CN105659767B - Large-scale integral joint Quick Connect Kit in-orbit - Google Patents
Large-scale integral joint Quick Connect Kit in-orbitInfo
- Publication number
- CN105659767B CN105659767B CN200910122897.4A CN200910122897A CN105659767B CN 105659767 B CN105659767 B CN 105659767B CN 200910122897 A CN200910122897 A CN 200910122897A CN 105659767 B CN105659767 B CN 105659767B
- Authority
- CN
- China
- Prior art keywords
- male
- gynetype
- female
- electric connector
- attaching parts
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
- 230000000875 corresponding Effects 0.000 claims abstract description 18
- 238000003780 insertion Methods 0.000 claims description 6
- 230000001808 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 239000000203 mixture Substances 0.000 claims description 4
- 238000007493 shaping process Methods 0.000 claims 2
- 238000009434 installation Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 10
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 210000001503 Joints Anatomy 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000323 Shoulder Joint Anatomy 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002708 enhancing Effects 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Abstract
Large-scale integral joint Quick Connect Kit in-orbit, it is characterized in that two joint end all has the male body and the gynetype body component that are provided with for connection fast in-orbit, wherein male body is furnished with guide pad, and corresponding gynetype body is furnished with gathering sill, installs accurately to realize between two joint. Male, gynetype body connection and locking, position, the hole integrated design that expansion type bolt and hero, gynetype body circumference distribute is realized by inflatable bolt. During operation, only to bolt, certain screw-down torque need be applied, bolt just can be made to expand in tightening, thus closely cooperate with installing hole that is male, gynetype body, realization is similar to the connection of rigidity, otherwise during dismounting. Be furnished with electric connector mounting bracket, in mechanism's Precision Positioning, realize the accurate connection of electric connector simultaneously. The present invention is simple and reasonable for structure, accurate positioning between doublejointed, connects fast and reliable, easy accessibility, enormously simplify the operation that joint is changed in-orbit.<pb pnum="1" />
Description
Technical field
The present invention, for the articular portion of large space mechanical arm, particularly space manipulator, is specificallyRelate to the device that a kind of large space joint of mechanical arm fast, accurately, reliably connects in-orbit, and support manyInferior dismounting repeatedly.
Background technology
Space manipulator, as an important branch of robot for space, can not only substitute spacefarer and carry outSpatial operation, alleviates burden and the risk of spacefarer's extravehicular work, and spacefarer can also be assisted jointly to complete difficultySpend higher operation task. Due to joint body be in mechanical arm service life lower part, if desiredQuickly and reliably need change in-orbit the joint of mechanical arm, to ensure the normal fortune of space manipulatorDo.
Realize the quick connection in joint with separated, operating personnel are accurately entered in a short period of timeThe installation in row joint, dismounting, just require the quick connection separator in joint to possess good guiding, fixedPosition mechanism, quick, reliable bindiny mechanism. In installation, unloading process, possess above in guarantee jointOutside function, after realizing connection fast, also need to ensure coupling stiffness and intensity, pass to bear between joint of mechanical armThe torsional moment of passing etc., therefore, must closely cooperate between Quick Connect Kit all parts, could improveThe Rigidity and strength of entirety. In addition, Quick Connect Kit also needs to possess the performance that can repeatedly dismantle, repeatedlyInstall, dismounting do not affect the guiding of quick connection and positioning precision etc.
To sum up, because space mechanism shoulder joint is changed the feature and the particularity that operate self in-orbit, traditionalVarious quick connected mode and the securing member thereof in industry, used can not meet the using function here, stateQuick Connect Kit on outer space manipulators is also not exclusively applicable, need to design a kind of novel fastSpeed jockey.
Summary of the invention
Technology of the present invention is dealt with problems: overcome the deficiencies in the prior art, large-scale integral joint is provided and existsRail Quick Connect Kit, carries out fast in-orbit for large space joint of mechanical arm, reliably connects and change.
Technical scheme of the present invention: large-scale integral joint Quick Connect Kit in-orbit, described joint isMultiple; In each joint end circumference, namely the output in joint is provided with male body or gynetype body, in instituteState the gynetype body corresponding with described male body being radially installed or being provided with and described gynetype body pair of jointThe male body of answering, described male body is mutually vertical with corresponding gynetype body; Described male body is annular, itsCircumferentially there are three male attaching parts that connect with the female attaching parts coupling on corresponding gynetype body, threeMale attaching parts are uniform in 120 degree, and the centre of each male attaching parts is guide pad, and two ends respectively have respectivelyA male locating piece, the interior annular of male body is connected with male electric connector mounting bracket, male electric connector peaceBe contained on described male electric connector mounting bracket, and male body and male electric connector mounting bracket integration connectBe connected into type; Described gynetype body is annular, and it circumferentially has three be connected with male body Corresponding matching femaleAttaching parts, three female attaching parts are uniform in 120 degree, and the centre of each female attaching parts is and maleThe gathering sill that guide pad in body matches, respectively there is respectively a female locating slot at female attaching parts two ends, withMale locating piece is located by connecting, and gynetype body inner ring is connected with female electric connector mounting bracket, female electric connector peaceBe contained on described female electric connector mounting bracket, gynetype body is connected with the integration of female electric connector mounting bracketShaping; Three male attaching parts on male body on gynetype body, three corresponding female attaching parts are coordinatedConnection, then the location of being realized axial and circumferential by integration inflatable joined by bolts, hero is electrically connected simultaneouslyConnect the mutual insertion that device and female electric connector complete pin, hole, complete accurate guiding and the location of quick connection.
Described integration inflatable bolt comprises: screwed step bolt, sleeve nut,Lateral surface is that expansible elements, the medial surface of single taper surface and side mouth is symmetric double taper surface and sidepieceExpansible elements and the lateral surface of opening are expansible elements, the slip ring of symmetric double taper surface and side mouthAnd lift ring; Lateral surface is that expansible elements, the medial surface of single taper surface and side mouth is symmetrical bipyramidThe expansible elements of shape face and side mouth and lateral surface be symmetric double taper surface and side mouth can be swollenSwollen unit Series circularizes cross section cylinder, and integral assembling, on step bolt, is then installed axle sleeve,Axle sleeve is contained between step bolt and the circular cylinder of three inflatable compositions, and namely axially inner side isStairstepping stud, centre is axle sleeve, and outermost layer is three and goes here and there inflatable together; Slip ring freely packs into,Nut is connected with the threaded portion of step bolt and is located by pin, makes slip ring be positioned at axle sleeve and spiral shellBetween mother, can be free to slide, lift ring and be installed on slip ring, be convenient to lifting of inflatable bolt.
On described male body, the male locating piece of each male attaching parts both sides has male installationHole; The female locating slot of two of the each female attaching parts on gynetype body has and male installing hole pairThe female installing hole of answering.
The structure that described male electric connector mounting bracket or female electric connector mounting bracket are hollow aperture,Circumference is provided with two male electric connectors or female electric connector, and week is laterally respectively by securing member and maleThe circumference connection of body or gynetype body.
The present invention's advantage is compared with prior art:
(1) adopt composition and the annexation of the technology of the present invention, make large space joint of mechanical arm in-orbitCarry out fast, reliably connecting and changing, realize the accurate location of joint mechanical, electrical parts in installation processWith fast, be reliably connected, and repeatedly connection and the dismounting of support joint.
(2) the present invention realizes fastening convenience, reliably due to the structure of integration inflatable bolt, connectsConnect rigidity and intensity is good, can be used for the connection between large space joint of mechanical arm and joint, joint and armed lever.
(3) the present invention has simple and reasonable for structure, workable advantage in-orbit.
Accompanying drawing explanation
Figure 1A is Quick Connect Kit of the present invention and installation site, joint schematic diagram;
Figure 1B is that the schematic diagram after internode completes quick connection is closed in the present invention;
Fig. 2 A is the structure chart of male body during the present invention connects fast;
Fig. 2 B is the structure chart of gynetype body during the present invention connects fast;
Fig. 3 is the schematic diagram before the present invention connects hero, gynetype body fast and completes assembling;
Fig. 4 is the structure chart that electric connector of the present invention is installed bracing frame;
Fig. 5 is the partial enlarged drawing after having connected assembling fast, wherein Fig. 5 a integration inflatableBolt installation diagram, Fig. 5 b is Quick Connect Kit guiding-positioning structure installation diagram;
Fig. 6 A is the detonation configuration schematic diagram of integration inflatable bolt in the present invention, left the first halfFor lateral surface is expansible elements stereogram, front view and the top view of single taper surface and side mouth; RightThe first half is stereogram, main the looking of expansible elements that medial surface is symmetric double taper surface and side mouthFigure and top view, bottom-right graph integration inflatable bolt stereogram, bottom-right graph is that lateral surface is symmetric doubleExpansible elements stereogram, front view and the top view of taper surface and side mouth;
Fig. 6 B is the configuration sectional view after integration inflatable bolt of the present invention completes assembling.
Detailed description of the invention
For making the object, technical solutions and advantages of the present invention clearly, show in connection with accompanying drawing the present inventionBe described in further detail. Embodiment is taking two joints as example, and the connection in multiple joints is identical.
Figure 1A is Quick Connect Kit of the present invention and installation site, joint schematic diagram, wherein joint 1 and passJoint 2 connection, male body 3 is installed on the axial end in joint 1, is namely installed on the output in joint; FemaleType body 4 is installed on joint 1 radially, with male body 3 vertical distribution. Male electric connector mounting bracket 5Be connected in one with male body 3, be installed on joint body 1, female electric connector mounting bracket 5 'Be connected in one with gynetype body 4, be installed on joint body 2.
Figure 1B closes the schematic diagram after internode completes quick connection. Wherein carry out soon in joint 1 and joint 2When connection speed, insertions that cooperatively interact of the male body 3 in joint 1 and the gynetype body 4 in joint 2, the while byIntegration inflatable bolt 6 is fastening by it. When dismantle in two joints, integration expansion type one by one comes looseBolt 6.
Below the configuration of above-mentioned quick connection is described in detail.
Fig. 2 A is the configuration picture of male body 3 in Quick Connect Kit. Male body 3 is annular, its circumferenceBe furnished with the male attaching parts 7 of three connections corresponding to gynetype body 4. Realize the female attaching parts 17 of connectionHave three, uniform in 120 ° on male body 3, in the middle of male attaching parts 7, be outstanding guide pad12, two ends have respectively and respectively have a male locating piece 8,8 ', in male locating piece 8,8 ', respectively open a male peaceDress hole 9,9 ', is furnished with steel bushing 10,10 ' to coordinate integration expansion type bolt 6 in male installing hole 9,9 'Installation. Guide pad 12 is installed by installed part 11, and after position adjusts by securing member with maleAttaching parts 7 are fixing, and 16 is installing hole. Male body 3 centre is provided with male electric connector and installsSupport 5, male electric connector mounting bracket 5 is joined merga pass securing member by circumferential 13 with male body 3Be installed on position, hole 15. Male body 3 is integrally installed by securing member and joint 1.
Fig. 2 B is the configuration picture of gynetype body 4 in Quick Connect Kit. Gynetype body 4 is annular, at gynetypeBody 4 circumferentially have three with male body 3 female attaching parts 17, three the female connections that are connected that matchParts 17 are uniform in 120 degree, and the middle part 21 of each female attaching parts 17 has and male body 3In the gathering sill 22 of the corresponding location of guide pad 12, female attaching parts 17 two ends respectively have respectively one femaleLocating slot 18,18 ', female locating slot 18,18 ' has and has and male installing hole 9,9 ' correspondingFemale installing hole 19,19 ', female installing hole 19,19 ' be inside furnished with respectively steel bushing 20 and 20 ', at male body3 with the insertion process of gynetype body 4 in realize the function of guiding and location, to coordinate integration expansion bolt6 installation. Electric connector mounting bracket 5 is installed on position, hole 25 by securing member. Gynetype body 4 conductAn entirety is installed by securing member and joint 2, and 24 is its corresponding mounting hole site. 26 are and oneChange expansion bolt 6 and coordinate the nut using, after installing with gynetype body 4, become to be integrated. Three of male body 3Three female attaching parts 17 of individual male attaching parts 7 and gynetype body 4 are the form cooperatively interacting, withRealize pass internode to connect accurately and rapidly. The connection guiding-positioning structure of this version is simple and reliable,The little conical surface design of coupling part feature is easy to insert, workable.
Fig. 3 connects the schematic diagram before male body 3 and gynetype body 4 complete assembling fast. In figure, specify thatComplete male electric connector 44 and female electric connector 44 before and after quick connection ' relative position, and oneChange the state of expansion type bolt 6. Male electric connector 44 and female electric connector 44 ' complete the phase in pin, holeInterfix enters.
Fig. 4 is the configuration picture of male electric connector mounting bracket 5. Male electric connector 44 is pacified by securing memberBe loaded in rectangular opening corresponding mounting hole site 28. Whole male electric connector mounting bracket 5 is by connectionPosition 29 is installed on position, hole 31 with male body 3, gynetype body 4 by securing member, and connecting portion 29Totally three places and being distributed on male electric connector mounting bracket 5 in 120 °, rectangular opening 32 designs for loss of weight.The configuration of female electric connector mounting bracket 5 ' is identical with male electric connector mounting bracket 5. This versionConnection can either meet requirement of strength needed for connection, also effective loss of weight.
Fig. 5 is the partial enlarged drawing after Quick Connect Kit of the present invention completes assembling, and wherein Fig. 5 a is oneBody inflatable bolt installation diagram. In the process that male body 3 and gynetype body 4 insert, pass through guide pad12 realize accurately guiding and location with coordinating of gathering sill 22. Wherein, male attaching parts 7 are connected with femaleThe installed surface that parts 17 cooperatively interact is in 5 ° of inclination angles, and this inclination angle is designed with to be beneficial to and inserts and separation. WithTime be installed on the male electric connector 44 on male electric connector support 5 pin, hole complete insertion, realize machine,Electricity parts complete quick connection simultaneously. The inflatable bolt 6 of integration inserts installing hole, by it is appliedCertain screw-down torque, is connected with the nut 26 being fixed on gynetype body 4, realizes male body 3 with femaleBeing fastenedly connected of type body 4.
As shown in Figure 6 A and 6B, integration inflatable bolt 6 comprises: screwed stairsteppingBolt 36, axle sleeve 37, nut 38, lateral surface are the expansible elements of single taper surface and side mouth33, medial surface is that expansible elements 34 and the lateral surface of symmetric double taper surface and side mouth are symmetric doubleExpansible elements 35, the slip ring 41 of taper surface and side mouth and lift ring 42; Lateral surface is single coneThe expansible elements 33 of shape face and side mouth, medial surface be symmetric double taper surface and side mouth canSwelling part 34 and lateral surface are that the expansible elements 35 of symmetric double taper surface and side mouth passes through oneIndividual axle is to be connected into ring section cylinder 43, the surface of revolution inclination angle basis that three coordinates each otherThe size design of screwing force, the embodiment of the present invention is designed to 38 °, and this angle can ensure to applyMoment meets the requirement of male body 3 and gynetype body 4, and the concrete form of series connection as shown in Figure 6B. EntiretyCover installs on step bolt 36, and then axle sleeve 37 is installed, and axle sleeve 37 is contained in step bolt 36And between the circular cylinder 43 of three inflatable 33,34,35 compositions, namely axially inner side is rankTrapezoidal stud 36, centre is axle sleeve 37, outermost layer be three go here and there together inflatable 33,34,35; Slip ring 41 freely packs into, and nut 38 is connected with the threaded portion of step bolt 36 and passes through pinNail location, makes slip ring 41 between axle sleeve 37 and nut 38, can be free to slide, and lifts ring 42Be installed on slip ring 41, be convenient to lifting of inflatable bolt.
After screw-down torque is applied to integration inflatable bolt 6, along with the screw-in of step bolt 36,Axle sleeve 37 is descending and downward extruding force is applied to expansion piece. Expansible elements 33,34,35 phasesThe tilting rotary table curved surface relative sliding under pressure that interworking is closed, is in the expansible elements of relaxed state33,34,35 push mutually and produced be radially expanded by the fluting in its circumference. Be applied with necessarilyScrew-down torque after, the inflatable bolt 6 of integration complete distending closely cooperating with hole in hole, formsBe similar to the connection of rigidity. This connected mode substantially increase the Rigidity and strength of Quick Connect Kit,Enhance its fastening reliability.
When Quick Connect Kit of the present invention is dismantled, integration inflatable bolt 6 is applied oppositelyMoment is unclamped the screw thread of connection, and three tension force of inflatable 33,34,35 reduce and recover former graduallyThe shape of coming, now produces gap between the outer round surface of inflatable 34 and hole, makes the integration canExpansion type bolt 6 can easily be extracted. In addition, the version in Fig. 6 B can ensure inflatableWhen formula bolt assembly does not insert or extracts, unclamp shape although have gap between each parts or be inState still can not be thrown off to each other, remains an entirety.
The course of work of the present invention: when two pass internodes are installed by Quick Connect Kit, gynetype body3 and male body 4 mutually insert, and realized determining of axial and circumferential by guide pad 12 and gathering sill 22Position, male electric connector 44 of while and female electric connector 44 ' complete the mutual insertion in pin, hole; Integration canExpansion type bolt 6 inserts in the steel bushing of corresponding installing hole, applies screw-down torque and is screwed in and gynetype bodyIn 4 nuts that fix, now inflatable be under pressure produce expand with hole in steel bushing closely cooperate,In like manner complete the installation of 6 inflatable bolts altogether. During joint replacement dismounting, inflatable bolt is executedAdd loose unloading moment, inflatable returns to the original form, and produces gap between endoporus steel bushing, by liftingRing 42 is easily extracted out, after in like manner completing the dismounting of 6 cover inflatable bolts, and male body 3 and gynetype body4 are separated from each other, and realize being separated from each other of male electric connector 44 and female electric connector 44 ' simultaneously.
Claims (6)
1. large-scale integral joint Quick Connect Kit in-orbit, is characterized in that: described joint is manyIndividual; In each joint end circumference, namely the output in joint is provided with male body (3) or gynetype body (4),Described joint the gynetype body (4) corresponding with described male body (3) is radially installed or be provided withThe male body (3) that described gynetype body (4) is corresponding, described male body (3) and corresponding gynetype body (4)Mutually vertical; Described male body (3) be annular, its circumferentially have three with corresponding gynetype body (4)On the male attaching parts (7) of female attaching parts (17) coupling connection, three male attaching parts (7)Uniform in 120 degree, the centre of each male attaching parts (7) is guide pad (12), and two ends are each respectivelyThere is a male locating piece (8,8 '), interior annular and the male electric connector mounting bracket (5) of male body (3)Connection, it is upper that male electric connector (44) is arranged on described male electric connector mounting bracket (5), and maleBody (3) is connected shaping with male electric connector mounting bracket (5) integration; Described gynetype body (4) isAnnular, it circumferentially has three female attaching parts (17) that are connected with male body (3) Corresponding matching,Three female attaching parts (17) are uniform in 120 degree, the centre of each female attaching parts (17) be withThe gathering sill (22) that guide pad (12) in male body (3) matches, female attaching parts (17)Respectively there is respectively a female locating slot (18,18 ') at two ends, are located by connecting with male locating piece (8,8 '),Gynetype body (4) inner ring is connected with female electric connector mounting bracket (5 '), female electric connector (44 ') peaceBe contained in described female electric connector mounting bracket (5 ') upper, gynetype body (4) is installed prop up with female electric connectorFrame (5 ') integration connection is shaping; Three male attaching parts (7) and gynetype body on male body (3)(4) on, corresponding three female attaching parts (17) are connected, then by integration inflatableBolt (6) connects the location of realizing axial and circumferential, simultaneously male electric connector (44) and female electrical connectionDevice (44 ') completes the mutual insertion in pin, hole, completes accurate guiding and the location of quick connection.
2. large-scale integral joint according to claim 1 Quick Connect Kit in-orbit, its featureBe: described integration inflatable bolt (6) comprising: screwed step bolt (36),Axle sleeve (37), nut (38), lateral surface be single taper surface and side mouth expansible elements (33),Medial surface is that expansible elements (34) and the lateral surface of symmetric double taper surface and side mouth is symmetrical bipyramidExpansible elements (35), the slip ring (41) of shape face and side mouth and lift ring (42); OutsideFace is that expansible elements (33), the medial surface of single taper surface and side mouth is symmetric double taper surface and sideExpansible elements (34) and the lateral surface of portion's opening are the inflatable portion of symmetric double taper surface and side mouthPart (35) is connected into circular cylinder (43), and integral assembling is to screwed step bolt (36)Upper, axle sleeve (34) is then installed, and axle sleeve (37) is contained in screwed step bolt (36)And between the circular cylinder (43) of three inflatables (33,34,35) composition, namely in axisSide is screwed stairstepping stud (36), and centre is axle sleeve (37), and outermost layer is three stringsInflatable (33,34,35) together; Slip ring (41) freely packs into, nut (38) and bandThe threaded portion of threaded step bolt (36) connects and is located by pin, makes slip ring (41)Be positioned between axle sleeve (37) and nut (38), can be free to slide, lift ring (42) and be installed on cunningRing (41) is upper, is convenient to lifting of inflatable bolt.
3. large-scale integral joint according to claim 1 Quick Connect Kit in-orbit, its featureBe: upper at described male body (3), the male locating piece of each male attaching parts (7) both sides (8,8 ') male installing hole (9,9 ') on, is had; Each female attaching parts (17) on gynetype body (4)The female locating slot (18,18 ') of two on have the female peace corresponding with male installing hole (9,9 ')Dress hole (19,19 ').
4. large-scale integral joint according to claim 1 Quick Connect Kit in-orbit, its featureBe: during described male electric connector mounting bracket (5) or female electric connector mounting bracket (5 ') beThe structure of empty perforate, circumference is provided with two male electric connectors (44) or female electric connector (44 '),Week is connected with the circumference of male body (3) or gynetype body (4) respectively by securing member laterally.
5. large-scale integral joint according to claim 1 Quick Connect Kit in-orbit, its featureBe: the installed surface that described male attaching parts (7) and female attaching parts (17) cooperatively interact is in 5 °Inclination angle.
6. large-scale integral joint according to claim 2 Quick Connect Kit in-orbit, its featureBe: described lateral surface is that expansible elements (33), the medial surface of single taper surface and side mouth isExpansible elements (34) and the lateral surface of symmetric double taper surface and side mouth are symmetric double taper surface and sideThe surface of revolution inclination angle coordinating between the expansible elements (35) of portion's opening is 38 °.
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105659767B true CN105659767B (en) | 2013-10-23 |
Family
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345815A (en) * | 2015-11-19 | 2016-02-24 | 珠海格力电器股份有限公司 | Joint connector and robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105345815A (en) * | 2015-11-19 | 2016-02-24 | 珠海格力电器股份有限公司 | Joint connector and robot |
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| DC01 | Secret patent status has been lifted |