CN109262593A - A kind of docking mechanism - Google Patents
A kind of docking mechanism Download PDFInfo
- Publication number
- CN109262593A CN109262593A CN201811357775.9A CN201811357775A CN109262593A CN 109262593 A CN109262593 A CN 109262593A CN 201811357775 A CN201811357775 A CN 201811357775A CN 109262593 A CN109262593 A CN 109262593A
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- China
- Prior art keywords
- ring
- camlock
- module
- guide
- guide rod
- 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.)
- Granted
Links
- 238000003032 molecular docking Methods 0.000 title claims abstract description 50
- 230000007246 mechanism Effects 0.000 title claims abstract description 46
- 238000000034 method Methods 0.000 claims description 7
- 239000011810 insulating material Substances 0.000 claims description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 3
- 238000007906 compression Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005253 cladding Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of docking mechanisms, are related to robotic technology field.The present invention includes main module (1) and from module (2), main module (1) includes the camlock ring (3) with centre bore (18), is equipped with cam path (19) in camlock ring (3)；From module (2) with guide rod (7) for bracket, guide rod (7) is equipped with pin shaft (12), elastic locking ring (6) is sleeved on guide rod (7), and guide location pin (17) are fixed on elastic locking ring (6)；Camlock ring (3) rotate so that pin shaft (12) turned to after cam card slot (19-2) along cam path (19) make main module (1) and from module (2) complete dock and lock.Enough rigidity is docked this invention ensures that having between machine and expansion module；Power supply and communication control of the robot to expansion module are realized, control unit is reduced and number of power sources increases operation rate and reduces the wasting of resources.
Description
Technical field
The present invention relates to a kind of docking mechanisms, belong to robotic technology field.
Background technique
As robot modularized design promotes, the docking mode between each module has directly influenced modularization robot
Operation mode, size and function distribution.
Robot docking mechanism on the market is mostly to hook claw docking mechanism to realize between principal and subordinate's machine module at present
Crawl docking needs to increase extra discretion for docking mechanism, and structure is relatively complicated, nothing that gripping-type docking mechanism rigidity is insufficient
Robot body freedom degree is passed to expansion module by docking mechanism by method, therefore is badly in need of a kind of function that can be realized robot
Energy expansion, the wire communication for realizing each pair of connection module realize that the multimode of single power supply docks power supply and has sufficiently rigid pair
Connection mechanism.
Summary of the invention
The purpose of the present invention is to provide a kind of docking mechanisms, have sufficiently rigid docking mechanism, while mechanism stable
Property it is high, meet the needs of modularized design.
The purpose of the present invention is achieved by the following technical programs:
A kind of docking mechanism, including main module and from module, main module includes camlock ring with a central hole, from mould
Using guide rod as bracket, elastic locking ring set fills on the guide bar block；Guide rod is protruded into camlock ring by centre bore；It is convex
The periphery for taking turns retaining ring is equipped with the upper contact pilotage for running through its upper and lower end face, and the periphery of elastic locking ring is equipped with through its upper and lower end face
Lower contact pilotage；Upper contact pilotage and the corresponding contact of lower contact pilotage；Camlock ring and elastic locking ring are locked by locking device.Tight device packet
Include cam path that two are obliquely installed on the side wall of camlock ring and set on the roll sleeve hole of camlock ring bottom, cam path
Cam surface-be slope by bottom end obliquely, slope upper end is equipped with cam card slot；Locking device, which also wraps, to be set to from mould
Pedestal, guide rod, pin shaft and elastic component on block；Pin shaft is set on guide rod；Elastic component suit is on the guide bar and the bottom of positioned at
Between seat and elastic locking ring；Pin shaft enters camlock ring by roll sleeve hole, and camlock ring rotates so that pin shaft is along cam
Slot turns to cam card slot, and pin shaft and cam card slot-are inconsistent, and elastic locking ring and elastic component are inconsistent so that main module and
It completes to lock from module.
The purpose of the present invention can also be further realized by following technical measures:
A kind of aforementioned docking mechanism, docking mechanism are equipped with clamping part, and clamping part includes being located at camlock ring bottom
Guide-localization needle guide hole and the guide location pin at the top of elastic locking ring, guide location pin be inserted into camlock ring
Guide-localization needle guide hole.
A kind of aforementioned docking mechanism, the shape and pin shaft shape in the roll sleeve hole of camlock ring bottom are adapted, cam surface
Bottom end connect with the one end in roll sleeve hole.
A kind of aforementioned docking mechanism, the upper end of camlock ring are additionally provided with camlock ring felt pad, elastic locking ring
Lower end be additionally provided with elastic locking ring felt pad.
A kind of aforementioned docking mechanism, upper contact pilotage include lower groove, and lower contact pilotage includes upper process, camlock ring and snap lock
When tight ring contact, lower groove and upper process coincide；Upper contact pilotage and camlock ring contact portion are enclosed with insulating materials, lower contact pilotage
Insulating materials is enclosed with elastic locking ring contact portion.
The upper surface of a kind of aforementioned docking mechanism, elastic locking ring is equipped with groove；Locking limit stop ring is fixed on guide rod
On, when roll sleeve is locked in cam card slot and when elastic locking ring compression elastic piece, locking limit stop ring and camlock ring
Lower end surface fitting；Lock pad snare on the guide bar, and can move between locking limit stop ring and groove.
A kind of aforementioned docking mechanism, the guiding outer diameter of guide rod and the centre bore of camlock block are small―gap suture cooperation.
A kind of aforementioned docking mechanism, the angle that pin shaft turns on cam surface are 90 degree.
A kind of aforementioned docking mechanism, end part of pin shaft are set with roll sleeve, are equipped with the roll sleeve limited to roll sleeve outside roll sleeve
Retaining ring；Main module and from module by clamping part be clamped after, the camlock ring rotate when, roller housing along cam surface roll
It is dynamic, until roll sleeve enters in cam card slot.
A kind of aforementioned docking mechanism, pin shaft are connected on the guide bar by pin shaft position-limited needle；The periphery of centre bore is equipped with and leads
To bar guide angle, the periphery in roll sleeve hole is equipped with roll sleeve guide angle, and the periphery of guide-localization pin hole is equipped with guide location pin guide angle.
Compared with prior art, the beneficial effects of the present invention are:
(1) it realizes to have between robot and expansion module and enough docks rigidity；
(2) power supply and communication control of the robot to expansion module are realized, control unit is reduced and number of power sources improves benefit
The wasting of resources is reduced with rate；
(3) realize that robot carries out multimode tool and exchanges function；
(4) docking mechanism is simple, and docking movement only need to be inserted into and twist, while mechanical stability is high；
(5) modularized design maintenance replacement is convenient.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of docking mechanism；
Fig. 2 is the left view sectional view of docking mechanism；
Fig. 3 is the structural schematic diagram from module；
Fig. 4 is the overlooking structure diagram of main module；
Fig. 5 is the present invention looks up structural representation of main module；
Fig. 6 is the face upwarding section of main module；
Fig. 7 is the left view sectional view of main module；
Fig. 8 is the operation process figure of docking mechanism.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings and specific examples.
Fig. 1 is the structural schematic diagram of docking mechanism, and docking mechanism includes main module 1 and from module 2.
Fig. 2 is the left view sectional view after the completion of docking mechanism docking, and main module 1 is mainly by camlock ring 3, upper contact pilotage
4 and camlock ring felt pad 15 form, the centre bore 18 through camlock ring 3, cam lock are equipped in camlock ring 3
The upper end of tight ring 3 is equipped with camlock ring felt pad 15, and the periphery of camlock ring 3 is equipped with upper contact pilotage 4, and upper contact pilotage 4 runs through
The upper and lower end face of camlock ring 3, camlock ring felt pad 15 are mainly used for contacting when avoiding contact pilotage 4 with conducting wire connection convex
Wheel retaining ring 3 makes system short-circuit.
From module 2 mainly by lower contact pilotage 5, elastic locking ring 6, guide rod 7, locking spring 8, lock washer 9, elastic locking
Ring felt pad 10, locking limit stop ring 11, pin shaft 12, roll sleeve 13, roll sleeve retaining ring 14, pin shaft position-limited needle 16 and guide location pin 17
Composition.
It with guide rod 7 is bracket from module 2, elastic locking ring 6 is sleeved on guide rod 7, and guide rod 7 is equipped with pin shaft
12；Pin shaft 12 is connected on 7- guide rod by pin shaft position-limited needle 16；12 end sleeve of pin shaft is equipped with roll sleeve 13, sets outside roll sleeve 13
There is the roll sleeve retaining ring 14 limited to roll sleeve 13.Roll sleeve 13 can be rolled by the limit of roll sleeve retaining ring 14 on pin shaft 12.
Locking limit stop ring 11 be fixed on guide rod 7,9 sets of lock washer on guide rod 7, and can locking limit stop ring 11 with
It is moved between groove 22.
The upper surface center of elastic locking ring 6 is equipped with groove 22, and the lower end of elastic locking ring 6 is equipped with 10- elastic locking
Ring felt pad, the periphery of elastic locking ring 6 are equipped with lower contact pilotage 5, and lower touching 5 runs through the upper and lower end face of elastic locking ring 6.Guide-localization
Needle 17 is fixed on elastic locking ring 6.Elastic component 8 is connected in 6 lower end of elastic locking ring and is sleeved in locating rod 7.Snap lock
Contact resilient retaining ring 6 makes system short-circuit when tight ring felt pad 10 is mainly used for that lower contact pilotage 5 is avoided to connect with conducting wire.
Main module 1 and when docking from module 2, guide rod 7 and pin shaft 12 are inserted into camlock ring 3, and elastic locking ring 6 is pressed
Contracting elastic component 8, locking limit stop ring 11 are bonded with the lower end surface of camlock ring 3.
The guiding outer diameter of guide rod 7 and the centre bore 18 of camlock block 3 are that small―gap suture cooperates to guarantee the machine after locking
Structure rigidity.The outer diameter for locking limit stop ring 11 is greater than the internal diameter of lock washer 9 and is less than the outer diameter of lock washer 9, prevents principal and subordinate
Elastic locking ring 6 is ejected guide rod 7 after module separation.Elastic locking ring 6 locks limit stop ring by lock washer 9 and 11-
Limit can be moved in a certain range with compression elastic piece 8 along guide rod 7.Guide rod 7 and pin shaft 12 pass through roll sleeve hole 20
Be inserted into centre bore 18, camlock ring 3 rotate so that pin shaft 12 along cam path 19 rotation after main module 1 and from module 2 dock.
Fig. 3 is the structural schematic diagram from module, and the periphery of elastic locking ring 6 is equipped with guide location pin 17, camlock ring 3
It is equipped with the guide-localization pin hole 21 that size is adapted with guide location pin 17；Guide location pin 17 is both in upper contact pilotage 4 and lower touching
It play the guiding role when the docking of needle 5, and plays clamping when camlock ring 3 and elastic locking ring 6 dock.
Fig. 4 is the overlooking structure diagram of main module, and the cam surface 19-1 on cam path 19 is by bottom end obliquely oblique
Slope surface, the upper end of cam path 19 are equipped with the cam card slot 19-2 for being clamped pin shaft 12.
Fig. 5 is the present invention looks up structural representation of main module, and the periphery of centre bore 18 is equipped with guide rod guide angle 18-1, roll sleeve hole
20 periphery is equipped with roll sleeve guide angle 20-1, and the periphery of guide-localization pin hole 21 is equipped with guide location pin guide angle 21-1.
Fig. 6 is the face upwarding section of main module, and 3 bottom of camlock ring is equipped with the roll sleeve hole being adapted with pin shaft shape
20, one end of cam path 19 connects with the one end in roll sleeve hole 20.When principal and subordinate's module is completed to dock, with the rolling of pin shaft 12,
Roll sleeve 13 is rolled along cam surface, and last roll sleeve 13 is locked in cam card slot 19-2, and docking is completed.
Fig. 7 is the left view sectional view of main module, and cam surface 19-1 is gradually upward to cam card slot 19-2 by roll sleeve hole 20.
As shown in figure 8, when needing to realize docking, main module random device people is moved to right above module, and in robot
Driving under move down, the guide rod guide angle 18-1 from the guide rod 7 of module along camlock block 3 is inserted into camlock
In ring 3, the guiding outer diameter of guide rod 7 is that small―gap suture cooperation guarantees that the mechanism after locking is rigid with the centre bore of 3- camlock block
Property, guide location pin 17 and pin shaft 12, roll sleeve 13 are along corresponding guide angle insertion cam lock after guide rod 7 is inserted into enough depth
In tight block 3, in the driving lower cam latch segment 3 of robot body after camlock block 3 and the contact of 6 end face of elastic locking ring
It rotating clockwise, the roll sleeve 13 being installed on pin shaft 12 is rolled along cam surface 19-1, since the angle of cam surface tilts upwards, rolling
Set 13 is inconsistent with cam card slot 19-2, and elastic component 8 is extruded between pedestal 23 and elastic locking ring 6, so that entirely
Docking mechanism possesses internal stress and realizes locking.Roll sleeve 13 enters in cam card slot 19-2 and guarantees after camlock ring 3 turns over 90 °
The reliable locking of mechanism, it is necessary to which providing certain releasing force can just be such that docking mechanism unlocks.
When camlock block 3 and 6 end face of elastic locking ring contact, upper contact pilotage 4 and lower contact pilotage 5 coincide dock one by one, on
There is nylon cladding on the surface that contact pilotage 4 and lower contact pilotage 5 are in contact with camlock ring 3, and thus conductor is integrally formed in contact pilotage up and down, on
Conducting wire is connect on contact pilotage 4, connects conducting wire under lower contact pilotage 5, to realize that power supply line is docked with the reliable of signal wire.
In addition to the implementation, the present invention can also have other embodiments, all to use equivalent substitution or equivalent transformation shape
At technical solution, be all fallen within the protection domain of application claims.
Claims (10)
1. a kind of docking mechanism, including main module (1) and from module (2), it is characterised in that: the main module (1) includes having
The camlock ring (3) of centre bore (18), it is described from module (2) with guide rod (7) for bracket, elastic locking ring (6) is sleeved on
On guide rod (7)；Guide rod (7) is protruded into camlock ring (3) by centre bore (18)；Outside the camlock ring (3)
The upper contact pilotage (4) being equipped with through its upper and lower end face is enclosed, the periphery of the elastic locking ring (6) is equipped under its upper and lower end face
Contact pilotage (5)；The upper contact pilotage (4) and the corresponding contact of lower contact pilotage (5)；The camlock ring (3) and elastic locking ring (6) pass through
Locking device locking；The locking device includes two cam paths (19) being obliquely installed on the side wall of camlock ring (3)
With the roll sleeve hole (20) for being set to camlock ring (3) bottom, the cam surface (19-1) of the cam path (19) is oblique by bottom end
On slope, slope upper end be equipped with cam card slot (19-2)；The locking device further includes being set to from the bottom on module (2)
Seat (23), guide rod (7), pin shaft (12) and elastic component (8)；The pin shaft (12) is set on guide rod (7)；The elastic component
(8) it is sleeved on guide rod (7) and between pedestal (23) and elastic locking ring (6)；The pin shaft (12) passes through roll sleeve hole
(20) enter camlock ring (3), camlock ring (3) rotates so that pin shaft (12) turns to cam card along cam path (1) (9)
Slot (19-2), pin shaft (12) and cam card slot (19-2) are inconsistent, and elastic locking ring (6) and elastic component (8) are inconsistent, make winner
Module (1) and from module (2) complete lock.
2. docking mechanism according to claim 1, it is characterised in that: docking mechanism is equipped with clamping part, the clamping portion
Part includes positioned at the guide-localization needle guide hole (21) of camlock ring (3) bottom and leading at the top of elastic locking ring (6)
To pilot pin (17), guide location pin (17) is inserted into the guide-localization needle guide hole (21) of camlock ring (3).
3. docking mechanism according to claim 1 or 2, it is characterised in that: the roll sleeve hole (20) of camlock ring (3) bottom
Shape and pin shaft shape be adapted, the bottom end of cam surface (19-1) connects with the one end of roll sleeve hole (20).
4. docking mechanism according to claim 3, it is characterised in that: the upper end of camlock ring (3) is additionally provided with cam
Retaining ring felt pad (15), the lower end of elastic locking ring (6) are additionally provided with elastic locking ring felt pad (10).
5. docking mechanism according to claim 4, it is characterised in that: the upper contact pilotage (4) includes lower groove (4-1), under
Contact pilotage (5) includes upper process (5-1), when camlock ring (3) and elastic locking ring (6) contact, lower groove (4-1) and upper process
(5-1) coincide；Upper contact pilotage (4) and camlock ring (3) contact portion are enclosed with insulating materials, lower contact pilotage (5) and elastic locking
Ring (6) contact portion is enclosed with insulating materials.
6. docking mechanism according to claim 3, it is characterised in that: the upper surface of elastic locking ring (6) is equipped with groove
(22)；Locking limit stop ring (11) is fixed on guide rod (7), when roll sleeve (13) is locked in cam card slot (19-2) and elasticity
When retaining ring (6) compression elastic piece (8), locking limit stop ring (11) is bonded with the lower end surface of camlock ring (3)；Lock washer
(9) it covers on guide rod (7), and can be moved between locking limit stop ring (11) and groove (22).
7. docking mechanism according to claim 3, it is characterised in that: the guiding outer diameter (7) and camlock block of guide rod
(3) centre bore (18) is small―gap suture cooperation.
8. docking mechanism according to claim 3, it is characterised in that: the angle that pin shaft (12) turns on cam surface (19-1)
Degree is 90 degree.
9. docking mechanism according to claim 3, it is characterised in that: pin shaft (12) end sleeve is equipped with roll sleeve (13),
The roll sleeve retaining ring (14) limited to roll sleeve (13) is equipped with outside roll sleeve (13)；Main module (1) and pass through clamping from module (2)
After component clamping, when the camlock ring (3) rotates, roller housing (13) is rolled along cam surface (19-1), until roll sleeve (13)
In into cam card slot (19-2).
10. docking mechanism according to claim 9, it is characterised in that: pin shaft (12) is connected by pin shaft position-limited needle (16)
On guide rod (7)；The periphery of centre bore (18) is equipped with guide rod guide angle (18-1), and the periphery of roll sleeve hole (20) is equipped with roll sleeve
The periphery of guide angle (20-1), guide-localization pin hole (21) is equipped with guide location pin guide angle (21-1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811357775.9A CN109262593B (en) | 2018-11-15 | 2018-11-15 | Butt joint mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811357775.9A CN109262593B (en) | 2018-11-15 | 2018-11-15 | Butt joint mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109262593A true CN109262593A (en) | 2019-01-25 |
| CN109262593B CN109262593B (en) | 2024-02-06 |
Family
ID=65189843
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811357775.9A Active CN109262593B (en) | 2018-11-15 | 2018-11-15 | Butt joint mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109262593B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111559267A (en) * | 2020-04-09 | 2020-08-21 | 宁波吉利汽车研究开发有限公司 | Vehicle charging system and guiding method |
| CN111958579A (en) * | 2020-09-01 | 2020-11-20 | 亿嘉和科技股份有限公司 | Terminal docking mechanism of robot |
| CN112271634A (en) * | 2020-10-12 | 2021-01-26 | 亿嘉和科技股份有限公司 | Automatic wire clamp instrument that breaks away from fastener |
| CN115135899A (en) * | 2020-03-24 | 2022-09-30 | 日立安斯泰莫株式会社 | Coil spring clamp, manufacturing method of coil spring and testing method of coil spring |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115135899A (en) * | 2020-03-24 | 2022-09-30 | 日立安斯泰莫株式会社 | Coil spring clamp, manufacturing method of coil spring and testing method of coil spring |
| CN115135899B (en) * | 2020-03-24 | 2024-01-23 | 日立安斯泰莫株式会社 | Coil spring clamp, manufacturing method of coil spring and testing method of coil spring |
| CN111559267A (en) * | 2020-04-09 | 2020-08-21 | 宁波吉利汽车研究开发有限公司 | Vehicle charging system and guiding method |
| CN111958579A (en) * | 2020-09-01 | 2020-11-20 | 亿嘉和科技股份有限公司 | Terminal docking mechanism of robot |
| WO2022047811A1 (en) * | 2020-09-01 | 2022-03-10 | 亿嘉和科技股份有限公司 | Robot end docking mechanism |
| CN112271634A (en) * | 2020-10-12 | 2021-01-26 | 亿嘉和科技股份有限公司 | Automatic wire clamp instrument that breaks away from fastener |
| CN112271634B (en) * | 2020-10-12 | 2022-03-15 | 亿嘉和科技股份有限公司 | Automatic wire clamp instrument that breaks away from fastener |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109262593B (en) | 2024-02-06 |
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