CN104816311A - Robot arm joint quick-change interface system allowing on-rail replacement - Google Patents
Robot arm joint quick-change interface system allowing on-rail replacement Download PDFInfo
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- CN104816311A CN104816311A CN201510187993.2A CN201510187993A CN104816311A CN 104816311 A CN104816311 A CN 104816311A CN 201510187993 A CN201510187993 A CN 201510187993A CN 104816311 A CN104816311 A CN 104816311A
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Abstract
A robot arm joint quick-change interface system allowing on-rail replacement relates to a robot arm joint quick-change interface system. The robot arm joint quick-change interface system solves the problem that an electric connector of a conventional robot arm joint quick-change interface system is damaged due to overload, since the electric connector has no over travel buffering function. A tolerance guiding abutting apparatus comprises a recessed body and a protruding body matching with the recessed body structure, wherein the recessed body and the protruding body are detachably connected through a plurality sets of locking positioners and a plurality sets of mechanical connection and quick-detach apparatuses, the plurality sets of locking positioners are uniformly arranged between the recessed body and the protruding body, and the plurality sets of mechanical connection and quick-detach apparatuses are uniformly arranged between the recessed body and the protruding body. An electrical connecting device is arranged in a cavity formed by the recessed body and the protruding body. The robot arm joint quick-change interface system is used for spatial on-rail maintenance.
Description
Technical field
The present invention is specifically related to a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit.
Background technology
Large space mechanical arm is the nucleus equipment of space-orbit maintenance, the feature that it has complex structure, involves great expense, launch cost is high and the time is long in orbit.At present large space mechanical arm in-orbit has Canadian space station remote operating mechanical arm SSRMS and Japan Experiment Module mechanical arm JEMRMS in the world, and these two mechanical arms all adopt can be safeguarded in-orbit to change and design.In order to reduce the maintenance cost of mechanical arm, the key that mechanical arm is safeguarded in-orbit replaces the joint module lost efficacy, and therefore designs joint rapid replacing interface so that the maintenance of astronaut's quick-replaceable.
Joint rapid replacing interface needs the rigidity ensureing mechanical arm to connect, and needs the connection ensureing the electric of machinery and data system simultaneously.Some electric connector of domestic production does not possess overtravel amount pooling feature makes it can be damaged because bearing overload power in use.At present also do not have a kind of practicality and can be applied to the joint rapid replacing interface of space mechanism shoulder joint, the defect of existence does not effectively solve so far.
Summary of the invention
The object of this invention is to provide a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit, the problem making it bear overload power because not possessing overtravel amount pooling feature to be damaged with the electric connector solving the joint of mechanical arm rapid replacing interface of existing use.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit, it comprises tolerance guiding docking facilities, electrical connection arrangement, many groups lock in place device and many group mechanical connection device for quickly disassembling, described tolerance guiding docking facilities comprises recessed body, the convex body matched with recessed body construction, removably connected by many group lock in place devices and many group mechanical connection device for quickly disassembling between described recessed body and convex body, described many group lock in place devices are evenly arranged between recessed body and convex body, described many group mechanical connection device for quickly disassembling are distributed between recessed body and convex body, described electrical connection arrangement is arranged in the cavity of recessed body and convex body composition,
Described electrical connection arrangement comprises floating mechanism of electric connector and electric connector delivery device, described floating mechanism of electric connector is arranged in convex body or recessed body, described electric connector floating installation comprises electrical connector plug, electrical connector plug installing plate, electric connector limiting plate, multiple floating mounting screw I and organize floating spring more, described electrical connector plug is provided with electrical connector plug installing plate, the upper surface of described electrical connector plug installing plate is provided with multiple floating mounting screw I and organizes floating spring more, described electrical connector plug is also provided with electric connector limiting plate, described electric connector delivery device is arranged in recessed body or convex body, described electric connector delivery device comprises electric connector socket, electric connector socket slide block installing plate, bent axle, force axle, base plate, stabilizing spring, two connecting rods, two cranks, two connecting rod pedestals, flat key and organize traveller more, described electric connector socket is fixedly mounted on the upper surface of electric connector socket slide block installing plate, the lower surface of electric connector socket slide block installing plate is set side by side with connecting rod pedestal, described many group travellers are all vertically arranged on base plate, described electric connector socket slide block installing plate is slidably connected on many group travellers, described bent axle is positioned at the below of electric connector socket slide block installing plate, one end of each connecting rod is plugged in the connecting rod pedestal of its correspondence, the other end of each connecting rod is connected on crank, each crank is connected with bent axle by flat key, described crankshaft installed is on base plate, one end of described bent axle is connected with force axle, the other end of described bent axle is connected with stabilizing spring, described electric connector limiting plate is arranged on electrical connector plug installing plate through electrical connector plug symmetry.
The present invention's beneficial effect compared with prior art:
1, the performance that the present invention be directed to electric connector is expanded, by interpolation floating mechanism of electric connector, electric connector is had and possess overtravel amount pooling feature, efficient quick-detachment and the installation of joint of mechanical arm under space environment can be realized, and ensure machinery and electric to be reliably connected, ensure that electric connector can not damage because of overload power under processing alignment error simultaneously, effectively ensure that key property and the integrality of the normal use of electric connector, the service life of electric connector can be extended simultaneously.
2, for not having the electrical connector design floating mechanism of electric connector of overtravel amount, the performance requirement to electric connector is reduced.
3, the function of astronaut's operation is convenient to for space environment design: the tolerance guiding docking facilities in the present invention is large tolerance docking structure, and mechanical connection device for quickly disassembling is quick change disassembly and assembly structure, and lock in place device has position positioning indicating effect
4, the present invention's design is based on the electric connector delivery device of crank block, contact engaging and separating force is converted to moment, effectively reduces astronaut's operation easier, save astronaut's operating time, improve the operating efficiency of astronaut.
5, electric connector delivery device has spacing design, i.e. electric connector limiting plate, and compared with prior art, this limit function is realized by this body structure of electric connector delivery device, does not need to add extra stopping means.
6, the stabilizing spring in the present invention effectively realizes the locking function of electric connector delivery device, ensures that electric connector does not depart from vibration environment.
Accompanying drawing explanation
Fig. 1 is tolerance guiding docking facilities in the present invention, electrical connection arrangement, many group lock in place devices and many group mechanical connection device for quickly disassembling are in three-dimensional rotation sectional view under connection status;
Fig. 2 is the three-dimensional structure schematic diagram being in the recessed body of the front state of docking and the part-structure annexation of connection lock in place device thereon, mechanical connection device for quickly disassembling and electrical connection arrangement;
Fig. 3 is the three-dimensional structure schematic diagram being in the convex body of the front state of docking and the part-structure annexation of connection lock in place device thereon, mechanical connection device for quickly disassembling and electrical connection arrangement;
Fig. 4 is the partial sectional view of lock in place device;
Fig. 5 is the three-dimensional rotation sectional view of mechanical connection device for quickly disassembling;
Fig. 6 is the graphics before electrical connection arrangement is in connection;
Fig. 7 is the graphics after electrical connection arrangement is in connection;
Fig. 8 is the sectional view of the electric connector delivery device in electrical connection arrangement.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8 illustrates present embodiment, present embodiment comprises tolerance guiding docking facilities, electrical connection arrangement, many groups lock in place device and many group mechanical connection device for quickly disassembling, described tolerance guiding docking facilities comprises recessed body 1-1 and convex body 1-2, the structure of recessed body 1-1 and the respective outer side edges of convex body 1-2 are arranged, removably connected by many group lock in place devices and many group mechanical connection device for quickly disassembling between described recessed body 1-1 and convex body 1-2, described many group lock in place devices are evenly arranged between recessed body 1-1 and convex body 1-2, described many group mechanical connection device for quickly disassembling are distributed between recessed body 1-1 and convex body 1-2, described electrical connection arrangement is arranged in the cavity of recessed body 1-1 and convex body 1-2 composition,
Described electrical connection arrangement comprises floating mechanism of electric connector and electric connector delivery device, described floating mechanism of electric connector is arranged in convex body 1-2 or recessed body 1-1, described electric connector floating installation comprises electrical connector plug 4-1, electrical connector plug installing plate 4-3, electric connector limiting plate 4-11, multiple floating mounting screw I 4-8 and many group floating spring 4-4, described electrical connector plug 4-1 is provided with electrical connector plug installing plate 4-3, the upper surface of described electrical connector plug installing plate 4-3 is provided with multiple floating mounting screw I 4-8 and many group floating spring 4-4, described electrical connector plug 4-1 is also provided with electric connector limiting plate 4-11, described electric connector delivery device is arranged in recessed body 1-1 or convex body 1-2, described electric connector delivery device comprises electric connector socket 4-12, electric connector socket slide block installing plate 4-16, bent axle 4-26, force axle 4-19, base plate 4-32, stabilizing spring 4-30, two connecting rod 4-23, two crank 4-22, two connecting rod pedestal 4-28, flat key 4-36 and many group traveller 4-17, described electric connector socket 4-12 is fixedly mounted on the upper surface of electric connector socket slide block installing plate 4-16, the lower surface of electric connector socket slide block installing plate 4-16 is set side by side with connecting rod pedestal 4-28, described many group traveller 4-17 are all vertically arranged on base plate 4-32, described electric connector socket slide block installing plate 4-16 is slidably connected on many group traveller 4-17, described bent axle 4-26 is positioned at the below of electric connector socket slide block installing plate 4-16, one end of each connecting rod 4-23 is plugged in the connecting rod pedestal 4-28 of its correspondence, the other end of each connecting rod 4-23 is connected on crank 4-22, each crank 4-22 is connected with bent axle 4-26 by flat key 4-36, described bent axle 4-26 is arranged on base plate 4-32, one end of described bent axle 4-26 is connected with force axle 4-19, the other end of described bent axle 4-26 is connected with stabilizing spring 4-30, described electric connector limiting plate 4-11 is arranged on electrical connector plug installing plate 4-3 through electrical connector plug 4-1 symmetry.
In present embodiment, electric connector limiting plate 4-11 is made up of two strip plate bodys.Described stabilizing spring 4-30 is connected on bent axle 4-26 by trip bolt II 4-29, is connected on mounting blocks 4-33 by trip bolt III 4-31 simultaneously, and described mounting blocks 4-33 is fixed on base plate 4-32 by attachment screw Ⅻ 4-34.Described bent axle 4-26 is arranged on base plate 4-32.Base plate 4-32 is arranged on recessed body 1-1 by multiple attachment screw XIII4-35, and described one group of traveller 4-17 is arranged on recessed body 1-1 on base plate 4-32 simultaneously.Multiple rotating shaft 4-25 is fixed on the crank 4-22 corresponding with it or connecting rod pedestal 4-28 by multiple holding screw 4-24.
Described electrical connector plug 4-1 and electric connector socket 4-12 is certain model electric connector domestic, and it has the fault tolerance in X/Y direction, but does not possess Z-direction overtravel amount.Described electrical connection arrangement carries out respective design for this electric connector, devises the base with Z-direction flying ability.Core provides overtravel amount for one group of large rigidity floating spring, the mounting screw I that floats makes electrical connector plug installing plate Z-direction to move as the traveller of Z-direction simultaneously, described convex body 1-2 and floating mounting screw I 4-8 provides limit function, and the floating mounting screw I 4-8 length of adjustment can adjust the size of Z-direction overtravel amount.Described one group of large rigidity floating spring one end is arranged in convex body 1-2, and the other end is arranged on electrical connector plug installing plate 4-3 by electric connector limiting plate 4-11.
The rotary motion of astronaut's rifle shape operation tool, as electric connector delivery device, is converted to the straight line plug motion of electric connector by the centric slider-crank mechanism being provided with stopping means in described electrical connection arrangement.Crank-motion scope is 0 ~ 190 °, by being curved bar by the profile design of connecting rod 4-23, be curved connecting rod, crank 4-22 and curved interference of link is utilized to realize lower limit, that is connecting rod 4-23 limits the lower limit of crank 4-22 range of movement, the structure one end be rotationally connected by base plate 4-32 and bent axle 4-26 is closed, and utilizes the interference of crank 4-22 and blind end to realize upper limit, and that is base plate 4-32 limits the upper limit of crank 4-22 range of movement.Described base plate 4-32 has the generic interface be connected with joint simultaneously.Described centric slider-crank mechanism also has stabilizing spring 4-30, there is provided certain torque to make described crank 4-22 keep the upper limit position of range of movement under vibration to described bent axle 4-26, ensure that electrical connector plug 4-1 does not depart from electric connector socket 4-12 and be connected.
Present embodiment concave body 1-1 is double-deck flange biconical surface structure, and convex body 1-2 is single layer flanges Double-conical-surface, and the structure of recessed body 1-1 and the structure of convex body 1-2 cooperatively interact and arrange, and realize recessed body 1-1 and dock with the tolerance of convex body 1-2.And when convex body 1-2 is connected with recessed body 1-1, inner conical surface cone angle is greater than male cone (strobilus masculinus) cone angle.Setting like this, it is the tolerance function in order to realize rapid replacing interface, and realizing range of tolerable variance expansion by inner conical surface, male cone (strobilus masculinus) realizes the self-locking performance of radial carrying, and convex body 1-2 and recessed body 1-1 connected mode like this also help the installation and connective stability that are mechanically connected device for quickly disassembling.
The rapid replacing interface structure that it is mounting base that the present invention establishes with the recessed body 1-1 in tolerance guiding docking structure and convex body 1-2, achieves the organic integration of each funtion part of rapid replacing interface.Astronaut being safeguarded in-orbit of task is by being decomposed into docking locking, mechanical connection, electrical connection three large links successively, and separate operations reduces task difficulty.Further, in connection procedure, determine the scheme being first mechanically connected rear electrical connection, significantly can reduce tolerance performance requirement and the load bearing requirements of electric connector.
Detailed description of the invention two: composition graphs 3 and Fig. 4 illustrate present embodiment, the guiding of tolerance described in present embodiment docking facilities also comprises feather key 1-3, attachment screw I 1-4, joint rotation angle indicated angle anale settting scale 1-7 and positioning key 1-8, and described feather key 1-3 is arranged on described convex body 1-2 by attachment screw I 1-4 is uniform.One end face of described convex body 1-2 is processed with the first interface be connected with joint, the edge of described first interface is provided with the positioning key 1-8 coordinating with joint and locate, the other end of described convex body 1-2 is the second interface be connected with recessed body 1-1, the edge of the second interface is along the circumferential direction evenly processed with multiple lug, and described joint rotation angle indicated angle anale settting scale 1-7 is fixedly connected on described convex body 1-2 outer circumference surface; The outer shroud of described recessed body 1-1 is along the circumferential direction evenly processed with multiple outer otic placode, the inner ring of recessed body 1-1 is along the circumferential direction evenly processed with multiple interior otic placode, each outer otic placode and an interior otic placode partner locking otic placode, and often pair of locking otic placode place is provided with one group of mechanical connection device for quickly disassembling.
The present invention is provided with the generic interface and version that are connected with joint, expands the scope of application of the present invention, makes highly versatile of the present invention.In present embodiment, joint rotation angle indicated angle anale settting scale 1-7 is arranged on described convex body 1-2 by insertion ring 1-5 and multiple uniform attachment screw II 1-6.In present embodiment NM component and annexation identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1, Fig. 2, Fig. 3 and Fig. 5 illustrates present embodiment, be mechanically connected device for quickly disassembling in present embodiment and comprise convex body bushing 3-18, recessed body outer shroud lining 3-16, recessed body inner ring lining 3-20, opening expansion sleeve 3-5 and multiple opening expansion loop 3-4, described recessed body outer shroud lining 3-16 is arranged on the outer otic placode of recessed body 1-1 by multiple attachment screw IV 3-17, described convex body bushing 3-18 is arranged on the lug of convex body 1-2 by multiple attachment screw V 3-19, described recessed body inner ring lining 3-20 to be arranged in recessed body 1-1 on otic placode by multiple attachment screw VI 3-21, described opening expansion sleeve 3-5 is arranged on the inwall of recessed body inner ring lining 3-20, the inner wall even distribution of described opening expansion sleeve 3-5 has multiple opening expansion loop 3-4.
In present embodiment, often group mechanical connection device for quickly disassembling also comprises many nylon rope 3-11, multiple nylon rope joint, upper junction plate 3-12, fastening bolt cover 3-6, quick change pin 3-1, multiple stop screw 3-10, nut, lower connecting plate 3-15, voussoir group and multiple attachment screw VII 3-14, lower connecting plate 3-15 is connected with the recessed body outer shroud lining of on recessed body 2 3-16, the two ends of each nylon rope 3-11 are respectively by nylon rope joint composition nylon jacket, upper junction plate 3-12, lower connecting plate 3-15 is once sleeved on the lateral wall of fastening bolt cover 3-6 from top to bottom, pin is inserted in fastening bolt cover 3-6, two symmetries of the stop screw 3-10 for fixing quick change pin 3-1 are inserted into the lateral wall of fastening bolt cover 3-6, nut sleeve is contained on fastening bolt cover 3-6, and nut is between upper junction plate 3-12 and lower connecting plate 3-15, the lower end that upper end and the fastening bolt of described voussoir group overlap 3-6 is connected, the lower end of described voussoir group is sleeved in opening expansion sleeve 3-5, opening expansion sleeve 3-5 is successively through convex body bushing 3-18 and recessed body inner ring lining 3-20, when often organizing mechanical connection device for quickly disassembling and comprising three nylon rope 3-11, the two ends of upper junction plate 3-12 are connected with a nylon rope 3-11, one end of upper junction plate 3-12 is connected by a nylon rope 3-11 with one end of lower connecting plate 3-15, the other end of upper junction plate 3-12 is connected with the other end of lower connecting plate 3-15 by a nylon rope 3-11.
Be mechanically connected the setting that device for quickly disassembling difference from prior art is opening expansion sleeve 3-5 in present embodiment, its object arranged is radially expanded deflection in order to what coordinate multiple opening expansion loop 3-4, prevents it from causing plug difficulty because being out of shape inequality.Opening expansion sleeve 3-5 can improve recessed body inner ring lining 3-20 distribution of contact situation, avoids opening expansion loop 3-4 and recessed body inner ring lining 3-20 directly to contact causing recessed body inner ring lining 3-20 contact to distribute extremely uneven situation.This outward opening expansion sleeve 3-5 and opening expansion loop 3-4 all adopts steel matter, can significantly reduce friction, and ensures that opening expansion loop 3-4 and voussoir group can be moved under fastening bolt overlaps 3-6 thrust.In present embodiment, lower connecting plate 3-15 is connected on recessed body outer shroud lining 3-16 by multiple attachment screw VII 3-14.
Cooperatively interact between many nylon rope 3-11, upper junction plate 3-12, multiple stop screw 3-10 and lower connecting plate 3-15 in present embodiment the spacing anti-lost effect arranging and achieve, described nylon rope 3-11 length is approximately equal to the stroke of quick change pin 3-1, and adopts symmetric design.Described nylon rope 3-11 forms sling at fastening bolt cover 3-6 end, is conducive to astronaut and extracts expansion pin smoothly.In present embodiment, the setting of multiple stop screw 3-10 is the multidiameter structure in order to coordinate quick change pin 3-1 afterbody, fastening bolt can be avoided to overlap 3-6 exceed stroke and lose, the number of mechanical connection device for quickly disassembling stop screw 3-10 when concrete assembling is set to six.
In present embodiment, often the group mechanical connection recessed body outer shroud lining 3-16 of device for quickly disassembling and recessed body inner ring lining 3-20 also has and symmetrical has retainer spring 3-8, steel ball 3-9 and housing screw 3-7 positioning indicating device for a pair.A pair location prompter is symmetricly set between recessed body outer shroud lining 3-16 and recessed body inner ring lining 3-20.In present embodiment NM component and annexation identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1, Fig. 2, Fig. 3 and Fig. 4 illustrates present embodiment, the outer surface of recessed body 1-1 described in present embodiment is processed with multiple taper gathering sill, taper gathering sill and lock in place device one_to_one corresponding are arranged, often organize lock in place device is fixedly connected on its correspondence close on recessed body 1-1 taper gathering sill place by attachment screw III 2-3, lock in place device comprises shell 2-1, alignment pin 2-2, locking key 2-4, locking key rotating shaft 2-5, retainer spring I 2-6, trip bolt I 2-7, described lock in place device is connected on described recessed body 1-1 by multiple attachment screw III 2-3, described locking key 2-4 is by retainer spring I 2-6 and feather key 1-3 forceful contact.
There is provided thrust that steel ball 3-9 is contacted with the annular groove of quick change pin 3-1 head by described retainer spring I 2-6 in present embodiment, to realize mechanical connection device for quickly disassembling axial location and force feedback.The head of described recessed body inner ring lining 3-20 has 12 uniform profile of tooth cavernous structures, and tooth angle is 120 °, engages with the hex bolts head of described quick change pin 3-1 head, realizes stating expansion pin head and fixes.In present embodiment NM component and annexation identical with detailed description of the invention one or three.
Detailed description of the invention five: composition graphs 1 illustrates present embodiment, floating mechanism of electric connector described in present embodiment also comprises electrical connector plug hood 4-2, multiple spring shim I 4-5 and spring shim II 4-7, described electrical connector plug hood 4-2 covers on the upper surface of electrical connector plug 4-1, each spring shim I 4-5 is positioned on the floating spring 4-4 of electrical connector plug installing plate 4-3 side, each spring shim II 4-7 is positioned on the floating spring 4-4 of electrical connector plug installing plate 4-3 opposite side, the thickness of described spring shim I 4-5 is less than the thickness of spring shim II 4-7, described electric connector delivery device also comprises electric connector socket hood 4-13, and described electric connector socket hood 4-13 covers on the lower surface of electric connector socket 4-12.The 4-5 of spring shim I described in present embodiment is thinner than spring shim II 4-7, makes centre position floating spring 4-4 precompression less, realizes electrical connector plug installing plate 4-3 not by unbalance loading.In present embodiment, electric connector socket hood 4-13 is connected on electric connector socket 4-12 by multiple attachment screw Ⅹ 4-27, and electrical connector plug hood 4-2 is arranged on electrical connector plug 4-1 by multiple attachment screw VIII 4-9.In present embodiment NM component and annexation identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 1 illustrates present embodiment, the delivery device of electric connector described in present embodiment also comprises multiple floating mounting screw II 4-15, described electric connector socket 4-12 is arranged on electric connector socket slide block installing plate 4-16 by multiple floating mounting screw II 4-15, and each floating mounting screw II 4-15 and electric connector socket 4-12 gap are arranged.The setting of multiple floating mounting screw II 4-15 is to improve electric connector socket 4-12 and electric connector socket slide block installing plate 4-16 tolerance in the horizontal direction, because relative position between floating mounting screw II 4-15 and electric connector socket 4-12 makes the tolerance docking facilities that leads can achieve a butt joint in initial position error work flexibly.In present embodiment NM component and annexation identical with detailed description of the invention one.
In conjunction with detailed description of the invention one to six, operation principle of the present invention is described:
First, convex body 1-2 in tolerance guiding docking facilities docks with the tolerance that recessed body 1-1 is realized under initial position and attitude error by Double-conical-surface flanged structure, is ensureing that convex body 1-2 and recessed body 1-1 is docked to correct position by feather key 1-3 with gathering sill on the recessed body 1-1 matched.Secondly, by the pretension of retainer spring I 2-6 in lock in place device, locking key 2-4 is contacted with feather key 1-3 after having docked exert pressure and realize position and lock, to ensure that docking successful recessed body 1-1 and convex body 1-2 keeps this state before mechanical connection always, docking success status can not be departed from because of outside slight interference.Again, multiple expansion pin in mechanical connection device for quickly disassembling are pushed in convex the body bushing 3-18 be connected with recessed body 1-1, convex body 1-2, recessed body outer shroud lining 3-16 and recessed body inner ring lining 3-20 by diagonal principle successively, when expansion pin is inserted into precalculated position, the positioning indicating device be made up of housing screw 3-7, retainer spring 3-8 and steel ball 3-9 can feed back to the change of astronaut's thrust by expansion pin, prompting expansion pin puts in place.Astronaut turns fastening bolt cover 3-6 to tapered wedges group force by operation tool, and tapered wedges group makes it be radially expanded to expansion loop force and then drive opening expansion sleeve 3-5 to expand to make itself and convex body bushing 3-18, recessed body outer shroud lining 3-16 and recessed body inner ring lining 3-20 friction lock.Finally, astronaut rotates the force axle 4-19 in electrical connection arrangement by operation tool, band dynamic crankshaft 4-26, crank 4-22 rotates and electric connector socket slide block installing plate 4-16 is moved up along traveller 4-17, promote electric connector socket 4-12 to be connected with electrical connector plug 4-1, electric connector limiting plate 4-11 controls the connection degree of depth of electrical connector plug 4-1 and socket, when the degree of depth puts in place, electrical connector plug continues to move upward together with socket, electrical connector plug installing plate 4-3 is made to reach the upper limit of range of movement along the pressure that floating mounting screw I 4-8 overcomes one group of floating spring 4-4, there is provided certain torque to make electrical connection arrangement not depart from connection under vibration finally by stabilizing spring 4-30 to bent axle 4-26 and can complete connection procedure of the present invention, unloading process is contrary with above-mentioned steps can be realized.
Claims (6)
1. the joint of mechanical arm rapid replacing interface system that can change in-orbit, it is characterized in that: it comprises tolerance guiding docking facilities, electrical connection arrangement, many groups lock in place device and many group mechanical connection device for quickly disassembling, described tolerance guiding docking facilities comprises recessed body (1-1), the convex body (1-2) matched with recessed body (1-1) structure, removably connected by many group lock in place devices and many group mechanical connection device for quickly disassembling between described recessed body (1-1) and convex body (1-2), described many group lock in place devices are evenly arranged between recessed body (1-1) and convex body (1-2), described many group mechanical connection device for quickly disassembling are distributed between recessed body (1-1) and convex body (1-2), described electrical connection arrangement is arranged in the cavity that recessed body (1-1) and convex body (1-2) form,
Described electrical connection arrangement comprises floating mechanism of electric connector and electric connector delivery device, described floating mechanism of electric connector is arranged in convex body (1-2) or recessed body (1-1), described electric connector floating installation comprises electrical connector plug (4-1), electrical connector plug installing plate (4-3), electric connector limiting plate (4-11), multiple floating mounting screw I (4-8) and organize floating spring (4-4) more, described electrical connector plug (4-1) is provided with electrical connector plug installing plate (4-3), the upper surface of described electrical connector plug installing plate (4-3) is provided with multiple floating mounting screw I (4-8) and organizes floating spring (4-4) more, described electrical connector plug (4-1) is also provided with electric connector limiting plate (4-11), described electric connector delivery device is arranged in recessed body (1-1) or convex body (1-2), described electric connector delivery device comprises electric connector socket (4-12), electric connector socket slide block installing plate (4-16), bent axle (4-26), force axle (4-19), base plate (4-32), stabilizing spring (4-30), two connecting rods (4-23), two cranks (4-22), two connecting rod pedestals (4-28), flat key (4-36) and organize traveller (4-17) more, described electric connector socket (4-12) is fixedly mounted on the upper surface of electric connector socket slide block installing plate (4-16), the lower surface of electric connector socket slide block installing plate (4-16) is set side by side with connecting rod pedestal (4-28), organize traveller (4-17) described is all vertically arranged on base plate (4-32) more, described electric connector socket slide block installing plate (4-16) is slidably connected to be organized on traveller (4-17) more, described bent axle (4-26) is positioned at the below of electric connector socket slide block installing plate (4-16), one end of each connecting rod (4-23) is plugged in the connecting rod pedestal (4-28) of its correspondence, the other end of each connecting rod (4-23) is connected on crank (4-22), each crank (4-22) is connected with bent axle (4-26) by flat key (4-36), described bent axle (4-26) is arranged on base plate (4-32), one end of described bent axle (4-26) is connected with force axle (4-19), the other end of described bent axle (4-26) is connected with stabilizing spring (4-30), described electric connector limiting plate (4-11) is arranged on electrical connector plug installing plate (4-3) through electrical connector plug (4-1) symmetry.
2. a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit according to claim 1, it is characterized in that: described tolerance guiding docking facilities also comprises feather key (1-3), attachment screw I (1-4), joint rotation angle indicated angle anale settting scale (1-7) and positioning key (1-8), described feather key (1-3) is arranged on described convex body (1-2) by attachment screw I (1-4) is uniform, one end face of described convex body (1-2) is processed with the first interface be connected with joint, the edge of described first interface is provided with the positioning key (1-8) coordinating with joint and locate, the other end of described convex body (1-2) is the second interface be connected with recessed body (1-1), the edge of the second interface is along the circumferential direction evenly processed with multiple lug, described joint rotation angle indicated angle anale settting scale (1-7) is fixedly connected on described convex body (1-2) outer circumference surface, the outer shroud of described recessed body (1-1) is along the circumferential direction evenly processed with multiple outer otic placode, the inner ring of recessed body (1-1) is along the circumferential direction evenly processed with multiple interior otic placode, each outer otic placode and an interior otic placode partner locking otic placode, and often pair of locking otic placode place is provided with one group of mechanical connection device for quickly disassembling.
3. a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit according to claim 1 or 2, it is characterized in that: mechanical connection device for quickly disassembling comprises convex body bushing (3-18), recessed body outer shroud lining (3-16), recessed body inner ring lining (3-20), opening expansion sleeve (3-5) and multiple opening expansion loop (3-4), described recessed body outer shroud lining (3-16) is arranged on the outer otic placode of recessed body (1-1) by multiple attachment screw IV (3-17), described convex body bushing (3-18) is arranged on the lug of convex body (1-2) by multiple attachment screw V (3-19), described recessed body inner ring lining (3-20) is arranged on the interior otic placode of recessed body (1-1) by multiple attachment screw VI (3-21), described opening expansion sleeve (3-5) is arranged on the inwall of recessed body inner ring lining (3-20), the inner wall even distribution of described opening expansion sleeve (3-5) has multiple opening expansion loop (3-4).
4. a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit according to claim 3, it is characterized in that: the outer surface of described recessed body (1-1) is processed with multiple taper gathering sill, taper gathering sill and lock in place device one_to_one corresponding are arranged, often organize lock in place device and be fixedly connected on the upper taper gathering sill place near its correspondence of recessed body (1-1) by attachment screw III (2-3), lock in place device comprises shell (2-1), alignment pin (2-2), locking key (2-4), locking key rotating shaft (2-5), retainer spring I (2-6), trip bolt I (2-7), described lock in place device is connected on described recessed body (1-1) by multiple attachment screw III (2-3), described locking key (2-4) is by retainer spring I (2-6) and feather key (1-3) forceful contact.
5. a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit according to claim 4, it is characterized in that: described floating mechanism of electric connector also comprises electrical connector plug hood (4-2), multiple spring shim I (4-5) and spring shim II (4-7), described electrical connector plug hood (4-2) covers on the upper surface of electrical connector plug (4-1), each spring shim I (4-5) is positioned on the floating spring (4-4) of electrical connector plug installing plate (4-3) side, each spring shim II (4-7) is positioned on the floating spring (4-4) of electrical connector plug installing plate (4-3) opposite side, the thickness of described spring shim I (4-5) is less than the thickness of spring shim II (4-7), described electric connector delivery device also comprises electric connector socket hood (4-13), and described electric connector socket hood (4-13) covers on the lower surface of electric connector socket (4-12).
6. a kind of joint of mechanical arm rapid replacing interface system that can change in-orbit according to claim 1, it is characterized in that: described electric connector delivery device also comprises multiple floating mounting screw II (4-15), described electric connector socket (4-12) is arranged on electric connector socket slide block installing plate (4-16) by multiple floating mounting screw II (4-15), and each floating mounting screw II (4-15) and electric connector socket (4-12) gap are arranged.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510187993.2A CN104816311B (en) | 2015-04-20 | 2015-04-20 | A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit |
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| CN201510187993.2A CN104816311B (en) | 2015-04-20 | 2015-04-20 | A kind of joint of mechanical arm rapid replacing interface system that can change in-orbit |
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| CN104816311A true CN104816311A (en) | 2015-08-05 |
| CN104816311B CN104816311B (en) | 2016-08-31 |
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| CN105162280A (en) * | 2015-09-22 | 2015-12-16 | 哈尔滨工业大学 | Adaptive rotation angle deviation self-positioning power transmission device |
| CN105382845A (en) * | 2015-12-23 | 2016-03-09 | 北京控制工程研究所 | Tail-end tool replacing device and replacing method for space manipulator |
| CN106637084A (en) * | 2016-12-24 | 2017-05-10 | 惠州市富美真空镀膜有限公司 | Dovetail groove type fast disassembling and assembling structure for coating device |
| CN106835056A (en) * | 2016-12-24 | 2017-06-13 | 惠州市富美真空镀膜有限公司 | A kind of screw-type fast assembling disassembling structure for plated film |
| CN107058968A (en) * | 2016-12-24 | 2017-08-18 | 惠州市富美真空镀膜有限公司 | A kind of scroll chuck formula fast assembling disassembling structure for filming equipment |
| CN108247678A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface for the reconfigurable manipulator being attracted based on magnet |
| CN108247667A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface of the reconfigurable manipulator of isomorphism |
| CN113001558A (en) * | 2021-02-23 | 2021-06-22 | 上海宇航系统工程研究所 | Modularized quick-change maintenance integrated platform suitable for space operation |
| CN114696154A (en) * | 2022-04-14 | 2022-07-01 | 哈尔滨工业大学 | Large-tolerance sex-free electromechanical interface for future on-orbit construction task |
| 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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| CN108247678A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface for the reconfigurable manipulator being attracted based on magnet |
| CN108247667A (en) * | 2017-12-30 | 2018-07-06 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface of the reconfigurable manipulator of isomorphism |
| CN113001558A (en) * | 2021-02-23 | 2021-06-22 | 上海宇航系统工程研究所 | Modularized quick-change maintenance integrated platform suitable for space operation |
| CN114696154A (en) * | 2022-04-14 | 2022-07-01 | 哈尔滨工业大学 | Large-tolerance sex-free electromechanical interface for future on-orbit construction task |
| CN114696154B (en) * | 2022-04-14 | 2023-07-14 | 哈尔滨工业大学 | Large-tolerance asexual electromechanical interface for future on-orbit construction task |
| 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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| CN104816311B (en) | 2016-08-31 |
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