CN104626156A - Quick disassembling and assembling connector for spatial operation without driving source - Google Patents
Quick disassembling and assembling connector for spatial operation without driving source Download PDFInfo
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- CN104626156A CN104626156A CN201510008061.7A CN201510008061A CN104626156A CN 104626156 A CN104626156 A CN 104626156A CN 201510008061 A CN201510008061 A CN 201510008061A CN 104626156 A CN104626156 A CN 104626156A
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- steel ball
- ears
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- locking
- tool box
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Abstract
The invention discloses a quick disassembling and assembling connector for spatial operation without a driving source. An annular upper cover of a tool box is fixedly connected with a base plate of the tool box, an upper rail and a lower rail with same location and length are machined on the contact surface of the upper cover and the base plate, and two symmetrical openings are formed in the upper cover of the tool box; the upper cover of the tool box is provided with a locking limit and an unlocking limit; two side lugs are symmetrically installed on the side face of a to-be-disassembled or to-be-assembled tool; the side lugs are assembled in the tool box or disassembled out from the tool box through the openings; the upper ends of the connecting ends of the side lugs and the to-be-disassembled or to-be-assembled tool are provided with locating holes, and the other ends of the connecting ends of the side lugs and the to-be-disassembled or to-be-assembled tool are provided with sliding blocks which can slide along the upper rail and the lower rail; locating rods are fixed at the lower end of a connecting sleeve, the outer side of the connecting end of the side lugs and the tool is sleeved with the connecting sleeve, installation steel balls are evenly distributed in the circumferential direction of the connecting sleeve, the steel balls can move in the radial direction of the connecting sleeve, steel ball grooves are formed in the position, corresponding the steel balls, of the side lugs, the outer sides of the steel balls are sleeved with a locking sleeve, the locking sleeve is connected with the connecting sleeve in a threaded mode, and two locking rotating rods are symmetrically installed on the outer side of the locking sleeve; the number of lifting pins are in accordance with the number of the steel balls, and the lifting pins are evenly distributed and installed on the inner side of the locking sleeve in the circumferential direction.
Description
Technical field
The invention belongs to spatial operation field, relate to a kind of without drive source spatial operation fast assembling-disassembling interface.
Background technology
Be directed to the multiple operation task of space manipulator, often need to change different end effector mechanisms in-orbit.Therefore, be convenient to safeguard, can the joint interface of implementation space quick-detachment-replacing in-orbit particularly important.Document " but large space joint of mechanical arm and control research of shaking thereof ", Harbin: Harbin Institute of Technology's master thesis, joint rapid replacing interface is in-orbit devised in 2012, application quick change connecting pin docking port carries out being connected to fastening, connecting pin can be operated by extravehicular activity of astronaut, be inserted into tightening nut after pin-and-hole, pin just can swelling being locked by interface; During for dismounting, loosening nut, can extract pin-and-hole by connecting pin, and interface can depart from, and connecting pin still can by steel wire hang outside interface.Patent CN102048585A, for medical robot, devises the interface arrangement of junctor mechanical arm and end effector mechanism.Interface arrangement comprises mechanical arm Connection Block, executing agency's Connection Block, wedging bolt and horizontal latch, and wherein wedging bolt has press section, and horizontal latch has the portion of being slidably connected; The portion that is slidably connected contacts with described press section, and has the curved profile matched with the outer surface of press section; When wedging bolt is screwed in, horizontal latch, relative to mechanical arm Connection Block generation relative motion, outwards holds out against executing agency's Connection Block, thus solve the technical problem mounted and dismounted easily and fast between two parts, and structure is simple, and reliable operation, fastening force is large.Patent CN201210350194 is for the fast assembling-disassembling between the passive port of space end actuator and load, invent a kind of passive port of space structure of fast demountable, comprise passive panel, base, baffle plate, pull bar, spring and handle, floor installation is in load, the circumference of passive panel is evenly equipped with multiple baffle plate, each baffle plate is all provided with pull bar, and this pull bar has the free degree moving back and forth vertically and rotate; One end of described pull bar is the link with base, and the other end is provided with handle, and pull bar is arranged with spring, and one end of described spring is connected on passive panel, and the other end is connected on the shaft shoulder of pull bar.This invention structure is simple, is realized the fast assembling-disassembling of passive panel and base by pull bar, swift to operate, is easy to installation and reliable and practical.But above-mentioned several interface still needs manual operation to realize dismounting and replacing.
Summary of the invention
Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, proposing can the interface structure of fast assembling-disassembling, this structure can realize fast assembling-disassembling between robot arm and end-of-arm tooling and replacing, does not need special Mechanical Driven as drive source simultaneously.
Technical solution of the present invention is: a kind of without drive source spatial operation fast assembling-disassembling interface, comprise adapter sleeve, backstay, steel ball, ejector pin, locking bull stick, lock sleeve, retaining ring, pick up the ears, lock spacing, unlock spacing and tool box, described tool box comprises tool box base plate, tool case upper cover;
The tool case upper cover of annular is fixedly connected with tool box base plate, and Working position on the two contact surface, the upper and lower track that length is consistent, tool case upper cover is arranged two symmetrical gap; Tool case upper cover is arranged locking spacing spacing with unblock; Treat that dismantling device Side symmetrical is installed two and picked up the ears; Pick up the ears load tool box by above-mentioned gap or split out from tool box; Pick up the ears and treat that the upper end of dismantling device link arranges locating hole, the other end arrange can vertically track slide slide block; Adapter sleeve lower end stationary positioned bar, adapter sleeve is enclosed within picks up the ears and the uniform installation steel ball of instrument link Outboard Sections circumference, steel ball is removable along the radial direction of adapter sleeve, pick up the ears to be processed with steel ball groove with the correspondence position of steel ball, lock sleeve to be enclosed within outside steel ball and and be threaded connection between adapter sleeve, symmetrical outside lock sleeve two locking bull sticks are installed; The quantity of ejector pin is consistent with steel ball and be circumferentially uniformly arranged on inside lock sleeve;
When not locking, backstay inserts the locating hole on picking up the ears, and forms angle α between adjacent ejector pin and steel ball; After the mechanical arm being connected to set upper side in succession drives miscellaneous part rotational angle β except tool box, locking bull stick by lock spacing carry out spacing; Locking bull stick, lock sleeve and ejector pin is spacing motionless, steel ball is rotated further angle [alpha] under the drive of adapter sleeve, steel ball is under the effect of ejector pin, be pressed on the steel ball groove on picking up the ears, now the pick up the ears slide block of one end carries out spacing restriction by the stopping means on track and rotates further, and then the locking of implementation tool, it is splitting out of implementation tool that mechanical arm drives adapter sleeve to rotate backward.
Stopping means on described track can be realized by track end.
Described track central angle is β+2 α.
The slide block of described one end of picking up the ears and leave gap, coating solid lubricating film on lower railway face between getting on the right track.
The present invention compared with prior art beneficial effect is:
Spatial operation technology refers to when space has people or unmanned participation, manipulate in-orbit for specific target in-orbit, realize the technology approaching monitoring, breakdown maintenance, filling upgrading, the in-orbit special duty such as rescue and defragmentation, its intension studies the correlation technique how manufacturing and can realize designated movement, reach designated movement precision, accurately perform the space mechanism of appointed task.Spatial operation technology is the complicated necessity of space mission high-performance, and can promote Space Attack technology, ensures space safety, has huge economic benefit and military value.The present invention propose a kind of can the interface structure of fast assembling-disassembling, just in order to realize fast assembling-disassembling between robot arm and end-of-arm tooling and replacing, and realizing without the mechanical arm autonomous operation in drive source situation, being adapted to the needs of spatial operation.
Accompanying drawing explanation
Fig. 1 is that the present invention is main depending on cuing open figure;
Fig. 2 is 3 dimensional drawing of the present invention (tool case upper cover only shows half);
Fig. 3 is adapter sleeve schematic diagram of the present invention;
Fig. 4 is that the present invention picks up the ears schematic diagram;
Fig. 5 is that the present invention locks process schematic;
Fig. 6 is releasing process schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is elaborated, as shown in Figure 1, 2, the present invention is a kind of without drive source spatial operation fast assembling-disassembling interface, comprise adapter sleeve 11, backstay 4, steel ball 7, ejector pin 8, locking bull stick 5, lock sleeve 2, retaining ring 13, pick up the ears 12, lock spacing 6, unlock spacing 17 and tool box, described tool box comprises tool box base plate 1, tool case upper cover 15;
The tool case upper cover 15 of annular is fixedly connected with tool box base plate 1, and Working position on the two contact surface, the upper and lower track that length is consistent, tool case upper cover 15 is arranged two symmetrical gap 16; Tool case upper cover 15 arranged locking spacing 6 and unlock spacing 17; Treat that dismantling device Side symmetrical is installed two and picked up the ears 12; Pick up the ears 12 load tool box by above-mentioned gap 16 or split out from tool box; As shown in Figure 4, pick up the ears 12 with treat that the upper end of dismantling device link arranges locating hole, the other end arrange can vertically track slide slide block; As shown in Figure 3, adapter sleeve 11 lower end stationary positioned bar 4, adapter sleeve 11 is enclosed within picks up the ears and the uniform installation steel ball 7 of instrument link Outboard Sections circumference, steel ball 7 is removable along the radial direction of adapter sleeve 11, pick up the ears 12 to be processed with steel ball groove with the correspondence position of steel ball 7, lock sleeve 2 to be enclosed within outside steel ball 7 and and be threaded connection between adapter sleeve 11, symmetrical outside lock sleeve 2 two locking bull sticks 5 are installed; The quantity of ejector pin 8 is consistent with steel ball 7 and to be circumferentially uniformly arranged on inside lock sleeve 2.Instrument not pick up the ears 12 to be stuck in tool box sliding rail by the used time.After mechanical arm is connected with instrument, downward axial force makes pick up the ears 12 and lower railway close contact, pick up the ears 12 and gap of having got on the right track.Coating solid lubricating film on lower railway face, to reduce fretting wear when mechanical arm J7 joint band power driven tools rotates.
During locking, backstay 4 inserts the locating hole of picking up the ears on 12, forms the step (1) in angle α (such as 10 °) Fig. 5 between adjacent ejector pin 8 and steel ball 7, be connected to after the mechanical arm overlapping 11 upper ends in succession drives miscellaneous part except tool box to rotate clockwise angle beta (such as 90 °), locking bull stick 5 is undertaken spacing by locking spacing 6, now the ejector pin in lock sleeve and the steel ball on adapter sleeve still stagger 10 °, spacing 6 (in Fig. 5 the steps (2)) of locking on tool box encountered by locking bull stick 5 simultaneously on lock sleeve 2, locking bull stick 5, lock sleeve 2 and ejector pin 8 spacing motionless, steel ball 7 is rotated further angle 10 ° under the drive of adapter sleeve 11, steel ball 7 is under the effect of ejector pin 8, be pressed on the steel ball groove of picking up the ears on 12, now the pick up the ears slide block of 12 one end carries out spacing restriction by the stopping means on track and rotates further, and then the locking of implementation tool (step 3 in Fig. 5), now, pick up the ears 12 in tool case upper cover 15 gap position, mechanical arm moves upward, the instrument be locked can be taken away.
Unlock the reverse execution by locking process: the instrument of locking is sent back to from tool case upper cover gap position by mechanical arm, make 12 entering tool case sliding rails location (in Fig. 6 step 1) of picking up the ears, mechanical arm J7 joint drives adapter sleeve 11, lock sleeve 2 and instrument to rotate counterclockwise, until spacing 17 (in Fig. 6 the steps 2) of unblock on tool box encountered by the locking bull stick 5 on lock sleeve 2.Mechanical arm J7 joint drives adapter sleeve 11 and instrument to rotate counterclockwise 10 ° further, but lock sleeve 2 can not rotate counterclockwise due to spacing again, steel ball 7 on such adapter sleeve 11 and the ejector pin 8 in lock sleeve 2 stagger 10 °, and implementation tool unlocks (in Fig. 6 step 3).Now, mechanical arm moves upward, and instrument picks up the ears 12 to be pushed down by tool case upper cover 15, then the steel ball 7 on adapter sleeve 11 is thrown off with steel ball groove, and mechanical arm can be withdrawn.
The position and attitude that position and attitude after mechanical arm unlocks with instrument will reach when being namely and being connected with instrument next time.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. one kind without drive source spatial operation fast assembling-disassembling interface, it is characterized in that: comprise adapter sleeve (11), backstay (4), steel ball (7), ejector pin (8), locking bull stick (5), lock sleeve (2), retaining ring (13), pick up the ears (12), lock spacing (6), unlock spacing (17) and tool box, described tool box comprises tool box base plate (1), tool case upper cover (15);
The tool case upper cover (15) of annular is fixedly connected with tool box base plate (1), Working position on the two contact surface, the upper and lower track that length is consistent, tool case upper cover (15) is arranged two symmetrical gap (16); Tool case upper cover (15) arranged locking spacing (6) and unlock spacing (17); Treat that dismantling device Side symmetrical is installed two pick up the ears (12); Pick up the ears (12) load tool box or split out from tool box by above-mentioned gap (16); Pick up the ears (12) with treat that the upper end of dismantling device link arranges locating hole, the other end arrange can vertically track slide slide block; Adapter sleeve (11) lower end stationary positioned bar (4), adapter sleeve (11) is enclosed within picks up the ears and the uniform installation steel ball (7) of instrument link Outboard Sections circumference, steel ball (7) is removable along the radial direction of adapter sleeve (11), the pick up the ears correspondence position of (12) and steel ball (7) is processed with steel ball groove, lock sleeve (2) be enclosed within steel ball (7) outside and and be threaded connection between adapter sleeve (11), lock sleeve (2) outside is symmetrical installs two locking bull sticks (5); The quantity of ejector pin (8) consistent with steel ball (7) and circumferential uniform be arranged on lock sleeve (2) inner side;
When not locking, backstay (4) inserts the locating hole of picking up the ears on (12), forms angle α between adjacent ejector pin (8) and steel ball (7); Be connected to after the mechanical arm overlapping (11) upper end in succession drives miscellaneous part rotational angle β except tool box, locking bull stick (5) is undertaken spacing by locking spacing (6); Locking bull stick (5), lock sleeve (2) and ejector pin (8) are spacing motionless, steel ball (7) is rotated further angle [alpha] under the drive of adapter sleeve (11), steel ball (7) is under the effect of ejector pin (8), be pressed on the steel ball groove of picking up the ears on (12), now the pick up the ears slide block of (12) one end carries out spacing restriction by the stopping means on track and rotates further, and then the locking of implementation tool, it is splitting out of implementation tool that mechanical arm drives adapter sleeve (11) to rotate backward.
2. according to claim 1 a kind of without drive source spatial operation fast assembling-disassembling interface, it is characterized in that: the stopping means on described track can be realized by track end.
3. according to claim 2 a kind of without drive source spatial operation fast assembling-disassembling interface, it is characterized in that: described track central angle is β+2 α.
4. according to claim 1 a kind of without drive source spatial operation fast assembling-disassembling interface, it is characterized in that: described in pick up the ears one end slide block and leave gap, coating solid lubricating film on lower railway face between getting on the right track.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510008061.7A CN104626156B (en) | 2015-01-07 | 2015-01-07 | A kind of without drive source spatial operation fast assembling-disassembling interface |
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| CN201510008061.7A CN104626156B (en) | 2015-01-07 | 2015-01-07 | A kind of without drive source spatial operation fast assembling-disassembling interface |
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| CN104626156A true CN104626156A (en) | 2015-05-20 |
| CN104626156B CN104626156B (en) | 2016-05-04 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003136A (en) * | 2016-06-21 | 2016-10-12 | 北京灵铱科技有限公司 | Quick insertion joint for robot |
| CN106151660A (en) * | 2016-08-25 | 2016-11-23 | 凯迈（洛阳）气源有限公司 | A kind of oxygen pressure reducer quick throw-in device |
| CN108980543A (en) * | 2018-07-20 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | It can the in-orbit parallel support system for replacing optics load |
| CN111993456A (en) * | 2020-07-13 | 2020-11-27 | 安徽机电职业技术学院 | Make things convenient for arm of dismouting |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
| CN113370179A (en) * | 2021-05-21 | 2021-09-10 | 内蒙古工业大学 | Linear electromagnetic control claw type robot tail end quick-changing device |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN117207229A (en) * | 2023-11-07 | 2023-12-12 | 中国医学科学院北京协和医院 | Flower-shaped mechanical arm tail end quick-dismantling mechanism |
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| CN103863582A (en) * | 2014-03-19 | 2014-06-18 | 上海宇航系统工程研究所 | Spatial capturing and locking integrated device |
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| EP0325821A2 (en) * | 1986-12-01 | 1989-08-02 | British Aerospace Public Limited Company | Retaining device |
| US5018901A (en) * | 1988-07-21 | 1991-05-28 | Space Industries Partnership, L. P. | Ring latched coupler |
| JP2000271891A (en) * | 1999-03-19 | 2000-10-03 | Toshiba Corp | Grasping device for robot |
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106003136A (en) * | 2016-06-21 | 2016-10-12 | 北京灵铱科技有限公司 | Quick insertion joint for robot |
| CN106151660A (en) * | 2016-08-25 | 2016-11-23 | 凯迈（洛阳）气源有限公司 | A kind of oxygen pressure reducer quick throw-in device |
| CN106151660B (en) * | 2016-08-25 | 2018-08-03 | 凯迈（洛阳）气源有限公司 | A kind of oxygen pressure reducer quick throw-in device |
| CN108980543A (en) * | 2018-07-20 | 2018-12-11 | 中国科学院长春光学精密机械与物理研究所 | It can the in-orbit parallel support system for replacing optics load |
| CN108980543B (en) * | 2018-07-20 | 2019-10-11 | 中国科学院长春光学精密机械与物理研究所 | It can the in-orbit parallel support system for replacing optics load |
| CN111993456A (en) * | 2020-07-13 | 2020-11-27 | 安徽机电职业技术学院 | Make things convenient for arm of dismouting |
| CN112497258A (en) * | 2020-11-17 | 2021-03-16 | 武汉联影智融医疗科技有限公司 | Mechanical arm and joint quick-change interface thereof |
| CN113370179A (en) * | 2021-05-21 | 2021-09-10 | 内蒙古工业大学 | Linear electromagnetic control claw type robot tail end quick-changing device |
| CN113370179B (en) * | 2021-05-21 | 2023-05-09 | 内蒙古工业大学 | Linear electromagnetic control claw type robot tail end quick-change device |
| CN114310930A (en) * | 2021-12-16 | 2022-04-12 | 杭州申昊科技股份有限公司 | Hang rail formula and patrol and examine robot |
| CN114310930B (en) * | 2021-12-16 | 2023-12-26 | 杭州申昊科技股份有限公司 | Rail-mounted inspection robot |
| CN117207229A (en) * | 2023-11-07 | 2023-12-12 | 中国医学科学院北京协和医院 | Flower-shaped mechanical arm tail end quick-dismantling mechanism |
| CN117207229B (en) * | 2023-11-07 | 2024-02-09 | 中国医学科学院北京协和医院 | Flower-shaped mechanical arm tail end quick-dismantling mechanism |
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|---|---|
| CN104626156B (en) | 2016-05-04 |
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