butt plate; 10. shaft coupling; 11. leading screw screw rod; 12. nut seat;
13. ring spring; 14. screens nut.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
The invention provides a kind of Quick Connect Kit of stiffness variable, have quick linkage function and become the rigidity function, realize that the quick connection between modules A and the module B is connected with releasing.As depicted in figs. 1 and 2, whole Quick Connect Kit comprises motor 1, guide rail 2, motor fixed disk 3, awl disk 4, spring leaf 5, quick attaching parts a6, quick attaching parts b8 and butt plate 9, motor fixed disk 3 is used for link block A, and butt plate 9 is used for link block B.Described motor 1 is installed on the circular motor fixed disk 3, after motor shaft passes the central through hole of motor fixed disk 3, connect leading screw screw rod 11 by shaft coupling 10, leading screw screw rod 11 other ends pass the centre bore 403 of awl disk 4, while leading screw screw rod 11 intermediate thread attaching nut seats 12, nut seat 12 is fixed on the awl disk 4 by screw, can guarantee like this in the process of the motor shaft of motor 1 rotation, drive leading screw screw rod 11 and rotate with respect to nut seat 12, and the awl disk 4 that driving is connected on the nut seat 12 pumps.Described guide rail 2 one ends are fixed on the motor fixed disk, and after the other end passed motor fixed disk 3 and awl disk 4 successively, screw thread was fixed on the quick attaching parts a6.Like this, in the process that awl disk 4 pumps, can realize the location slip by guide rail 2.General preferred uniform four guide rails 2 that around motor 1, arrange.Be fixedly connected with spring leaf 5(at the lower surface of described awl disk 4 and generally be preferably 4 spring leafs 5 of circumferencial direction), spring leaf 5 is the rectangle laminated structure, the other end of spring leaf 5 matches with spring leaf draw-in groove 904 on the butt plate 9, and spring leaf 5 can move up and down in spring leaf draw-in groove 904.The outer quick attaching parts b8 of socket of described quick attaching parts a6, the outer socket butt plate 9 of attaching parts b8 is spacing by screens addendum cone 7 between butt plate 9 and the quick attaching parts b8 fast, realizes connecting.The ring flange of butt plate 9 belows is used for connecting the module B that need be connected and fixed.
What the motor 1 among the present invention adopted is the high pulling torque motor; Guide rail 2, motor fixed disk 3, awl disk 4, quick attaching parts a6 and b8, screens addendum cone 7 and butt plate 9 all need be processed according to design, and selection is aluminium alloy; Shaft coupling 10, leading screw screw rod 11, nut seat 12, ring spring 13, screens nut 14 need mate purchase according to required size.
Motor 1 drives the connection design of awl disk 4 as shown in Figure 3, mainly is by leading screw screw rod 11 this mechanisms the motor shaft gyration of motor 1 to be converted into the rectilinear motion of awl disk 4, thereby drives awl disk 4 linear reciprocating motions.Shown in an end of leading screw screw rod 11 connect the motor shaft of motors 1 by shaft coupling 10, the other end is connected with nut seat 12, nut seat 12 is fixedly connected on the awl disk 4 by screw.The structure of described awl disk 4 as shown in Figure 4, described awl disk 4 is made up of a disk 401 and big awl 402, during machining with disk 401 and greatly awl 402 mill and be one, described big awl 402 is positioned at the center of described disk 401 lower surfaces.Be processed with centre bore 403, screwed hole 404, guide rail hole 405, spring fixed hole A406, spring fixed hole B407 and spring mounting groove 408 on the disk 401, centre bore 403 wherein provides the space of leading screw screw rod 11, screwed hole 404 is used for fixedlying connected between nut seat 12 and the disk 401, guide rail hole 405 passes for guide rail 2, installing hole A501 on spring fixed hole A406 and spring fixed hole B407 and the spring leaf 5 and the aperture of installing hole B502 are corresponding, are used for spring leaf 5 is fixed on disk 401.The groove width of spring mounting groove 408 is processed as the thickness of spring leaf 5, is convenient to spring leaf 5 and can freely passes through spring leaf draw-in groove 904 on spring mounting groove 408 and the butt plate 9 after fixing.The end of described big vertebra 402 is taper seat, is used for taper seat 701 with screens addendum cone 7 to routing motion, and the circular cone drift angle of the taper seat 701 of big awl 402 and screens addendum cone 7 all is 90 degree.
See also Fig. 4, what this figure presented is the design of spring leaf 5 and awl disk 4 and the connection between them.Spring leaf 5 used materials are the 65Mn spring steel, process as shown in Figure 4, and spring leaf 5 one ends cut from the centre, and two lobes that will cut then are towards two lateral bucklings, 90 degree, and processing mounting holes A501 and 5 installations of installing hole B502 ammunition feed reed on two lobes respectively.The installation of spring leaf 5 and awl disk 4 is that spring leaf 5 is top to bottm passed earlier spring leaf mounting grooves 408, utilizes screw to fix with corresponding installing hole A501 and installing hole B502 on the spring leaf 5 spring fixed hole A406 and spring fixed hole B407 with screw then.
See also Fig. 5, what this figure presented is the design of quick attaching parts, is made up of quick attaching parts a6, quick attaching parts b8, screens addendum cone 7 and ring spring 13.Described screens addendum cone 7 is made up of a taper seat 701, a great circle cylinder 702 and a roundlet cylinder 703, and described taper seat 701 bottom surfaces are connected with great circle cylinder 702 equal diameters, form step surface between described great circle cylinder 702 and the roundlet cylinder 703.Attaching parts a6 is the cylindric of upper surface sealing fast, a boss 602 is arranged in the middle of the described upper surface, processing through hole 601 in the middle of the boss 602, this through hole 601 is axially to run through quick attaching parts a6's fully, for big awl 402 setting movements on the guiding awl disk 4, namely the internal diameter of through hole 601 is slightly larger than the external diameter of the big awl 402 on the awl disk 4.Attaching parts a6 upper surface has also been processed guide rail screwed hole 603 uniformly on circumference fast, for being connected and fixed guide rail 2.Attaching parts a6 cylinder sides has been processed big taper hole 604 fast, and this big taper hole 604 is the sidewalls that radially run through quick attaching parts a6 fully, and the aperture is the diameter of the great circle cylinder 702 of screens addendum cone 7, inside slides for screens addendum cone 7.Attaching parts b8 is a shell that is enclosed within quick attaching parts a6 outside fast, is processed with four conelet holes 801 on the circumference of side, and the aperture is the diameter of roundlet cylinder 703; Quick attaching parts b8 upper end open is processed with four installing holes 802 on the anchor ring of bottom, be used for installing and fixing quick attaching parts b8 and quick attaching parts a6.Concrete installation steps are as follows: earlier screens addendum cone 7 is inserted in the big taper hole 604 of quick attaching parts a6 correspondence, again ring spring 13 tightly is enclosed within on the roundlet cylinder 703 of screens addendum cone 7 to guarantee resetting of screens addendum cone, then quick attaching parts b8 is enclosed within on the excircle of quick attaching parts a6, by screw that quick attaching parts a6 is fixed with quick attaching parts b8 at last.The external diameter of described ring spring 13 equals the external diameter of great circle cylinder 702, like this, under original state, screens addendum cone 7 and ring spring 13 enter the inside of quick attaching parts a6 comprehensively by big vertebral foramen 604, be convenient to the outside that quick attaching parts b8 is socketed in quick attaching parts a6.
See also Fig. 6, what this figure presented is the design of guide rail 2, and it with motor fixed disk 3, awl disk 4 and connect fast 2 relay part a6 string together be connected design.Guide rail 2 processing are as Fig. 6, and guide rail 2 is bolt arrangement, and screw thread has all been attacked at its two, and the screw thread of an end is for guide rail 2 precession guide rail screwed holes 603, and guide rail 2 is fixed with quick attaching parts a6; The screw thread of the other end is to twist screens nut 14, and described screens nut 14 is used for guide rail 2 and motor fixed disk 3 are fixed.Concrete installation steps are as follows: the guide rail hole 405 that guide rail 2 passes earlier on motor fixed disk 3, screens nut 14 and the awl disk 4 successively from top to bottom, then the quick attaching parts a6 of guide rail 2 precessions is gone up in the corresponding guide rail screwed hole 603, with the screw thread of screens nut 14 precession guide rails 2 other ends, that guide rail 2 and motor fixed disk 3 is fixed at last.The quantity of described guide rail 2 is preferably 3 or 4; Being the polished rod structure between two sections screw threads, slides in the location of being convenient to awl disk 4.
See also Fig. 7, what this figure presented is the design of butt plate 9.As shown in Figure 7, described butt plate 9 is the cylinder-like structure of the flanged dish structure of an end, and the internal diameter of cylinder-like structure equals the external diameter of quick attaching parts b8, is socketed in the outside of quick attaching parts b8 during use.On butt plate 9 the above cylinder-like structure sidewall, vertically have spring leaf draw-in groove 904, adjacent two spring leaf draw-in groove 904 by-levels have screens groove 903, described screens groove 903 is the grooves that connect inside and outside the sidewall of cylinder-like structure, described screens groove 903 runs through butt plate 9 sidewalls in the horizontal direction fully, circumferencial direction length can be slided in groove as long as can guarantee the roundlet cylinder 703 that rotates positive and negative 5 addendum cones of screens when spending 7 as quick attaching parts b8, highly for roundlet cylinder 703 diameters of screens addendum cone 7, thickness is the cylinder-like structure wall thickness, on the inwall of cylinder-like structure, circumferentially be processed with oblique guiding groove 901 and perpendicular guiding groove 902, described oblique guiding groove 901 and perpendicular guiding groove 902 connect with screens groove 903, described perpendicular guiding groove 902 is arranged on the mid-length position of screens groove 903, groove width is roundlet cylinder 703 diameters of screens addendum cone 7, perpendicular guiding groove 902 upper ends are connected perforation with oblique guiding groove 901, and the laterally inclined angle of described oblique guiding groove 901 is preferably 45 degree that slope inwardly.When described screens addendum cone 7 moved in perpendicular guiding groove 902, the free end of spring leaf 5 can move in screens groove 903.
See also Fig. 8 A～8C, Fig. 8 A presents is state before connecting fast, and Fig. 8 B presents is state in the quick connection procedure, and what Fig. 8 C presented is the state that connects fast when finishing.Shown in Fig. 8 A, before connecting fast, screens addendum cone 7 is positioned at quick attaching parts a6 inside fully, and ring spring 13 is undeformed nature, and disk awl 4 is the shortest with the distance of motor fixed disk 3.Shown in Fig. 8 B, fast in the connection procedure, motor 1 orders about awl disk 4 to the direction motion away from motor fixed disk 3, and big vertebra 402 on the awl disk 4 ejects screens addendum cone 7 gradually, ejects the thickness that distance is less than or equal to oblique guiding groove 901 and perpendicular guiding groove 902.Motor 1 shutdown this moment, butt plate 9 upwards is socketed in the outside of quick attaching parts b8, the part that ejects of screens addendum cone 7 outer ends is successively tiltedly being moved downwards in guiding groove 901 and the perpendicular guiding groove 902, in the time of in screens addendum cone 7 moves to perpendicular guiding groove 902, spring leaf 5 enters the spring leaf draw-in groove 904 of butt plate 9, when screens addendum cone 7 moves to the correspondence position of the screens groove 903 on the butt plate 9, starter motor 1, awl disk 4 continues to move downward, and the taper seat of big vertebra 402 continues screens addendum cone 7 is ejected; The direction of motion of motor fixed disk 3 is direction shown in Fig. 8 B at this moment.Shown in Fig. 8 C, up to ejecting apart from the thickness greater than oblique guiding groove 901 or perpendicular guiding groove 902 of screens addendum cone 7, ring spring 13 is in compressive state, and motor 1 is shut down.The direction of motion of screens this moment addendum cone 7 is direction shown in Fig. 8 C, finishes whole quick connection.
When needs separate two modules A and module B, motor 1 counter motion, drive awl disk 4 to the direction motion of motor fixed disk 3, do not contact with the taper seat 701 of screens addendum cone 7 up to the big vertebra of awl disk 4 402, screens this moment addendum cone 7 resets under the effect of ring spring 13, roundlet cylinder 703 leaves screens groove 904, and this moment, butt plate 9 can separate with quick attaching parts b8, removes to connect.
See also Fig. 9, what this figure presented is that mechanism becomes the motion in the rigidity process, this moment, motor 1 obtained corresponding signal, driving awl disk 4 moves back and forth, thereby change the relative position of spring leaf 5 and spring leaf draw-in groove 904, reach the purpose that becomes rigidity, this moment, awl disk 4 the direction of motion was direction as shown in Figure 9.Guarantee in the described awl disk 4 reciprocating processes that screens addendum cone 7 is positioned at screens groove 903 always, and spring leaf 5 is positioned at spring leaf draw-in groove 904 always.
Described stiffness variable function realizes with the relative position of spring leaf draw-in groove 904 by changing spring leaf 5.According to this structure Design, the broad sense stiffness variable formula that defines among the present invention is as follows:
Definition: a is the width of spring leaf 5, b is the thickness of spring leaf 5, c is the initial state variable-length of spring leaf 5, d be spring leaf 5 centers around the radius of a circle in axle center, x is the displacement of spring leaf 5 relative spring leaf draw-in grooves 904, F is the stressed of each spring leaf 5, E is the elastic modelling quantity of spring leaf 5, and M is two moments of torsion between link block, and w is the amount of deflection of spring leaf 5, α is that two modules relatively rotate angle, and K is broad sense rigidity.
Then can get amount of deflection w expression formula by mechanics of materials formula:
Rotational angle α is:
Definition broad sense stiffness K is:
With the rotational angle α substitution formula (3) in the formula (2) then:
The example that the Quick Connect Kit of this stiffness variable is used is the connection between each joint module of robot arm.Motor fixed disk 3 is installed on the joint module one, butt plate 9 is installed in next joint module two, just can realize the quick connection between two joint modules and become rigidity regulating.Between per two joint modules of mechanical arm, can both accomplish to become the adjusting of rigidity, just realize the Flexible Control of whole mechanical arm.
Claims (9)
1. the Quick Connect Kit of a stiffness variable, it is characterized in that: comprise motor, motor fixed disk, awl disk, guide rail, spring leaf, quick attaching parts a, quick attaching parts b and butt plate, the motor fixed disk is used for link block A, and butt plate is used for link block B; Described motor is installed on the circular motor fixed disk, after motor shaft passes the central through hole of motor fixed disk, connect the leading screw screw rod by shaft coupling, the leading screw screw rod other end passes the centre bore of awl disk, while leading screw screw rod intermediate thread attaching nut seat, nut seat is fixed on the awl disk by screw; Described guide rail one end is fixed on the motor fixed disk, and after the other end passed motor fixed disk and awl disk successively, screw thread was fixed on the quick attaching parts a; Lower surface at described awl disk is fixedly connected with spring leaf, and the other end of spring leaf matches with spring leaf draw-in groove on the butt plate; The outer quick attaching parts b of socket of described quick attaching parts a, the outer socket butt plate of attaching parts b is spacing by the screens addendum cone between butt plate and the quick attaching parts b fast, realizes connecting.
2. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described awl disk is made up of a disk and big awl, during machining disk and big awl milled and be one, described big awl is positioned at the center of described lower disk surface, be processed with centre bore on the disk, screwed hole, guide rail hole, spring fixed hole A, spring fixed hole B and spring mounting groove, centre bore wherein provides the space of leading screw screw rod, screwed hole is used for fixedlying connected between nut seat and the disk, guide rail hole passes for guide rail, installing hole A on spring fixed hole A and spring fixed hole B and the spring leaf and the aperture of installing hole B are corresponding, are used for spring leaf is fixed on disk; The groove width of spring mounting groove is the thickness of spring leaf, and the end of described big vertebra is taper seat, for the motion that matches with the taper seat of screens addendum cone.
3. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described spring leaf is the rectangular tab structure, one end cuts from the centre, and two lobes that will cut then are towards two lateral bucklings, 90 degree, and processing mounting holes A installing hole B ammunition feed reed installation on two lobes respectively.
4. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described screens addendum cone is made up of a taper seat, a great circle cylinder and a roundlet cylinder, described taper seat bottom surface is connected with great circle cylinder equal diameter, form step surface between described great circle cylinder and the roundlet cylinder, at described roundlet cylindrical outer sleeve ring spring is arranged.
5. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described quick attaching parts a is the cylindric of upper surface sealing, a boss is arranged in the middle of the described upper surface, processing through hole in the middle of the boss, this through hole is axially to run through quick attaching parts a fully, for the big awl setting movement on the guiding awl disk, namely the internal diameter of through hole is greater than the external diameter of the big awl on the awl disk; Attaching parts a6 upper surface has also been processed the guide rail screwed hole uniformly on circumference fast, for being connected and fixed guide rail; Attaching parts a cylinder sides has been processed big taper hole fast, and this big taper hole is the sidewall that radially runs through quick attaching parts a fully, and the aperture is the diameter of the great circle cylinder of screens addendum cone, inside slides for the screens addendum cone; Attaching parts b is a shell that is enclosed within quick attaching parts a outside fast, is processed with little taper hole on the circumference of side, and the aperture is the diameter of roundlet cylinder; Quick attaching parts b upper end open is processed with installing hole on the anchor ring of bottom, is used for installing and fixing quick attaching parts b and quick attaching parts a.
6. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described guide rail is bolt arrangement, screw thread has all been attacked at its two, and the screw thread of an end is for guide rail precession guide rail screwed hole, and guide rail is fixed with quick attaching parts a; The screw thread of the other end is to twist the screens nut, and described screens nut is used for guide rail and motor fixed disk are fixed.
7. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described butt plate is the cylinder-like structure of the flanged dish structure of an end, the internal diameter of cylinder-like structure equals the external diameter of quick attaching parts b, is socketed in the outside of quick attaching parts b during use; On butt plate 9 the above cylinder-like structure sidewall, vertically have the spring leaf draw-in groove, adjacent two spring leaf draw-in groove by-levels have the screens groove, described screens groove is the groove that connects inside and outside the sidewall of cylinder-like structure, described screens groove runs through the butt plate sidewall in the horizontal direction fully, circumferencial direction length guarantees that the roundlet cylinder that rotates positive and negative 5 addendum cones of screens when spending as quick attaching parts b can slide in groove, highly for the roundlet cylinder diameter of screens addendum cone, thickness is the cylinder-like structure wall thickness, on the inwall of cylinder-like structure, circumferentially be processed with oblique guiding groove and perpendicular guiding groove, described oblique guiding groove and perpendicular guiding groove connect with the screens groove, described perpendicular guiding groove is arranged on the mid-length position of screens groove, groove width is the roundlet cylinder diameter of screens addendum cone, and perpendicular guiding groove upper end is connected perforation with oblique guiding groove; When described screens addendum cone moved in perpendicular guiding groove, the free end of spring leaf can move in the screens groove.
8. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described stiffness variable is realized by the relative position that changes spring leaf and spring leaf draw-in groove, according to the structural design of this Quick Connect Kit, the broad sense stiffness variable formula of definition is as follows:
Definition: a is the width of spring leaf, b is the thickness of spring leaf, and c is the initial state variable-length of spring leaf, and d is that the spring leaf center is around the radius of a circle in axle center, x is the displacement of the relative spring leaf draw-in groove of spring leaf, F is the stressed of each spring leaf, and E is the elastic modelling quantity of spring leaf, and M is two moments of torsion between link block, w is the amount of deflection of spring leaf, α is that two modules relatively rotate angle, and K is broad sense rigidity
Then can get amount of deflection w expression formula by mechanics of materials formula:
Rotational angle α is:
Definition broad sense stiffness K is:
With the rotational angle α substitution formula (3) in the formula (2) then:
9. the quick connecting method of a stiffness variable, it is characterized in that: the Quick Connect Kit that the stiffness variable that provides in the claim 1 is provided, before connecting fast, the screens addendum cone is positioned at quick attaching parts a inside fully, ring spring is undeformed nature, and the distance of disk awl and motor fixed disk is the shortest; In the connection procedure, motor orders about the awl disk to the direction motion away from the motor fixed disk fast, and big vertebra on the awl disk ejects the screens addendum cone gradually, ejects the thickness that distance is less than or equal to oblique guiding groove or perpendicular guiding groove; This moment, motor was shut down; butt plate upwards is socketed in the outside of quick attaching parts b; the part that ejects of screens addendum cone outer end is successively tiltedly being moved downwards in guiding groove and the perpendicular guiding groove; in the time of in the screens addendum cone moves to perpendicular guiding groove; spring leaf enters the spring leaf draw-in groove of butt plate; when the screens addendum cone moves to the correspondence position of the screens groove on the butt plate; starter motor; the awl disk continues to move downward; the taper seat of big vertebra continues the screens addendum cone is ejected, and up to ejecting apart from the thickness greater than oblique guiding groove or perpendicular guiding groove of screens addendum cone, ring spring is in compressive state; motor is shut down, and finishes whole quick connection.
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| CN201310199883.9A CN103286790B (en) | 2013-05-27 | 2013-05-27 | Quick connecting device with changeable rigidity |
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| CN201310199883.9A CN103286790B (en) | 2013-05-27 | 2013-05-27 | Quick connecting device with changeable rigidity |
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Cited By (23)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103727336A (en) * | 2013-12-31 | 2014-04-16 | 辽宁东泰自动化设备制造有限公司 | Quick connector |
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| CN103753604A (en) * | 2013-12-27 | 2014-04-30 | 北京航空航天大学 | Modular flexible connection device allowing dynamic adjustment of stiffness |
| CN103753604B (en) * | 2013-12-27 | 2015-08-19 | 北京航空航天大学 | A kind of Modular Flexible jockey of dynamic adjustment rigidity |
| CN103727336A (en) * | 2013-12-31 | 2014-04-16 | 辽宁东泰自动化设备制造有限公司 | Quick connector |
| CN104197831B (en) * | 2014-08-14 | 2017-02-01 | 四川大学 | Accuracy calibration device for six-joint industrial robot |
| CN104260106A (en) * | 2014-08-18 | 2015-01-07 | 北京航空航天大学 | Variable stiffness joint module |
| CN104369194B (en) * | 2014-10-08 | 2016-07-06 | 顿向明 | A kind of joint of robot for mechanical arm |
| CN104369194A (en) * | 2014-10-08 | 2015-02-25 | 顿向明 | Robot joint for mechanical arm |
| CN104976238A (en) * | 2015-07-01 | 2015-10-14 | 西安双特智能传动有限公司 | Quick connection mechanism |
| CN105150243A (en) * | 2015-07-24 | 2015-12-16 | 沈阳通用机器人技术股份有限公司 | Rapid changing device for robot operation tools |
| CN105345839A (en) * | 2015-11-10 | 2016-02-24 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
| CN105345839B (en) * | 2015-11-10 | 2017-04-12 | 哈尔滨工业大学 | Variable-rigidity joint based on characteristics of torsional springs |
| CN105328711A (en) * | 2015-11-10 | 2016-02-17 | 哈尔滨工业大学 | Modular rigidity-changing joint |
| CN105345815A (en) * | 2015-11-19 | 2016-02-24 | 珠海格力电器股份有限公司 | Joint connector and robot |
| CN105599006A (en) * | 2016-03-23 | 2016-05-25 | 华南理工大学 | Two-motor driven variable-stiffness elastic joint of robot |
| CN106323224A (en) * | 2016-08-17 | 2017-01-11 | 中国航空工业集团公司西安飞行自动控制研究所 | Device for motor brush rack deformation measurement |
| CN106323224B (en) * | 2016-08-17 | 2018-12-14 | 中国航空工业集团公司西安飞行自动控制研究所 | A kind of device for motor brush rocker deformation measurement |
| CN108621123B (en) * | 2017-03-23 | 2020-09-08 | 台达电子工业股份有限公司 | Passive compliance mechanism |
| CN108621123A (en) * | 2017-03-23 | 2018-10-09 | 台达电子工业股份有限公司 | Passive type compliance mechanism |
| CN107498579A (en) * | 2017-09-11 | 2017-12-22 | 清华大学深圳研究生院 | A kind of joint connector of mechanical arm |
| CN107498579B (en) * | 2017-09-11 | 2023-07-21 | 清华大学深圳研究生院 | Joint connection device of mechanical arm based on limit beads |
| CN108032331A (en) * | 2017-11-27 | 2018-05-15 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108032331B (en) * | 2017-11-27 | 2019-09-27 | 清华大学 | A kind of variation rigidity flexible mechanical arm |
| CN108000554A (en) * | 2017-11-30 | 2018-05-08 | 中国矿业大学 | A kind of stiffness variable flexible joint and its control method based on leaf spring |
| CN108000554B (en) * | 2017-11-30 | 2021-07-06 | 中国矿业大学 | Leaf spring-based variable-rigidity flexible joint and control method thereof |
| CN109994812A (en) * | 2017-12-29 | 2019-07-09 | 华为技术有限公司 | A kind of rotating device |
| 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 |
| CN111152189A (en) * | 2018-11-07 | 2020-05-15 | 北航（天津武清）智能制造研究院有限公司 | Flexible variable-rigidity mechanism with human-computer interaction safety |
| CN111152189B (en) * | 2018-11-07 | 2021-07-09 | 北航（天津武清）智能制造研究院有限公司 | Flexible variable-rigidity mechanism with human-computer interaction safety |
| CN110253623A (en) * | 2019-06-21 | 2019-09-20 | 上海交通大学 | A kind of joint of robot module of stiffness variable |
| CN110253623B (en) * | 2019-06-21 | 2023-07-07 | 上海交通大学 | Robot joint module with variable rigidity |
| CN110936365A (en) * | 2019-12-18 | 2020-03-31 | 北京航空航天大学 | Adjustable stiffness actuator based on reconfigurable adjustable length guide rod mechanism |
| CN110936365B (en) * | 2019-12-18 | 2021-05-25 | 北京航空航天大学 | Adjustable stiffness actuator based on reconfigurable adjustable length guide rod mechanism |
| CN114131645A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable-rigidity flexible joint based on through shaft |
| CN114131646A (en) * | 2021-12-06 | 2022-03-04 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
| CN114131646B (en) * | 2021-12-06 | 2023-02-14 | 之江实验室 | Variable rigidity mechanism and flexible joint based on axial force |
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