CN103286790B - Quick connecting device with changeable rigidity - Google Patents
Quick connecting device with changeable rigidity Download PDFInfo
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- CN103286790B CN103286790B CN201310199883.9A CN201310199883A CN103286790B CN 103286790 B CN103286790 B CN 103286790B CN 201310199883 A CN201310199883 A CN 201310199883A CN 103286790 B CN103286790 B CN 103286790B
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- 238000009434 installation Methods 0.000 claims description 6
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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 technical field of mechanical design, relate to a kind of mechanical connecting device of two intermodules, specifically a kind of quick connection that can either realize two intermodules, can realize again this coupling stiffness adjustable device.This device adopts modular mentality of designing, by connection and the large function i ntegration of stiffness variable two are integrated fast.
Background technology
Traditional industry manufactures in link, and external environment condition is known, and robot relies on accurate position control, carries out action according to the route planned in advance, completes dullness and the work that repeats.For this industrial robot, focus on the control of accurate some position motion, thus between industrial robot each several part, adopt is rigidly connected more.But when end effector of robot and surrounding environment come in contact, more accurate position control also can seem not enough.If after combining contact force control, the requirement to position precision controlling just can be loosened.Like this, adopt flexible variable rigidity to connect between industrial robot each several part and there is extremely strong industrial application value.
In today of market competition globalization, the range of application of robot is more and more wider, and Mei Zhong robot configuration only adapts to certain range of application, and this can not meet the demand of the marketization.Solution to this problem develops Reconfigurable robot system exactly, and it is made up of a set of tradable module with various sizes and performance characteristic, can be assembled into the robot of various different configuration to adapt to different work requirements.Thus between module, the modularization of jockey is also inevitable development trend.Therefore the device that can solve intermodule and connect is needed in prior art field badly.
Summary of the invention
The object of the present invention is to provide a kind of mechanical device being integrated with connection and stiffness variable fast, its quick linkage function, quick stable connection between two modules can be ensured; Its stiffness variable function, can ensure that two intermodules connect the flexible adjustment to rigidity.Two functions integrated, processes easy for installation, is convenient to modular production and use.
Described quick linkage function, ejects screens addendum cone by the awl disk of activity and realizes.Ring spring on screens addendum cone small cylindrical surface can ensure the smooth reset of screens addendum cone, thus ensures 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 connecting parts a, quick connecting parts b and butt plate, motor fixed disk is used for link block A, and butt plate is used for link block B.Described motor is arranged on circular motor fixed disk, motor shaft is through after the central through hole of motor fixed disk, leading screw screw rod is connected by shaft coupling, the leading screw screw rod other end is through the centre bore of awl disk, leading screw screw rod intermediate thread attaching nut seat simultaneously, nut seat is fixed by screws on awl disk, can ensure in the process rotated at the motor shaft of motor like this, drive leading screw screw rod opposing nut seat to rotate, and drive the awl disk be connected on nut seat to move up and down.Described guide rail one end is fixed on motor fixed disk, and the other end is successively through after motor fixed disk and awl disk, and screw thread is fixed on quick connecting parts a.The head of guide rail adopts screens nut thread to be fastened on motor fixed disk, like this, in the process that awl disk moves up and down, can realize location slide by guide rail.Generally preferred uniform four guide rails are set around motor.Be fixedly connected with spring leaf at the lower surface of described awl disk, spring leaf is rectangular sheet structure, and the other end of spring leaf matches with the spring leaf draw-in groove on butt plate, and spring leaf can move up and down in spring card slot.Described quick connecting parts a is socketed quick connecting parts b outward, and quick connecting parts b is socketed butt plate outward, spacing by screens addendum cone between butt plate and quick connecting parts b, realizes connecting.Described screens addendum cone arranges ring spring structure, the quick separating that can achieve a butt joint between dish and quick connecting parts b, remove and connect.
The invention has the advantages that:
1, the feature that this Quick Connect Kit is the most outstanding to connect fast and the large function i ntegration of stiffness variable two is integrated, and is convenient to modular production and use, is conducive to industrial application and popularization.
2, pass through Design of Mechanical Structure dexterously, quick linkage function and stiffness variable function have been driven by same Quick Connect Kit, decrease the quantity of required driver element, both reduce production cost, reduce again the volume of device.
3, the concept of stiffness variable is incorporated into the connection of intermodule, realizes intermodule and connect adjustment from flexibility to rigidity, this to be connected to industrial purposes very extensive.
4, the structural design of this Quick Connect Kit is compact, and volume is smaller, can meet the installation requirement under volume limited situation.
Accompanying drawing explanation
The Quick Connect Kit overall structure schematic diagram of Fig. 1 stiffness variable;
The Quick Connect Kit entirety assembling explosive view of Fig. 2 stiffness variable;
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 Fig. 5 quick connecting parts 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;
Fig. 8 A connects front device overall structure schematic diagram 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 variation rigidity process apparatus overall structure schematic diagram.
Label declaration in accompanying drawing is as follows:
1. motor; 2. guide rail; 3. motor fixed disk; 4. awl disk; 5. spring leaf; 6. quick connecting parts a;
7. screens addendum cone; 8. quick connecting parts b; 9. butt plate; 10. shaft coupling; 11. leading screw screw rods; 12. nut seats;
13. ring springs; 14. screens nuts.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in further detail:
The invention provides a kind of Quick Connect Kit of stiffness variable, have quick linkage function and variation rigidity function, the quick connection realized between modules A and 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 connecting parts a6, quick connecting parts b8 and butt plate 9, motor fixed disk 3 is for link block A, and butt plate 9 is for link block B.Described motor 1 is arranged on circular motor fixed disk 3, motor shaft is through after the central through hole of motor fixed disk 3, leading screw screw rod 11 is connected by shaft coupling 10, leading screw screw rod 11 other end is through the centre bore 403 of awl disk 4, leading screw screw rod 11 intermediate thread attaching nut seat 12 simultaneously, nut seat 12 is fixed by screws on awl disk 4, can ensure in the process rotated at the motor shaft of motor 1 like this, drive leading screw screw rod 11 to rotate relative to nut seat 12, and drive the awl disk 4 be connected on nut seat 12 to pump.Described guide rail 2 one end is fixed on motor fixed disk, and the other end is successively through after motor fixed disk 3 and awl disk 4, and screw thread is fixed on quick connecting parts a6.Like this, in the process that awl disk 4 pumps, location can be realized by guide rail 2 and slide.Generally preferred uniform four guide rails 2 are set around motor 1.Be fixedly connected with spring leaf 5(at the lower surface of described awl disk 4 and be generally preferably circumferencial direction 4 spring leafs 5), spring leaf 5 is rectangular sheet structure, the other end of spring leaf 5 matches with the spring leaf draw-in groove 904 on butt plate 9, and spring leaf 5 can move up and down in spring leaf draw-in groove 904.Described quick connecting parts a6 is socketed quick connecting parts b8 outward, and quick connecting parts b8 is socketed butt plate 9 outward, spacing by screens addendum cone 7 between butt plate 9 and quick connecting parts b8, realizes connecting.The module B that ring flange below butt plate 9 is connected and fixed for connecting needs.
What the motor 1 in the present invention adopted is high pulling torque motor; Guide rail 2, motor fixed disk 3, awl disk 4, quick connecting parts a6 and b8, screens addendum cone 7 and butt plate 9 all need to process 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 to carry out coupling according to required size and buy.
Motor 1 drives the connection of awl disk 4 to design as shown in Figure 3, mainly by this mechanism of leading screw screw rod 11, the motor shaft gyration of motor 1 is converted into the rectilinear motion of awl disk 4, thus drives awl disk 4 linear reciprocating motion.One end of shown leading screw screw rod 11 connects the motor shaft of motor 1 by shaft coupling 10, the other end is connected with nut seat 12, and nut seat 12 is fixedly connected on awl disk 4 by screw.As shown in Figure 4, described awl disk 4 is made up of a disk 401 and large awl 402 structure of described awl disk 4, disk 401 and large awl 402 milling is integrated during machining, and described large awl 402 is positioned at the center of described disk 401 lower surface.Disk 401 is processed with centre bore 403, screwed hole 404, guide rail hole 405, spring fixed hole A406, spring fixed hole B407 and spring fitting groove 408, centre bore 403 wherein provides the space of leading screw screw rod 11, screwed hole 404 is for being fixedly connected with between nut seat 12 with disk 401, guide rail hole 405 passes for guide rail 2, spring fixed hole A406 is corresponding with the aperture of the installing hole A501 on spring leaf 5 and installing hole B502 with spring fixed hole B407, for spring leaf 5 is fixed on disk 401.The groove width of spring fitting groove 408 is processed as the thickness of spring leaf 5, be convenient to spring leaf 5 fixing after can freely by the spring leaf draw-in groove 904 on spring fitting groove 408 and butt plate 9.The end of described big vertebra 402 is taper seat, and for the taper seat 701 with screens addendum cone 7 to routing motion, the circular cone drift angle of the taper seat 701 of large awl 402 and screens addendum cone 7 is all 90 degree.
Refer to 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 material used is 65Mn spring steel, and as shown in Figure 4, spring leaf 5 one end is cut from centre in processing, then by two lobes that cut towards two lateral buckling 90 degree, and respectively on two lobes processing mounting holes A501 and installing hole B502 install for spring leaf 5.The installation of spring leaf 5 and awl disk 4 is that spring leaf 5 is first top to bottm passed spring leaf mounting groove 408, is then screwed with the corresponding installing hole A501 on spring leaf 5 and installing hole B502 profit by spring fixed hole A406 and spring fixed hole B407 with screw.
Refer to Fig. 5, the design of what this figure presented is quick connecting parts, is made up of quick connecting parts a6, quick connecting parts b8, screens addendum cone 7 and ring spring 13.Described screens addendum cone 7 is made up of a taper seat 701, great circle cylinder 702 and a small cylindrical surface 703, and described taper seat 701 bottom surface is connected with great circle cylinder 702 equal diameter, forming station terrace between described great circle cylinder 702 and small cylindrical surface 703.Quick connecting parts a6 is the cylindrical shape that upper surface is closed, a boss 602 is had in the middle of described upper surface, processing through hole 601 in the middle of boss 602, this through hole 601 axially runs through quick connecting parts a6 completely, for large awl 402 setting movement guided on awl disk 4, namely the internal diameter of through hole 601 is slightly larger than the external diameter of the large awl 402 on awl disk 4.Quick connecting parts a6 upper surface also circumferentially machined guide rail screwed hole 603 uniformly, for being connected and fixed guide rail 2.Quick connecting parts a6 cylinder sides machined large taper hole 604, and this large taper hole 604 is radial sidewalls running through quick connecting parts a6 completely, and aperture is the diameter of the great circle cylinder 702 of screens addendum cone 7, inside slides for screens addendum cone 7.Quick connecting parts b8 is the shell be enclosed within outside quick connecting parts a6, side surface circumference is processed with four small taper holes 801, and aperture is the diameter of small cylindrical surface 703; Quick connecting parts b8 upper end open, bottom anchor ring is processed with four installing holes 802, for installing and fixing quick connecting parts b8 and quick connecting parts a6.Concrete installation steps are as follows: first inserted by screens addendum cone 7 in large taper hole 604 corresponding to quick connecting parts a6, to ensure the reset of screens addendum cone on the small cylindrical surface 703 again ring spring 13 being tightly placed in screens addendum cone 7, then quick connecting parts b8 is enclosed within the excircle of quick connecting parts a6, finally by screw by fixed for quick connecting parts a6 and quick connecting parts b8.The external diameter of described ring spring 13 equals the external diameter of great circle cylinder 702, like this, in an initial condition, screens addendum cone 7 and ring spring 13 enter the inside of quick connecting parts a6 comprehensively by large vertebral foramen 604, be convenient to the outside that quick connecting parts b8 is socketed in quick connecting parts a6.
Refer to Fig. 6, the design of what this figure presented is guide rail 2, and it by motor fixed disk 3, awl disk 4 and to connect fast 2 relay part a6 go here and there together with connection design.Guide rail 2 is processed as Fig. 6, and guide rail 2 is bolt arrangement, and screw thread has all been attacked in its two, and the screw thread of one end is in order to by guide rail 2 precession guide rail screwed hole 603, is fixed by guide rail 2 with quick connecting parts a6; The screw thread of the other end is used to stubborn screens nut 14, and described screens nut 14 is for fixing guide rail 2 and motor fixed disk 3.Concrete installation steps are as follows: guide rail 2 is first successively from top to bottom through the guide rail hole 405 on motor fixed disk 3, screens nut 14 and awl disk 4, then by guide rail screwed hole 603 corresponding on guide rail 2 precession quick connecting parts a6, finally by the screw thread of screens nut 14 precession guide rail 2 other end, by fixed to guide rail 2 and motor fixed disk 3.The quantity of described guide rail 2 is preferably 3 or 4; Being polished rod structure between two sections of screw threads, slides in the location being convenient to awl disk 4.
Refer to Fig. 7, the design of what this figure presented is butt plate 9.As shown in Figure 7, described butt plate 9 is the cylinder-like structure of the flanged dish structure in one end, and the internal diameter of cylinder-like structure equals the external diameter of quick connecting parts b8, is socketed in the outside of quick connecting parts b8 during use.Described cylinder-like structure sidewall vertically has spring leaf draw-in groove 904 to butt plate 9, adjacent two spring leaf draw-in groove 904 by-levels have screens groove 903, described screens groove 903 is grooves through inside and outside the sidewall of cylinder-like structure, described screens groove 903 runs through butt plate 9 sidewall in the horizontal direction completely, as long as circumferencial direction length can ensure that the small cylindrical surface 703 of the screens addendum cone 7 when positive and negative 5 degree of quick connecting parts b8 rotation can slide in groove, it is highly small cylindrical surface 703 diameter of screens addendum cone 7, thickness is cylinder-like structure wall thickness, on the inwall of cylinder-like structure, circumference is processed with oblique guiding groove 901 and perpendicular guiding groove 902, described oblique guiding groove 901 and perpendicular guiding groove 902 through with screens groove 903, described perpendicular guiding groove 902 is arranged on the mid-length position of screens groove 903, groove width is small cylindrical surface 703 diameter of screens addendum cone 7, perpendicular guiding groove 902 upper end is connected through with oblique guiding groove 901, the laterally inclined angle of described oblique guiding groove 901 preferably slopes inwardly 45 degree.When described screens addendum cone 7 moves in perpendicular guiding groove 902, the free end of spring leaf 5 can move in screens groove 903.
Refer to Fig. 8 A ~ 8C, what Fig. 8 A presented is connect fast before state, the state that what Fig. 8 B presented is in quick connection procedure, the state that what Fig. 8 C presented is when having connected fast.As shown in Figure 8 A, before connecting fast, it is inner that screens addendum cone 7 is positioned at quick connecting parts a6 completely, and ring spring 13 is undeformed nature, and disk awl 4 is the shortest with the distance of motor fixed disk 3.As shown in Figure 8 B, in quick connection procedure, motor 1 orders about awl disk 4 and moves to the direction away from motor fixed disk 3, and screens addendum cone 7 ejects by big vertebra 402 on awl disk 4 gradually, ejects the thickness that distance is less than or equal to oblique guiding groove 901 and perpendicular guiding groove 902.Now motor 1 is shut down, butt plate 9 is upwards socketed in the outside of quick connecting parts b8, the ejection part of screens addendum cone 7 outer end successively moves downward in oblique guiding groove 901 and perpendicular guiding groove 902, when screens addendum cone 7 moves in 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 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 to eject; Now the direction of motion of motor fixed disk 3 is direction as shown in Figure 8 B.As shown in Figure 8 C, until screens addendum cone 7 eject the thickness that distance is greater than oblique guiding groove 901 or perpendicular guiding groove 902, ring spring 13 is in compressive state, and motor 1 is shut down.Now the direction of motion of screens addendum cone 7 is direction as shown in Figure 8 C, completes whole quick connection.
As needs separation two modules A and module B, motor 1 counter motion, awl disk 4 is driven to move to the direction of motor fixed disk 3, until big vertebra 402 of awl disk 4 does not contact with the taper seat 701 of screens addendum cone 7, now screens addendum cone 7 resets under the effect of ring spring 13, small cylindrical surface 703 leaves screens groove 904, and now butt plate 9 can be separated with quick connecting parts b8, removes and connects.
Refer to Fig. 9, the motion that what this figure presented is in mechanism's variation rigidity process, now motor 1 obtains corresponding signal, awl disk 4 is driven to move back and forth, thus change the relative position of spring leaf 5 and spring leaf draw-in groove 904, reach the object of variation rigidity, now the direction of motion of awl disk 4 is direction as shown in Figure 9.Ensure that screens addendum cone 7 is positioned at screens groove 903 always in the reciprocating process of described awl disk 4, 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 the design of this structure, the broad sense stiffness variable formula defined in 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, and d is the radius of a circle of spring leaf 5 center around axle center, and x is the displacement of the relative spring leaf draw-in groove 904 of spring leaf 5, F is the stressed of each spring leaf 5, E is the elastic modelling quantity of spring leaf 5, and M is the moment of torsion between two link blocks, and w is the amount of deflection of spring leaf 5, α is that two modules relatively rotate angle, and K is generalized stifflness.
Then can obtain amount of deflection w expression formula by mechanics of materials formula:
Rotational angle α is:
Definition generalized stifflness K is:
Rotational angle α in formula (2) is substituted into formula (3) then:
An example of the Quick Connect Kit application of this stiffness variable is, the connection between each joint module of robot arm.Motor fixed disk 3 is arranged on joint module one, butt plate 9 is arranged on next joint module two, just can realize the quick connection between two joint modules and variation rigidity adjustment.The adjustment of variation rigidity can be accomplished between every two joint modules of mechanical arm, just realize the Flexible Control of whole mechanical arm.
Claims (8)
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 connecting parts a, quick connecting parts b and butt plate, motor fixed disk is used for link block A, and butt plate is used for link block B; Described motor is arranged on circular motor fixed disk, motor shaft is through after the central through hole of motor fixed disk, leading screw screw rod is connected by shaft coupling, the leading screw screw rod other end is through the centre bore of awl disk, leading screw screw rod intermediate thread attaching nut seat simultaneously, nut seat is fixed by screws on awl disk; Described guide rail one end is fixed on motor fixed disk, and the other end is successively through after motor fixed disk and awl disk, and screw thread is fixed on quick connecting parts a; Be fixedly connected with spring leaf at the lower surface of described awl disk, the other end of spring leaf matches with the spring leaf draw-in groove on butt plate; Described quick connecting parts a is socketed quick connecting parts b outward, and quick connecting parts b is socketed butt plate outward, spacing by screens addendum cone between butt plate and quick connecting parts b, realizes connecting; Described stiffness variable is realized by the relative position changing spring leaf and spring leaf draw-in groove, and 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 the radius of a circle of spring leaf center around 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 the moment of torsion between two link blocks, w is the amount of deflection of spring leaf, α is that two modules relatively rotate angle, and K is generalized stifflness
Then can obtain amount of deflection w expression formula by mechanics of materials formula:
Rotational angle α is:
Definition generalized stifflness K is:
Rotational angle α in formula (2) is substituted into formula (3) then:
。
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 auger, during machining, disk and large awl milling are integrated, described large awl is positioned at the center of described lower disk surface, disk is processed with centre bore, screwed hole, guide rail hole, spring fixed hole A, spring fixed hole B and spring fitting groove, centre bore wherein provides the space of leading screw screw rod, screwed hole is used for being fixedly connected with between nut seat with disk, guide rail hole passes for guide rail, spring fixed hole A is corresponding with the aperture of the installing hole A on spring leaf and installing hole B with spring fixed hole B, for spring leaf is fixed on disk, the groove width of spring fitting groove is the thickness of spring leaf, and the end of described large awl is taper seat, moves for matching 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 rectangular tab structure, one end is cut from centre, then two lobes cut are bent 90 degree towards direction, two sides respectively, and processing mounting holes A installing hole B confession spring leaf 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 cone, a large cylinder and a small cylinder, described cone bottom surface is connected with large cylinder equal diameter, forming station terrace between described large cylinder and small cylinder, has ring spring at described small cylinder overcoat.
5. the Quick Connect Kit of a kind of stiffness variable according to claim 1, it is characterized in that: described quick connecting parts a is the cylindrical shape that upper surface is closed, a boss is had in the middle of described upper surface, processing through hole in the middle of boss, this through hole axially runs through quick connecting parts a completely, for the large awl setting movement guided on awl disk, namely the internal diameter of through hole is greater than the external diameter of the large awl on awl disk; Quick connecting parts a upper surface also circumferentially machined guide rail screwed hole uniformly, for being connected and fixed guide rail; Quick connecting parts a cylinder sides machined large taper hole, and this large taper hole is the radial sidewall running through quick connecting parts a completely, and aperture is the diameter of the large cylinder of screens addendum cone, inside slides for screens addendum cone; Quick connecting parts b is the shell be enclosed within outside quick connecting parts a, and side surface circumference is processed with small taper hole, and aperture is the diameter of small cylinder; Quick connecting parts b upper end open, bottom anchor ring is processed with installing hole, for installing and fixing quick connecting parts b and quick connecting 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 in its two, and the screw thread of one end is in order to by guide rail precession guide rail screwed hole, guide rail and quick connecting parts a is fixed; The screw thread of the other end is used to stubborn screens nut, and described screens nut is used for guide rail and motor fixed disk to fix.
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 in one end, the internal diameter of cylinder-like structure equals the external diameter of quick connecting parts b, is socketed in the outside of quick connecting parts b during use, described cylinder-like structure sidewall vertically has spring leaf draw-in groove to butt plate 9, adjacent two spring leaf draw-in groove by-levels have screens groove, described screens groove is groove through inside and outside the sidewall of cylinder-like structure, described screens groove runs through butt plate sidewall in the horizontal direction completely, circumferencial direction length ensures that the small column physical efficiency of the screens addendum cone when positive and negative 5 degree of quick connecting parts b rotation is slided in groove, it is highly the small cylinder diameter of screens addendum cone, thickness is cylinder-like structure wall thickness, on the inwall of cylinder-like structure, circumference is processed with oblique guiding groove and perpendicular guiding groove, described oblique guiding groove and perpendicular guiding groove through with screens groove, described perpendicular guiding groove is arranged on the mid-length position of screens groove, groove width is the small cylinder diameter of screens addendum cone, perpendicular guiding groove upper end is connected through with oblique guiding groove, when described screens addendum cone moves in perpendicular guiding groove, the free end of spring leaf can move in screens groove.
8. the quick connecting method of a stiffness variable, it is characterized in that: the Quick Connect Kit that the stiffness variable provided in claim 1 is provided, before connecting fast, it is inner that screens addendum cone is positioned at quick connecting parts a completely, ring spring is undeformed nature, and the distance of awl disk and motor fixed disk is the shortest, in quick connection procedure, motor orders about awl disk and moves to the direction away from motor fixed disk, and screens addendum cone ejects by large awl on awl disk gradually, ejects the thickness that distance is less than or equal to oblique guiding groove or perpendicular guiding groove, now motor stopping, butt plate is upwards socketed in the outside of quick connecting parts b, the ejection part of screens addendum cone outer end successively moves downward in oblique guiding groove and perpendicular guiding groove, when screens addendum cone moves in perpendicular guiding groove, spring leaf enters the spring leaf draw-in groove of butt plate, when screens addendum cone moves to the correspondence position of the screens groove on butt plate, starter motor, awl disk continues to move downward, the taper seat of large awl continues screens addendum cone to eject, until screens addendum cone eject the thickness that distance is greater than oblique guiding groove or perpendicular guiding groove, ring spring is in compressive state, motor stopping, complete 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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| CN103727336B (en) * | 2013-12-31 | 2015-10-14 | 辽宁东泰自动化设备制造有限公司 | A kind of quick connector |
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| CN111388268A (en) * | 2020-03-10 | 2020-07-10 | 广东博方众济医疗科技有限公司 | Framework quick-dismounting structure for human exoskeleton and human exoskeleton with same |
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