CN109262593B - Butt joint mechanism - Google Patents
Butt joint mechanism Download PDFInfo
- Publication number
- CN109262593B CN109262593B CN201811357775.9A CN201811357775A CN109262593B CN 109262593 B CN109262593 B CN 109262593B CN 201811357775 A CN201811357775 A CN 201811357775A CN 109262593 B CN109262593 B CN 109262593B
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- Prior art keywords
- locking ring
- cam
- guide
- guide rod
- elastic
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- 230000007246 mechanism Effects 0.000 title claims abstract description 41
- 210000001503 joint Anatomy 0.000 title claims abstract description 18
- 238000003032 molecular docking Methods 0.000 claims abstract description 35
- 238000005096 rolling process Methods 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 239000011810 insulating material Substances 0.000 claims description 4
- 239000002699 waste material Substances 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000000630 rising effect Effects 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 docking mechanism, and relates to the technical field of robots. The invention comprises a main module (1) and a slave module (2), wherein the main module (1) comprises a cam locking ring (3) with a central hole (18), and a cam groove (19) is arranged in the cam locking ring (3); the slave module (2) takes a guide rod (7) as a bracket, a pin shaft (12) is arranged on the guide rod (7), an elastic locking ring (6) is sleeved on the guide rod (7), and a guide positioning needle (17) is fixed on the elastic locking ring (6); the cam locking ring (3) rotates to enable the pin shaft (12) to rotate to the cam clamping groove (19-2) along the cam groove (19), so that the master module (1) and the slave module (2) are in butt joint and locked. The invention ensures that the machine and the expansion module have enough butt joint rigidity; the robot is used for controlling the power supply and communication of the expansion module, the number of control units and power supplies is reduced, the utilization rate is improved, and the resource waste is reduced.
Description
Technical Field
The invention relates to a docking mechanism, and belongs to the technical field of robots.
Background
With the advancement of robot modular design, the operation mode, the size and the function distribution of the modular robot are directly influenced by the docking mode among the modules.
At present, most of the robot docking mechanisms on the market are hook-claw type docking mechanisms for achieving grabbing docking between the master machine module and the slave machine module, extra degrees of freedom are needed to be added for the docking mechanisms, the structure is relatively complex, the grabbing type docking mechanisms are insufficient in rigidity, the degrees of freedom of the robot body cannot be transmitted to the expansion modules through the docking mechanisms, and therefore a docking mechanism capable of achieving function expansion of the robot, achieving wired communication of each docking module, achieving multi-module docking power supply of a single power supply and being rigid enough is needed.
Disclosure of Invention
The invention aims to provide a docking mechanism which has enough rigidity and high mechanism stability, and meets the requirement of modularized design.
The aim of the invention is realized by the following technical scheme:
the docking mechanism comprises a main module and a slave module, wherein the main module comprises a cam locking ring with a central hole, the slave module takes a guide rod as a bracket, and an elastic locking ring is sleeved on the guide rod; the guide rod extends into the cam locking ring through the central hole; the periphery of the cam locking ring is provided with an upper contact pin penetrating through the upper end face and the lower end face of the cam locking ring, and the periphery of the elastic locking ring is provided with a lower contact pin penetrating through the upper end face and the lower end face of the elastic locking ring; the upper contact pin and the lower contact pin are correspondingly contacted; the cam locking ring and the elastic locking ring are locked by a locking device. The tightening device comprises two cam grooves obliquely arranged on the side wall of the cam locking ring and a rolling sleeve hole arranged at the bottom of the cam locking ring, wherein the cam surface of the cam groove is an inclined surface which is obliquely upwards from the bottom end, and the upper end of the inclined surface is provided with a cam clamping groove; the locking device is also arranged on the base, the guide rod, the pin shaft and the elastic piece on the slave module in a wrapping way; the pin shaft is arranged on the guide rod; the elastic piece is sleeved on the guide rod and is positioned between the base and the elastic locking ring; the pin shaft enters the cam locking ring through the roller hole, the cam locking ring rotates to enable the pin shaft to rotate to the cam clamping groove along the cam groove, the pin shaft is in contact with the cam clamping groove, the elastic locking ring is in contact with the elastic piece, and the master module and the slave module are locked.
The object of the invention can be further achieved by the following technical measures:
the butt joint mechanism is provided with the clamping part, and the clamping part comprises a guide positioning needle guide hole positioned at the bottom of the cam locking ring and a guide positioning needle positioned at the top of the elastic locking ring, wherein the guide positioning needle is inserted into the guide positioning needle guide hole of the cam locking ring.
In the butt joint mechanism, the shape of the rolling sleeve hole at the bottom of the cam locking ring is matched with the shape of the pin shaft, and the bottom end of the cam surface is connected with one end of the rolling sleeve hole.
In the above-mentioned docking mechanism, the upper end of the cam locking ring is further provided with a cam locking ring insulating pad, and the lower end of the elastic locking ring is further provided with an elastic locking ring insulating pad.
In the above-mentioned docking mechanism, the upper contact pin comprises a lower groove, the lower contact pin comprises an upper protrusion, and when the cam locking ring is contacted with the elastic locking ring, the lower groove is matched with the upper protrusion; the contact part of the upper contact pin and the cam locking ring is wrapped with insulating materials, and the contact part of the lower contact pin and the elastic locking ring is wrapped with insulating materials.
In the butt joint mechanism, the upper end face of the elastic locking ring is provided with the groove; the locking limiting check ring is fixed on the guide rod, and when the roller sleeve is locked in the cam clamping groove and the elastic locking ring compresses the elastic piece, the locking limiting check ring is attached to the lower end face of the cam locking ring; the locking gasket is sleeved on the guide rod and can move between the locking limiting retainer ring and the groove.
In the above-mentioned docking mechanism, the guide outer diameter of the guide rod is in small clearance fit with the central hole of the cam locking block.
In the above-mentioned docking mechanism, the angle through which the pin rolls on the cam surface is 90 degrees.
In the butt joint mechanism, the end part of the pin shaft is sleeved with the roller sleeve, and a roller sleeve check ring for limiting the roller sleeve is arranged outside the roller sleeve; after the main module and the slave module are clamped by the clamping component, when the cam locking ring rotates, the roller sleeve rolls along the cam surface until the roller sleeve enters the cam clamping groove.
In the butt joint mechanism, the pin shaft is fixedly connected to the guide rod through the pin shaft limiting pin; the periphery of the center hole is provided with a guide rod guide angle, the periphery of the rolling sleeve hole is provided with a rolling sleeve guide angle, and the periphery of the guide positioning needle hole is provided with a guide positioning needle guide angle.
Compared with the prior art, the invention has the beneficial effects that:
(1) The robot and the expansion module have enough butt joint rigidity;
(2) The power supply and communication control of the robot to the expansion module are realized, the number of control units and power supply is reduced, the utilization rate is improved, and the resource waste is reduced;
(3) The robot can exchange multi-module tools;
(4) The docking mechanism is simple, only needs to be inserted and twisted in the docking action, and meanwhile, the mechanism stability is high;
(5) The modularized design is convenient to maintain and replace.
Drawings
FIG. 1 is a schematic view of a docking mechanism;
FIG. 2 is a left side view cross-section of the docking mechanism;
FIG. 3 is a schematic diagram of the structure of a slave module;
FIG. 4 is a schematic top view of the main module;
FIG. 5 is a schematic bottom view of the main module;
FIG. 6 is a bottom cross-sectional view of the main module;
FIG. 7 is a left side cross-sectional view of the main module;
fig. 8 is a diagram showing an operation process of the docking mechanism.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Fig. 1 is a schematic structural view of a docking mechanism, which includes a master module 1 and a slave module 2.
Fig. 2 is a left side view cross section of the docking mechanism after docking, the main module 1 mainly comprises a cam locking ring 3, an upper contact pin 4 and a cam locking ring insulating pad 15, a central hole 18 penetrating the cam locking ring 3 is arranged in the cam locking ring 3, a cam locking ring insulating pad 15 is arranged at the upper end part of the cam locking ring 3, an upper contact pin 4 is arranged at the periphery of the cam locking ring 3, the upper contact pin 4 penetrates through the upper end surface and the lower end surface of the cam locking ring 3, and the cam locking ring insulating pad 15 is mainly used for avoiding the contact of the upper contact pin 4 with the cam locking ring 3 when being connected with a wire so as to cause short circuit of a system.
The slave module 2 mainly comprises a lower contact pin 5, an elastic locking ring 6, a guide rod 7, a locking spring 8, a locking washer 9, an elastic locking ring insulating pad 10, a locking limit check ring 11, a pin shaft 12, a roller sleeve 13, a roller sleeve check ring 14, a pin shaft limit needle 16 and a guide positioning needle 17.
The slave module 2 takes a guide rod 7 as a bracket, an elastic locking ring 6 is sleeved on the guide rod 7, and a pin shaft 12 is arranged on the guide rod 7; the pin shaft 12 is fixedly connected to the 7-guide rod through a pin shaft limiting pin 16; the end part of the pin shaft 12 is sleeved with a roller sleeve 13, and a roller sleeve check ring 14 for limiting the roller sleeve 13 is arranged outside the roller sleeve 13. The rolling sleeve 13 can roll on the pin shaft 12 through the limit of the rolling sleeve retainer ring 14. The locking limit check ring 11 is fixed on the guide rod 7, and the locking washer 9 is sleeved on the guide rod 7 and can move between the locking limit check ring 11 and the groove 22.
The center of the upper end face of the elastic locking ring 6 is provided with a groove 22, the lower end part of the elastic locking ring 6 is provided with a 10-elastic locking ring insulating pad, the periphery of the elastic locking ring 6 is provided with a lower contact pin 5, and the lower contact pin 5 penetrates through the upper end face and the lower end face of the elastic locking ring 6. The guiding and positioning needle 17 is fixedly connected to the elastic locking ring 6. The elastic piece 8 is fixedly connected to the lower end of the elastic locking ring 6 and sleeved on the positioning rod 7. The elastic locking ring insulating pad 10 is mainly used for avoiding the short circuit of the system caused by contacting the elastic locking ring 6 when the lower contact pin 5 is connected with a wire.
When the master module 1 and the slave module 2 are in butt joint, the guide rod 7 and the pin shaft 12 are inserted into the cam locking ring 3, the elastic locking ring 6 compresses the elastic piece 8, and the locking limiting check ring 11 is attached to the lower end face of the cam locking ring 3.
The guide outer diameter of the guide rod 7 is in small clearance fit with the central hole 18 of the cam locking block 3 to ensure the rigidity of the locked mechanism. The outer diameter of the locking limit check ring 11 is larger than the inner diameter of the locking washer 9 and smaller than the outer diameter of the locking washer 9, so that the elastic locking ring 6 is prevented from being ejected out of the guide rod 7 after the master module and the slave module are separated. The elastic locking ring 6 can compress the elastic piece 8 to move along the guide rod 7 within a certain range through the limit of the locking washers 9 and 11-locking limit check rings. The guide rod 7 and the pin shaft 12 are inserted into the central hole 18 through the roller hole 20, and the cam locking ring 3 is rotated so that the master module 1 and the slave module 2 are abutted after the pin shaft 12 rotates along the cam groove 19.
Fig. 3 is a schematic structural view of a slave module, the periphery of the elastic locking ring 6 is provided with a guide positioning needle 17, and the cam locking ring 3 is provided with a guide positioning needle hole 21 with a size corresponding to the guide positioning needle 17; the guide positioning needle 17 plays a guiding role in the butt joint of the upper contact pin 4 and the lower contact pin 5 and plays a clamping role in the butt joint of the cam locking ring 3 and the elastic locking ring 6.
Fig. 4 is a schematic top view of the main module, wherein the cam surface 19-1 on the cam groove 19 is a slope surface inclined upward from the bottom end, and the upper end of the cam groove 19 is provided with a cam locking groove 19-2 for locking the pin 12.
Fig. 5 is a schematic bottom view of the main module, wherein a guide bar guide angle 18-1 is provided on the outer periphery of the central hole 18, a roller guide angle 20-1 is provided on the outer periphery of the roller hole 20, and a guide positioning needle guide angle 21-1 is provided on the outer periphery of the guide positioning needle hole 21.
Fig. 6 is a bottom cross-sectional view of the main module, wherein a roller hole 20 corresponding to the pin shape is provided at the bottom of the cam locking ring 3, and one end of the cam groove 19 is connected to one end of the roller hole 20. When the master module and the slave module are in butt joint, the rolling sleeve 13 rolls along the cam surface along with the rolling of the pin shaft 12, and finally the rolling sleeve 13 is locked in the cam clamping groove 19-2, so that the butt joint is completed.
Fig. 7 is a left side cross-sectional view of the main module with cam surface 19-1 gradually rising from roller aperture 20 to cam slot 19-2.
As shown in fig. 8, when the docking is needed, the main module moves to the right above the slave module along with the robot, and moves downwards under the driving of the robot, the guide rod 7 of the slave module is inserted into the cam locking ring 3 along the guide rod guide angle 18-1 of the cam locking block 3, the guide outer diameter of the guide rod 7 is in small clearance fit with the central hole of the 3-cam locking block to ensure the rigidity of the locked mechanism, when the guide rod 7 is inserted into a sufficient depth, the guide positioning needle 17, the pin shaft 12 and the roller sleeve 13 are inserted into the cam locking block 3 along with the corresponding guide angles, when the cam locking block 3 is in end face contact with the elastic ring 6, the roller sleeve 13 mounted on the pin shaft 12 is driven by the robot body to rotate clockwise, rolls along the cam surface 19-1, and due to the upward inclination of the cam surface, the roller sleeve 13 is in contact with the cam clamping groove 19-2, the elastic piece 8 is extruded between the base 23 and the elastic ring 6, so that the whole docking mechanism has internal stress to realize locking. When the cam locking ring 3 rotates 90 degrees, the rollers 13 enter the cam clamping grooves 19-2 to ensure the reliable locking of the mechanism, and a certain unlocking force must be provided to unlock the docking mechanism.
When the cam locking block 3 is contacted with the end face of the elastic locking ring 6, the upper contact pin 4 and the lower contact pin 5 are in one-to-one fit and are in butt joint, the surfaces of the upper contact pin 4 and the lower contact pin 5, which are contacted with the cam locking ring 3, are coated with nylon, so that the upper contact pin and the lower contact pin integrally form a conductor, the upper contact pin 4 is connected with a wire, and the lower contact pin 5 is connected with a wire, and therefore reliable butt joint of a power line and a signal line is realized.
In addition to the above embodiments, other embodiments of the present invention are possible, and all technical solutions formed by equivalent substitution or equivalent transformation are within the scope of the present invention.
Claims (6)
1. Docking mechanism, comprising a master module (1) and a slave module (2), characterized in that: the main module (1) comprises a cam locking ring (3) with a central hole (18), the auxiliary module (2) takes a guide rod (7) as a bracket, and the elastic locking ring (6) is sleeved on the guide rod (7); the guide rod (7) extends into the cam locking ring (3) through the central hole (18); an upper contact pin (4) penetrating through the upper end face and the lower end face of the cam locking ring (3) is arranged at the periphery of the cam locking ring, and a lower contact pin (5) penetrating through the upper end face and the lower end face of the elastic locking ring (6) is arranged at the periphery of the elastic locking ring; the upper contact pin (4) and the lower contact pin (5) are correspondingly contacted; the cam locking ring (3) and the elastic locking ring (6) are locked by a locking device; the locking device comprises two cam grooves (19) obliquely arranged on the side wall of the cam locking ring (3) and a rolling sleeve hole (20) arranged at the bottom of the cam locking ring (3), wherein the cam surface (19-1) of the cam groove (19) is a slope surface which is obliquely upwards from the bottom end, and a cam clamping groove (19-2) is arranged at the upper end of the slope surface; the locking device also comprises a base (23), a guide rod (7), a pin shaft (12) and an elastic piece (8) which are arranged on the slave module (2); the pin shaft (12) is arranged on the guide rod (7); the elastic piece (8) is sleeved on the guide rod (7) and is positioned between the base (23) and the elastic locking ring (6); the pin shaft (12) enters the cam locking ring (3) through the rolling sleeve hole (20), the cam locking ring (3) rotates to enable the pin shaft (12) to rotate to the cam clamping groove (19-2) along the cam groove (19), the pin shaft (12) is in contact with the cam clamping groove (19-2), the elastic locking ring (6) is in contact with the elastic piece (8), and locking of the master module (1) and the slave module (2) is completed; the butt joint mechanism is provided with a clamping part, the clamping part comprises a guide positioning needle guide hole (21) positioned at the bottom of the cam locking ring (3) and a guide positioning needle (17) positioned at the top of the elastic locking ring (6), and the guide positioning needle (17) is inserted into the guide positioning needle guide hole (21) of the cam locking ring (3); the shape of a rolling hole (20) at the bottom of the cam locking ring (3) is matched with the shape of the pin shaft, and the bottom end of the cam surface (19-1) is connected with one end of the rolling hole (20); the upper end part of the cam locking ring (3) is also provided with a cam locking ring insulating pad (15), and the lower end part of the elastic locking ring (6) is also provided with an elastic locking ring insulating pad (10); the upper end surface of the elastic locking ring (6) is provided with a groove (22); the locking limit check ring (11) is fixed on the guide rod (7), and when the roller sleeve (13) is locked in the cam clamping groove (19-2) and the elastic locking ring (6) compresses the elastic piece (8), the locking limit check ring (11) is attached to the lower end face of the cam locking ring (3); the locking washer (9) is sleeved on the guide rod (7) and can move between the locking limit check ring (11) and the groove (22).
2. The docking mechanism of claim 1, wherein: the upper contact pin (4) comprises a lower groove (4-1), the lower contact pin (5) comprises an upper protrusion (5-1), and when the cam locking ring (3) is contacted with the elastic locking ring (6), the lower groove (4-1) is matched with the upper protrusion (5-1); the contact part of the upper contact pin (4) and the cam locking ring (3) is wrapped with insulating materials, and the contact part of the lower contact pin (5) and the elastic locking ring (6) is wrapped with insulating materials.
3. The docking mechanism of claim 1, wherein: the guiding outer diameter of the guiding rod (7) is in small clearance fit with the central hole (18) of the cam locking ring (3).
4. The docking mechanism of claim 1, wherein: the pin (12) rotates over the cam surface (19-1) by an angle of 90 degrees.
5. The docking mechanism of claim 1, wherein: the end part of the pin shaft (12) is sleeved with a roller sleeve (13), and a roller sleeve check ring (14) for limiting the roller sleeve (13) is arranged outside the roller sleeve (13); after the main module (1) and the auxiliary module (2) are clamped through the clamping component, when the cam locking ring (3) rotates, the roller sleeve (13) rolls along the cam surface (19-1) until the roller sleeve (13) enters the cam clamping groove (19-2).
6. The docking mechanism as recited in claim 5, wherein: the pin shaft (12) is fixedly connected to the guide rod (7) through a pin shaft limiting needle (16); the periphery of the center hole (18) is provided with a guide rod guide angle (18-1), the periphery of the rolling sleeve hole (20) is provided with a rolling sleeve guide angle (20-1), and the periphery of the guide positioning needle guide hole (21) is provided with a guide positioning needle 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 CN109262593A (en) | 2019-01-25 |
| CN109262593B true CN109262593B (en) | 2024-02-06 |
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| 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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7379233B2 (en) * | 2020-03-24 | 2023-11-14 | 日立Astemo株式会社 | Coil spring jig, coil spring manufacturing method, and coil spring testing method |
| 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 |
| CN111958579B (en) * | 2020-09-01 | 2022-04-01 | 亿嘉和科技股份有限公司 | Terminal docking mechanism of robot |
| 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 |
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2018
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| JP2003071669A (en) * | 2001-09-05 | 2003-03-12 | Koyo Mach Ind Co Ltd | Work supporting device, and work rotating device |
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| CN109262593A (en) | 2019-01-25 |
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