CN112277006A - Quick connecting device - Google Patents
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- CN112277006A CN112277006A CN202011283964.3A CN202011283964A CN112277006A CN 112277006 A CN112277006 A CN 112277006A CN 202011283964 A CN202011283964 A CN 202011283964A CN 112277006 A CN112277006 A CN 112277006A
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- 230000036961 partial effect Effects 0.000 claims description 8
- 238000000429 assembly Methods 0.000 claims description 2
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 12
- 229910052802 copper Inorganic materials 0.000 description 12
- 239000010949 copper Substances 0.000 description 12
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- 238000005516 engineering process Methods 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000002708 enhancing effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 230000000670 limiting effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 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
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Abstract
The invention discloses a quick connecting device, which is used for quickly connecting a connecting module and a connected module and comprises a driving assembly, a screw rod pair, a slide block pushing assembly and a slide block assembly, wherein the driving assembly, the screw rod pair, the slide block pushing assembly and the slide block assembly are arranged on the connecting module, the screw rod pair comprises a screw rod and a screw nut, the driving assembly is connected with the screw rod to drive the screw rod to rotate, the slide block pushing assembly is connected with the screw nut to enable the slide block pushing assembly to move back and forth along the axial direction of the screw rod, the slide block assembly can be movably connected to the connecting module along the radial direction, the size of the slide block pushing assembly in the radial direction is gradually increased from the end position to the direction of the screw rod pair along the axial direction, the position of the slide block assembly corresponds to the position of the slide block pushing assembly, and the. The quick connecting device provided by the invention has the advantages of smooth connecting process, capability of realizing stable connection and higher bending strength.
Description
Technical Field
The invention relates to the field of reconfigurable modular robots, in particular to a quick connecting device.
Background
Since the 90 s of the 20 th century, reconfigurable robots began to have developed greatly in countries around the world, especially in japan and the united states, most rapidly in this regard. The universities and scientific research institutions in the united states and japan make extensive and intensive researches on the aspects of reconstruction technology, deformation strategy, motion planning, control algorithm, architecture, cooperative control and the like of a reconstruction robot, the reconstruction mode of the robot is also developed into a dynamic self-reconstruction mode from an initial static reconstruction mode, and various model experiment systems are established, so that the researches on the technology and the performance are greatly improved. The modules adopt a quick connecting device, so that the maintenance and the configuration change can be conveniently carried out. The key technology for realizing reconfigurability is a quick connection device. The existing quick connection device usually needs manual participation of people and is not suitable for the field of intelligent reconstruction. And under the condition that the distance between the two joints is longer, the load generates larger bending moment, and higher requirements are provided for the bending strength of the quick connecting device.
The above background disclosure is only for the purpose of assisting understanding of the concept and technical solution of the present invention and does not necessarily belong to the prior art of the present patent application, and should not be used for evaluating the novelty and inventive step of the present application in the case that there is no clear evidence that the above content is disclosed at the filing date of the present patent application.
Disclosure of Invention
In order to solve the technical problems, the invention provides a quick connecting device which is smooth in connecting process, can realize stable connection and has high bending strength.
In order to achieve the purpose, the invention adopts the following technical scheme:
the invention discloses a quick connecting device for quickly connecting a connecting module and a connected module, which comprises a driving component, a screw rod pair, a slide block pushing component and a slide block component which are arranged on the connecting module, the screw rod pair comprises a screw rod and a screw nut, the driving assembly is connected with the screw rod to drive the screw rod to rotate, the slide block pushing assembly is connected with the screw nut so that the slide block pushing assembly moves back and forth along the axial direction of the screw rod, the slide block component is movably connected to the connecting module along the radial direction, the size of the slide block pushing component in the radial direction is gradually increased along the axial direction from the end position to the direction of the screw rod pair, and the slide block component corresponds to the position of the slide block pushing component, such that the slider assemblies move radially outward against the inner wall of the connected module when the slider pushing assembly moves axially toward the terminus position.
Preferably, the slider assembly includes a plurality of sliders and a plurality of linear bearings, the plurality of linear bearings are respectively and fixedly connected to the connection module and are distributed on a circumference with an axis of the connection module as a central axis, and the plurality of sliders are connected to the plurality of linear bearings in a one-to-one correspondence so as to be capable of moving back and forth along a radial direction.
Preferably, the slider assembly further includes a plurality of elastic units, the plurality of elastic units respectively correspond to the plurality of sliders one to one, and each elastic unit is respectively and correspondingly disposed between an inner end portion of each slider and the linear bearing.
Preferably, the outer end of the slider has an arc-shaped structure that fits the inner wall of the connected module.
Preferably, the sliding block pushing assembly comprises a connecting shaft and a plurality of sliding block pushing units, the connecting shaft is fixedly connected to the nut, and the axis of the connecting shaft is overlapped with the axis of the connecting module; the plurality of sliding block pushing units are respectively connected to the outer circumference of the connecting shaft, and the plurality of sliding block pushing units are in one-to-one correspondence with the plurality of sliding blocks.
Preferably, the outer edge of each of the slider pushing units is a partial arc segment of the cam mechanism.
Preferably, the slider pushing assembly is a conical structure, and the axis of the conical structure is coincident with the axis of the connecting module.
Preferably, the radial dimension of the slider pushing assembly gradually increases from the end position to the direction of the screw pair along the axial direction at a smaller and smaller speed.
Preferably, the quick connecting device further comprises a linear guide rail pair arranged on the connecting module, the linear guide rail pair comprises a linear guide rail and a sliding part, the linear guide rail is fixedly connected to the connecting module, and the nut is fixedly connected to the sliding part.
Preferably, the screw pair is a trapezoidal screw pair.
Compared with the prior art, the invention has the beneficial effects that: the quick connecting device disclosed by the invention drives the screw rod pair to rotate through the driving component, the screw rod pair converts the rotary motion into the linear motion in the axial direction so as to drive the sliding block pushing component to do linear motion along the axial direction, and then the linear motion in the axial direction of the sliding block pushing component is converted into the linear motion of the sliding block component along the radial direction through the special structural design of the sliding block pushing component and the matching of the sliding block pushing component and the sliding block component, so that the sliding block component can be expanded to abut against the inner wall of a connected module, the quick mechanical connection between the connecting module and the connected module is realized by means of radial pressure and friction force, the connecting process is smooth, and the connection between the sliding block component and the inner wall of the connected module is at least in line contact, the stable connection can be.
In a further scheme, the outer end part of the sliding block is arranged to be of an arc-shaped structure which is attached to the inner wall of the connected module, so that the sliding block is in surface contact with the inner wall of the connected module, the friction force between the connected module and the connected module is further enhanced, and the connection stability is further enhanced.
In a further scheme, the outer edge of a sliding block pushing unit in the sliding block pushing assembly is a partial arc section of a cam mechanism or the radial direction size of the sliding block pushing assembly can be set to be gradually increased from the end position to the screw rod pair along the axial direction, the speed is gradually reduced, through the structural arrangement, when the connecting module and the connected module are connected, the speed of the sliding block in the radial direction is slowly reduced, the speed at the beginning can quickly reach the position near the inner wall of the connected module, then the speed is reduced and is slowly close to the inner wall of the connected module, and the reliability of mechanical connection is further enhanced.
Drawings
FIG. 1 is a schematic structural view of a quick connect apparatus of a preferred embodiment of the present invention, when a connecting module and a connected module are to be connected;
FIG. 2 is a schematic view of the internal structure of the quick connect apparatus of FIG. 1;
FIG. 3 is a schematic view of the transmission portion of the quick connect apparatus of FIG. 1;
FIG. 4 is a cross-sectional view of the quick connect apparatus of FIG. 1;
FIG. 5 is an enlarged partial schematic view of the slider assembly in an initial state;
FIG. 6 is a cross-sectional view of the quick connect apparatus of FIG. 1 about to begin operation;
FIG. 7 is a cross-sectional view of the quick connect apparatus of FIG. 1 after the connection between the connecting module and the connected module is completed;
FIG. 8 is an enlarged partial schematic view of the slider assembly in an operational state;
FIG. 9 is a schematic vertical cross-sectional view of the central shaft before and after expansion of the slider;
FIG. 10 is a schematic illustration of the pins and electrical interface copper contacts on the connection module;
FIG. 11 is a schematic view of the pin holes and electrical interface copper contacts on the connected module;
FIG. 12 is a schematic illustration of circumferential pin positioning;
FIG. 13 is a schematic view of an oblong hole;
FIG. 14 is a cross-sectional schematic view of the signal and electrical interface being disconnected;
fig. 15 is a cross-sectional schematic view of electrical and signal connections.
Detailed Description
In order to make the technical problems, technical solutions and advantageous effects to be solved by the embodiments of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element. In addition, the connection may be for either a fixing function or a circuit connection function.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in an orientation or positional relationship indicated in the drawings for convenience in describing the embodiments of the present invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be in any way limiting of the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of the present invention, "a plurality" means two or more unless specifically limited otherwise.
As shown in fig. 1, which is a schematic structural view of a quick connection device to be connected between a connection module 100 and a connected module 200 according to a preferred embodiment of the present invention, the quick connection device is used for quickly connecting the connection module 100 and the connected module 200, and referring to fig. 2 and 3, the quick connection device includes a driving motor 10 disposed on the connection module 100, a lead screw pair 20, a slider pushing assembly 40, and a slider assembly 50, the lead screw pair 20 includes a lead screw 21 and a nut 22, the driving motor 10 is connected to the lead screw 21 to drive the lead screw 21 to rotate, the slider pushing assembly 40 is connected to the nut 22 to enable the slider pushing assembly 40 to move back and forth along an axial direction (X direction) of the lead screw 21, the slider assembly 50 is movably connected to the connection module 100 along a radial direction (Y direction), a radial dimension of the slider pushing assembly 40 gradually increases from an end position to a direction of the lead screw pair 20 along the axial direction (X direction), and the slider assembly 50 corresponds to a position of the slider So that the slider assembly 50 moves outward in the radial direction to abut against the inner annular wall of the connected module 200 when the slider pushing assembly 40 moves in the axial direction toward the end position, the quick mechanical connection of the connecting module 100 and the connected module 200 is achieved by means of friction.
Referring to fig. 4 and 5, the left side of fig. 5 is an enlarged schematic view of a in fig. 4, the slider pushing assembly 40 includes a connecting shaft 41 and three slider pushing units 42, the connecting shaft 41 is fixedly connected to the screw nut 22, an axis of the connecting shaft 41 coincides with an axis of the connecting module 100, and the three slider pushing units 42 are respectively connected to an outer circumference of the connecting shaft 41. Wherein the axis of the screw 21 and the axis of the connecting shaft 41 are parallel to each other. The slider assembly 50 includes three sliders 51 and three linear bearings 52, the three linear bearings 52 are respectively and fixedly connected to the connection module 100 and are distributed on a circumference using the axis of the connection module 100 as a central axis, the three sliders 51 are respectively and correspondingly connected to the three linear bearings 52, and the three sliders 51 and the three slider pushing units 42 are in one-to-one correspondence. Wherein, the outer edge of the sliding block pushing unit 42 is a partial arc segment of the cam mechanism, in a further preferred embodiment, the radial dimension of the sliding block pushing unit 42 gradually increases from the end position to the direction of the screw rod pair 20 at a smaller speed, that is, the arc segment is gradually reduced.
In a further embodiment, the slider assembly 50 further comprises three springs 53 and three snap rings 54, the snap rings 54 are fixedly connected to the end portions of the sliders 51, the springs 53 are arranged between the snap rings 54 and the linear bearings 52, and by arranging the springs 53, on one hand, the restoring force of the springs enables the sliders 51 to move radially inward, the connection disconnection process is smoother, and on the other hand, when the connection module 100 and the connected module 200 are disassembled, the restoring force of the springs enables the sliders 51 to be radially restored after the slider pushing assembly 42 retreats.
In a further embodiment, the quick connection device further comprises a linear guide pair 30, the linear guide pair 30 comprises a linear guide 31 and a sliding portion 32, the linear guide 31 is fixedly connected to the connection module 100, the screw 22 is fixedly connected to the sliding portion 32, so that the screw 22 can move along the axial direction of the screw rod 21 and the guide direction of the linear guide 31 at the same time, and the axial direction of the screw rod 21 and the guide direction of the linear guide 31 are identical.
In a further embodiment, the screw pair 20 may be a trapezoidal screw pair, and the trapezoidal screw pair may be used to achieve reverse mechanical self-locking, so that the connection has one more security.
The working process of the quick connecting device of the preferred embodiment of the invention is as follows: the connected module 200 is sleeved at the end of the connecting module 100, at this time, the connection state of the connecting module 100 and the connected module 200 is as shown in fig. 6, then the driving motor 10 operates to drive the screw rod 21 to rotate, the screw nut 22 moves forward along the direction X1, and drives the slider pushing assembly 40 to move forward along the direction X1, as the size of the radial direction of the slider pushing assembly 40 gradually increases from the end position to the direction of the screw rod pair 20, the slider 51 expands outward along the direction Y1 until abutting against the annular inner wall 201 of the connected module 200, as shown in fig. 7 and 8, fig. 8 is an enlarged schematic diagram at B in fig. 7, the connection between the slider 51 and the inner wall of the connected module 200 is a line contact, and a stable connection is realized by means of radial pressure and friction force, and the bending strength is high. The quick connection device converts the linear motion of the axial direction of the slide block pushing assembly 40 into the linear motion of the circumferentially distributed slide blocks 51 along the radial direction, the slide blocks 51 are expanded to abut against the annular inner wall of the connected module 200, the quick mechanical connection between the connection module 100 and the connected module 200 is realized by means of friction, and the cross-sectional schematic diagram of the central shaft before and after expansion of the slide blocks 51 is shown in fig. 9.
In some other embodiments, the end surface position of the sliding block 51 abutting against the annular inner wall of the connected module 200 (i.e. the outer end of the sliding block 51) may also be configured as an arc surface matching with the annular inner wall of the connected module 200, so that the connection between the sliding block 51 and the inner wall of the connected module 200 is a surface contact when the sliding block 51 expands to the annular inner wall of the connected module 200, further enhancing the friction force when the connecting module 100 and the connected module 200 are connected, and further enhancing the stability of the connection.
In some other embodiments, the number of the slider pushing units 42 and the number of the sliders 51 may also be 1, 2 or more than three, and preferably, the plurality of slider pushing units 42 and the plurality of sliders 51 are uniformly distributed on the circumference.
In some other embodiments, instead of the snap ring 54, the slider assembly 50 may be provided with a flange at the inner end head of the slider 51, so that the spring 53 may be disposed between the flange of the slider 51 and the linear bearing 52, or the snap ring 54 may be formed integrally with the slider 51 so that the spring 53 may be disposed between the snap ring 54 formed integrally with the slider 51 and the linear bearing 52.
In some other embodiments, the sliding block pushing assembly 40 may also be a conical structure, the axis of the conical structure coincides with the axis of the connecting module 100, wherein the outer edge of the cross section of the conical structure may also be a partial arc section of the cam mechanism, and further, the radial dimension of the outer edge of the cross section of the conical structure gradually increases from the end position to the screw pair 20 along the axial direction at a smaller speed, that is, the arc section is gradually reduced.
The connecting module 100 and the connected module 200 are mechanically connected through the quick connecting device, in addition, two pins 101 and 16 copper contacts 102 are arranged on the connecting module 100, the distribution situation is shown in fig. 10, the copper contacts 102 and the sliding block 51 are distributed in a staggered mode, so that electric wires connected with the copper contacts 102 can conveniently pass through, and 2 pins 101 are uniformly distributed on the circumference; the connected module 200 is correspondingly provided with an oblong pin hole 202, a round pin hole 203 and 16 copper contacts 204, and the distribution is shown in fig. 11; one pin 101 is matched with the long circular pin hole 202, and the other pin 101 is matched with the circular pin hole 203, so that the circumferential positioning of the connecting module 100 and the connected module 200 is realized together; the cross-section of the insertion of the pin 101 of the connection module 100 into the oblong pin hole 202 of the connected module 200 is shown in fig. 12, and the oblong pin hole 202 is configured as shown in fig. 13 with its length in the radial direction. Fig. 14 is a partial sectional view of a copper contact, the connecting module 100 is provided with copper contacts 102, the connected module 200 is provided with symmetrically distributed copper contacts 204, and after the connecting module 100 and the connected module 200 are mechanically connected, the copper contacts 102 and the copper contacts 204 are contacted to realize electrical connection and signal connection, as shown in fig. 15, a schematic diagram of copper contact is shown.
Through the structure of the connecting module 100 and the connected module 200, mechanical connection, electrical connection and signal connection are realized simultaneously, the reconfigurable modular robot can be applied to the field of reconfigurable modular robots, not only is the reconfiguration of a mechanical structure realized, but also the reconfiguration is realized from the aspects of electronic hardware, algorithms, software and the like.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. For those skilled in the art to which the invention pertains, several equivalent substitutions or obvious modifications can be made without departing from the spirit of the invention, and all the properties or uses are considered to be within the scope of the invention.
Claims (10)
1. A quick connecting device is characterized in that the quick connecting device is used for quickly connecting a connecting module and a connected module and comprises a driving component, a screw rod pair, a sliding block pushing component and a sliding block component which are arranged on the connecting module, the screw rod pair comprises a screw rod and a screw nut, the driving assembly is connected with the screw rod to drive the screw rod to rotate, the slide block pushing assembly is connected with the screw nut so that the slide block pushing assembly moves back and forth along the axial direction of the screw rod, the slide block component is movably connected to the connecting module along the radial direction, the size of the slide block pushing component in the radial direction is gradually increased along the axial direction from the end position to the direction of the screw rod pair, and the slide block component corresponds to the position of the slide block pushing component, such that the slider assemblies move radially outward against the inner wall of the connected module when the slider pushing assembly moves axially toward the terminus position.
2. The quick-connect apparatus according to claim 1, wherein the slider assembly includes a plurality of sliders and a plurality of linear bearings, the plurality of linear bearings are respectively fixedly connected to the connection module and are distributed on a circumference having an axis of the connection module as a central axis, and the plurality of sliders are connected to the plurality of linear bearings in a one-to-one correspondence so as to be movable back and forth in a radial direction.
3. The quick-connect apparatus according to claim 2, wherein the slider assembly further comprises a plurality of elastic units, the plurality of elastic units respectively corresponding to the plurality of sliders one-to-one, each of the elastic units being respectively provided between an inner end portion of each of the sliders and the linear bearing.
4. The quick-connect apparatus according to claim 2, wherein the outer end of the slider has a circular arc-shaped configuration that fits against the inner wall of the connected module.
5. The quick-connect device of claim 2, wherein the slider-pushing assembly comprises a connecting shaft and a plurality of slider-pushing units, the connecting shaft is fixedly connected to the nut, and the axis of the connecting shaft coincides with the axis of the connecting module; the plurality of sliding block pushing units are respectively connected to the outer circumference of the connecting shaft, and the plurality of sliding block pushing units are in one-to-one correspondence with the plurality of sliding blocks.
6. The quick connect device of claim 5 wherein the outer edge of each said slider pusher unit is a partial arc of a cam mechanism.
7. The quick connect device of claim 2, wherein said slide pusher assembly is a tapered structure having an axis coincident with an axis of said connection module.
8. The quick connect device of any one of claims 1 to 7 wherein the radial dimension of the slider pusher assembly increases progressively less and less axially from the end position in the direction of the screw pair.
9. The quick-connect device of any one of claims 1 to 7, further comprising a linear guide pair disposed on the connection module, the linear guide pair including a linear guide and a sliding portion, the linear guide being fixedly connected to the connection module, the nut being fixedly connected to the sliding portion.
10. The quick connect device of any one of claims 1 to 7 wherein said screw pair is a trapezoidal screw pair.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011283964.3A CN112277006A (en) | 2020-11-17 | 2020-11-17 | Quick connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011283964.3A CN112277006A (en) | 2020-11-17 | 2020-11-17 | Quick connecting device |
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| CN112277006A true CN112277006A (en) | 2021-01-29 |
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| CN202011283964.3A Pending CN112277006A (en) | 2020-11-17 | 2020-11-17 | Quick connecting device |
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| DE102019100898A1 (en) * | 2019-01-15 | 2020-07-16 | Berg & Co. Gmbh | Clamping device for a sleeve-shaped workpiece, and handling device, comprising such a clamping device |
| CN213703485U (en) * | 2020-11-17 | 2021-07-16 | 清华大学深圳国际研究生院 | Quick connecting device |
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2020
- 2020-11-17 CN CN202011283964.3A patent/CN112277006A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203421398U (en) * | 2013-06-15 | 2014-02-05 | 李静 | Pipe fitting joint |
| CN106925659A (en) * | 2015-12-31 | 2017-07-07 | 天津市深呼吸自行车业有限公司 | Dual grooved bicycle pipe part punching die |
| CN108584693A (en) * | 2018-02-28 | 2018-09-28 | 牟特科技（北京）有限公司 | A kind of stator core promotion tooling |
| CN109483431A (en) * | 2018-11-08 | 2019-03-19 | 刘剑 | Pipe fitting cramping arrangement |
| DE102019100898A1 (en) * | 2019-01-15 | 2020-07-16 | Berg & Co. Gmbh | Clamping device for a sleeve-shaped workpiece, and handling device, comprising such a clamping device |
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