CN207536139U - A kind of cone rod-type docking mechanism - Google Patents
A kind of cone rod-type docking mechanism Download PDFInfo
- Publication number
- CN207536139U CN207536139U CN201720838871.XU CN201720838871U CN207536139U CN 207536139 U CN207536139 U CN 207536139U CN 201720838871 U CN201720838871 U CN 201720838871U CN 207536139 U CN207536139 U CN 207536139U
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- module
- docking
- locking
- gear
- cone
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Abstract
The utility model discloses a kind of cone rod-type docking mechanism, including active mating module and passively to connection module.The self-locking action for passively completing lock tongue by resetting spring to connection module.The active mating module includes to connection module, unlocked state and locking module again, three modules amount to four individual edge docking axis circumferentially, satisfaction is individually fixed in connection module and unlocked state both sides and two locking modules up and down and is individually fixed in the left and right sides, while trapezoidal screw, solution lock collar telescopic rod and sliding straight guide rail are empty set structure.The low friction characteristic of higher pair contact and the reset response of spring is utilized in entire docking mechanism, rapid abutting joint and quick release are achieved the purpose that, and trapezoidal screw, worm and gear, rack-and-pinion are used as primary drive component, therefore, remain cone rod-type docking mechanism institute it is functional on the basis of, its overall structure miniature compact is realized, simplify docking operation performs action.
Description
Technical field
The utility model patent is related to a kind of cone rod-type docking mechanism, is mainly used in the combination pair of various mobile robot
It connects, belongs to mobile robot docking technique field.
Background technology
At present, there are mainly four types of the docking mechanisms used in aerospace：Circular cone type, cone rod-type, homologous perimetric pattern
And handgrip collision locking-type.As mobile robot development is increasingly ripe, to realize under complex environment multi-machine collaborative to complete increasingly
Complicated actual task, docking mechanism are widely studied as the core of Self-Reconfigurable Module mobile-robot system.Its
In, cone rod-type docking mechanism is since mechanism is simple, and total quality is smaller, and the requirement to initial attitude is relatively low, and tolerance is big during docking,
Therefore start to be widely used in small-sized spacecraft and the docking system of mobile robot.Since mobile robot is relative to small-sized boat
There are still very big differences for the volume of its device, it is therefore desirable to it is improved on the basis of spacecraft is using cone rod-type docking mechanism,
Its overall structure is minimized, and simplifies docking action, demand is carried to adapt to the mobile robot of small size.
Utility model content
The utility model is directed to the problem of existing mobile robot docking technique, provides a kind of compact mechanical structure, docking
Tolerance is big, the simple cone rod-type docking mechanism of execution action.
The cone rod-type docking mechanism of the utility model is realized using following technical scheme：
The cone rod-type docking mechanism of the utility model includes：Active mating module and passively to connection module.
It is described that passively connection module is included：Passively to connection module fixed plate, receiving cone, lock tongue, stop nut, limiting spiral shell
Mother, rail plate, resetting spring, it is characterised in that：Lock tongue rear portion passes through resetting spring to be inserted into rail plate, by limiting spiral shell
The pretightning force and lock tongue of mother's fine tuning spring are receiving the length in boring, and form pairs of anti-loose nut structure by stop nut, form
The lock body of Self-resetting, two lock bodies are symmetrically arranged in the rear side of receiving cone, and pass through screw bolt and nut with passively docking mould
Block fixed plate receives cone to fix.
The active mating module is included to connection module, unlocked state, locking module.
It is described that connection module is included：It is oriented to bulb, guide cone, active mating module fixed plate, mounting flange, limiting branch
Frame, feed screw nut, driven gear, stress support, trapezoidal screw, docking driving motor, driving gear, it is characterised in that：It is driven
Gear is fixed by screw bolt and nut and feed screw nut and forms screw pair with trapezoidal screw, and trapezoidal screw both ends are worn respectively
Limiting bracket and stress support are crossed, docking driving motor is fixed on by screw on stress support, and driving gear passes through clamp screw
Nail, which is connected in docking driving motor output shaft and is engaged with driven gear, forms single cylindrical gear reducer, and stress support leads to
It crosses screw bolt and nut and is fixed on mounting flange top, mounting flange is fixed on by screw in active mating module fixed plate, ladder
Shape leading screw front end passes through guide cone, active mating module fixed plate, mounting flange, is oriented to bulb and is connected through a screw thread and is fixed on ladder
Shape leading screw front end.
The unlocked state includes：Solve lock collar, guide cone, active mating module fixed plate, mounting flange, unlock driving electricity
Machine, unlock worm screw, unlocks gear, unlock rack, unlock gear shaft, solution lock collar telescopic rod, slides directly unlocked state fixing bracket
Line guide rail, unlock rack fixing bracket, unlock worm gear, it is characterised in that：Sliding straight guide rail passes through screw and guide cone, active
Connection module fixed plate is fixed, unlocked state fixing bracket is fixed on mounting flange lower part, unlock driving by screw bolt and nut
Motor is fixed on by screw on unlocked state fixing bracket, unlock worm screw by holding screw be connected in unlock driving motor it is defeated
On shaft, unlock gear shaft one end passes through the hole in the middle part of unlocked state fixing bracket on floor to form revolute pair, unlock gear and
Unlock worm gear is fixed on unlock gear shaft both ends by holding screw respectively, and unlock rack is fixed on unlock rack by screw to be consolidated
On fixed rack, solution lock collar telescopic rod passes through sliding straight guide rail to form prismatic pair, and solution lock collar and unlock rack fixing bracket pass through
The screw thread of solution lock collar telescopic rod front and back end is respectively fixedly connected therewith, unlocks gear and unlock rack, unlock worm screw and unlock snail at this time
Engagement forms two-stage gear-worm reducer to wheel respectively.
The locking module includes：Guide cone, active mating module fixed plate, mounting flange, active lock gear shaft, from
Dynamic locking teeth wheel shaft, lock sheet, locking driving motor, locking worm screw, locking worm gear, locking driving motor fixing bracket, locking
Driving motor gasket, driven lock gear, active lock gear, it is characterised in that：Locking driving motor fixing bracket passes through spiral shell
Nail is fixed in active mating module fixed plate, and locking driving motor, locking driving motor gasket are fixed by screw bolt and nut
On locking driving motor fixing bracket, locking worm screw is fixed on by holding screw in locking driving motor output shaft, actively
The hole that locking teeth wheel shaft, driven lock gear axis front end are each passed through on mounting flange forms revolute pair, lock sheet, active lock
Gear is fixed on active lock gear shaft front end by holding screw respectively, and locking worm gear is fixed on by holding screw actively to be locked
Fixed gear shaft rear end, lock sheet, driven lock gear are fixed on driven lock gear axis front end by holding screw respectively, at this time
Locking worm screw and locking worm gear, driven lock gear and active lock gear engage respectively forms two-stage gear-worm speed-down
Device.
Further, since worm screw expansion helical angle is less than worm gear and unlocks the worm and gear of worm screw contact angle of friction, because
This its with self-locking performance.
Further, due to trapezoidal screw and the self-locking performance of worm and gear, stability and the docking of mechanism entirety be ensure that
The certainty of action.
Optimization, to connection module, unlocked state, locking module, three modules amount to 4 individuals along docking axis circumferential direction cloth
It is placed on rear side of mounting flange, meets both sides above and below being individually fixed in connection module and unlocked state and two locking modules are solid respectively
Due to the left and right sides, while trapezoidal screw, solution lock collar telescopic rod and sliding straight guide rail are empty set structure, ensure that each mechanism is moved
The quality balance of independence and the mechanism entirety of work.
Description of the drawings
Fig. 1 is the docking mechanism entirety composition schematic diagram of the utility model；
Fig. 2 a and Fig. 2 b are the passive docking module mechanism composition schematic diagram of the utility model；
Fig. 3 a and Fig. 3 b are the active mating module mechanism composition schematic diagram of the utility model；
Fig. 4 a, Fig. 4 b and the docking module mechanism composition schematic diagram that Fig. 4 c are the utility model；
Fig. 5 a and Fig. 5 b are the unlocked state mechanism composition schematic diagram of the utility model；
Fig. 6 a, Fig. 6 b and the locking module mechanism composition schematic diagram that Fig. 6 c are the utility model；
Fig. 7 is under the trapezoidal screw of the utility model, solution lock collar telescopic rod, sliding straight guide rail and guide cone receiving state
Installation site relation schematic diagram；
Fig. 8 is the docking operation principle schematic of the utility model；
Fig. 9 is the releasing process principle schematic of the utility model.
Figure 10 a and Figure 10 b are the locking of the utility model and unlocking process principle schematic.
In figure：A, active mating module；B, passively to connection module；I, to connection module；IIth, unlocked state；IIIth, mould is locked
Block；1st, passively to connection module fixed plate；2nd, cone is received；3rd, lock tongue；4th, stop nut；5th, stop nut；6th, rail plate；7th, it is multiple
Position spring；8th, it is oriented to bulb；9th, guide cone；10th, active mating module fixed plate；11st, mounting flange；12nd, limiting bracket；13、
Feed screw nut；14th, driven gear；15th, stress support；16th, trapezoidal screw；17th, driving motor is docked；18th, driving gear；19、
Solve lock collar；20th, driving motor is unlocked；21st, unlocked state fixing bracket；22nd, worm screw is unlocked；23rd, gear is unlocked；24th, tooth is unlocked
Item；25th, gear shaft is unlocked；26th, lock collar telescopic rod is solved；27th, sliding straight guide rail；28th, rack fixing bracket is unlocked；29th, it unlocks
Worm gear；30th, active lock gear shaft；31st, driven lock gear axis；32nd, lock sheet；33rd, driving motor is locked；34th, snail is locked
Bar；35th, worm gear is locked；36th, driving motor fixing bracket is locked；37th, driving motor gasket is locked；38th, driven lock gear；
39th, active lock gear.
Specific embodiment
1st, docking operation
Docking driving motor 17 rotates, and the fixed driving gear 18 in motor output shaft end is driven to rotate, and drive driven tooth
It takes turns 14 and is rotated therewith by the fixed feed screw nut 13 of screw-nut, trapezoidal screw 16 is made to extend out to predetermined docking length.It connects
It, active mating modules A is with passively close to each other to connection module B, and guiding bulb 8 is after the conical surface of receiving cone 2 is led and is slid downwardly into
In portion's cylinder storage space until with 3 front side contact of incline plane of lock tongue.At this point, due to active mating modules A and passively to connection module B
It is contacted still adjacent to each other, and due to being oriented between bulb 8 and 3 inclined-plane of lock tongue for higher pair, lock tongue 3 contracts under force
It returns, resetting spring 7 is in compressive state, and active mating modules A continues connection module B with passively close.It is transported when being oriented to bulb 8
It moves to when receiving 2 cylinder storage space top of cone, is oriented to bulb 8 and is disengaged with lock tongue 3, lock tongue 3 is in 7 bullet of resetting spring
Power effect is lower to be resetted.Then, docking driving motor 17 rotate backward, trapezoidal screw 16 be retracted to be oriented to 8 rear edge of bulb with
3 rearward plane of lock tongue is in close contact, and cone 2 and 9 conical surface of guide cone is received to overlap at this time, limits active mating modules A and passive
One-movement-freedom-degree and pitching to tri- directions of connection module B and deflection degree of freedom, at this time docking operation terminate.
2nd, locking process
After docking operation, locking driving motor 33 rotates, and drives fixed 34 turns of the worm screw of locking of motor output end
It is dynamic, the locking being engaged with worm gear 35 is driven to rotate.Since locking worm gear 35 and active lock gear 39 pass through holding screw
The both sides of active lock gear shaft 30 are fixed on, therefore active lock gear 39 rotates, and drive the driven locking being engaged with
Gear 38 rotates.Again due to the gear that active lock gear 39 and driven lock gear 38 are number of teeth modulus all same, two
Person rotates backward as constant speed namely driven lock gear axis 31 is rotated backward with active lock gear shaft 30 as constant speed, then drives
The 32 reversed constant velocity rotation of lock sheet on front side of two axis is individually fixed in predetermined angle, makes lock sheet 32 relative to the outer of steering
Side with 2 inside grooves upper and lower sides of cone is received to contact, the only surplus active mating modules A of limitation with passively to the phase of connection module B
To rotational freedom, locking process terminates at this time.
3rd, unlocking process
The process to unlock is the inverse process of locking process, that is, locks driving motor 33 and rotate backward, drive lock sheet
32 reversion predetermined angles, return to initial position, unlocking process terminates at this time.
4th, releasing process
After unlocking process, unlock driving motor 20 rotates, and drives the fixed unlock worm screw of motor output end
22 rotations, drive the unlock being engaged with worm gear 29 to rotate.Since unlock worm gear 29 and unlock gear 23 pass through holding screw
The both sides of unlock gear shaft 25 are fixed on, therefore unlocks gear 23 and rotates, and the unlock rack 24 being engaged with is driven to make straight line
Movement drives the solution being fixed with one by screw thread lock collar 19, solution lock collar telescopic rod 26, unlock rack fixing bracket 28 sliding
Leading for the linear guide 27 extends downwardly, until the forepart conical surface of solution lock collar 19 and 3 front side contact of incline plane of lock tongue.At this point, due to solution
Lock collar 19 is still being stretched out, and due to being contacted between solution lock collar 19 and 3 inclined-plane of lock tongue for higher pair, under force lock tongue 3
It retracts, resetting spring 7 is in compressive state, and solution lock collar 19 continues to extend out to be overlapped with being oriented to 8 trailing flank of bulb.Due to solving lock collar
The cylinder changeover portion at 19 middle parts limits the pop-up of lock tongue 3, active mating modules A is controlled to leave passively to connection module B at this time, then
After solving 19 cylinder changeover portion of lock collar, 3 front surface of lock tongue is with being oriented to 8 sphere-contact of bulb, with modules A and module B
It is gradually resetted under 7 reset response of relative displacement and resetting spring, at this point, releasing process terminates.
Above description is the explanation to the utility model, is not the restriction to utility model, what the utility model was limited
Range is referring to claim, and in the case of the basic structure without prejudice to the utility model, the utility model can make any shape
The modification of formula.
Claims (6)
1. a kind of cone rod-type docking mechanism, including active mating modules A and passively to connection module B, it is characterised in that：Passive docking
Module B is included passively to connection module fixed plate 1, receiving cone 2, lock tongue 3, stop nut 4, stop nut 5, rail plate 6, reset
Spring 7；Active mating modules A includes docking module I, unlocked state II, locking module III, wherein docking module I includes being oriented to
Bulb 8, guide cone 9, active mating module fixed plate 10, mounting flange 11, limiting bracket 12, feed screw nut 13, driven gear
14th, stress support 15, trapezoidal screw 16, docking driving motor 17, driving gear 18, unlocked state II include solution lock collar 19, lead
To cone 9, active mating module fixed plate 10, mounting flange 11, unlock driving motor 20, unlocked state fixing bracket 21, unlock
Worm screw 22, unlock gear 23, unlock rack 24, unlock gear shaft 25, solution lock collar telescopic rod 26, sliding straight guide rail 27, unlock
Rack fixing bracket 28, unlock worm gear 29, locking module III include guide cone 9, active mating module fixed plate 10, fixation
Orchid 11, active lock gear shaft 30, driven lock gear axis 31, lock sheet 32, locking driving motor 33, locking worm screw 34, lock
Determine worm gear 35, locking driving motor fixing bracket 36, locking driving motor gasket 37, driven lock gear 38, active lock tooth
Wheel 39.
2. a kind of cone rod-type docking mechanism according to claim 1, it is characterised in that：It is described that passively connection module B is passed through
Resetting spring completes the self-locking action of lock tongue.
3. a kind of cone rod-type docking mechanism according to claim 1, it is characterised in that：The active mating modules A includes
Docking module I, unlocked state II, locking module III along docking axis circumferentially on rear side of the mounting flange.
4. a kind of cone rod-type docking mechanism according to claim 1, it is characterised in that：During docking active mating module and by
It is roughly the same with the practical axis direction that docks that dynamic docking module axis direction need to keep its docking axial as far as possible, is bored due to receiving
The guidance quality of cone, allows that there are certain angular errors.
5. a kind of cone rod-type docking mechanism according to claim 1, it is characterised in that：Control system need to arrange that correspondence is each
The detection sensor of parts is performed to meet the needs of operation precision.
6. a kind of cone rod-type docking mechanism according to claim 1, it is characterised in that：Active mating module and passive docking
The visual actual control system situation of module is respectively arranged on active mating individual and passive docking individual；If it docks detection to pass
Sensor is carried by active mating individual, then active mating module is installed on active mating individual, quilt is installed on passive docking individual
It moves to connection module；Conversely, then being installed on active mating individual passively to connection module, passive dock installs active mating mould on individual
Block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720838871.XU CN207536139U (en) | 2017-07-12 | 2017-07-12 | A kind of cone rod-type docking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720838871.XU CN207536139U (en) | 2017-07-12 | 2017-07-12 | A kind of cone rod-type docking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207536139U true CN207536139U (en) | 2018-06-26 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720838871.XU Expired - Fee Related CN207536139U (en) | 2017-07-12 | 2017-07-12 | A kind of cone rod-type docking mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207536139U (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109164570A (en) * | 2018-09-28 | 2019-01-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of locker and butt-joint locking method applied to module docking |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN111038737A (en) * | 2019-12-31 | 2020-04-21 | 中国科学院空间应用工程与技术中心 | Driving device for optical inspection outside material cabin and exposure platform |
| CN112046797A (en) * | 2020-09-11 | 2020-12-08 | 中国空间技术研究院 | Capturing and docking device |
| CN112124639A (en) * | 2020-09-15 | 2020-12-25 | 哈尔滨工业大学 | Screw nut clamping type docking mechanism and working method thereof |
| CN112229683A (en) * | 2020-12-14 | 2021-01-15 | 中国电力科学研究院有限公司 | Transformer oil appearance collection robot |
| CN112497189A (en) * | 2020-11-24 | 2021-03-16 | 深圳市普渡科技有限公司 | Terminal quick replacement structure of manipulator and electric manipulator |
| CN113955161A (en) * | 2021-12-10 | 2022-01-21 | 北京科技大学 | Space non-cooperative target capturing device and capturing method thereof |
| CN115614621A (en) * | 2022-10-21 | 2023-01-17 | 西安应用光学研究所 | Two-axis synchronous locking and unlocking device for U-shaped two-dimensional rotary table |
| CN116161239A (en) * | 2023-02-14 | 2023-05-26 | 中国科学院空间应用工程与技术中心 | Linear motion locking mechanism and space load device |
-
2017
- 2017-07-12 CN CN201720838871.XU patent/CN207536139U/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109164570A (en) * | 2018-09-28 | 2019-01-08 | 中国科学院长春光学精密机械与物理研究所 | A kind of locker and butt-joint locking method applied to module docking |
| CN110977937B (en) * | 2019-11-11 | 2020-11-27 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN110977937A (en) * | 2019-11-11 | 2020-04-10 | 内蒙古工业大学 | Reconfigurable docking mechanism |
| CN111038737B (en) * | 2019-12-31 | 2021-04-27 | 中国科学院空间应用工程与技术中心 | Driving device for optical inspection outside material cabin and exposure platform |
| CN111038737A (en) * | 2019-12-31 | 2020-04-21 | 中国科学院空间应用工程与技术中心 | Driving device for optical inspection outside material cabin and exposure platform |
| CN112046797A (en) * | 2020-09-11 | 2020-12-08 | 中国空间技术研究院 | Capturing and docking device |
| CN112124639A (en) * | 2020-09-15 | 2020-12-25 | 哈尔滨工业大学 | Screw nut clamping type docking mechanism and working method thereof |
| CN112497189A (en) * | 2020-11-24 | 2021-03-16 | 深圳市普渡科技有限公司 | Terminal quick replacement structure of manipulator and electric manipulator |
| CN112229683A (en) * | 2020-12-14 | 2021-01-15 | 中国电力科学研究院有限公司 | Transformer oil appearance collection robot |
| CN112229683B (en) * | 2020-12-14 | 2021-03-16 | 中国电力科学研究院有限公司 | Transformer oil appearance collection robot |
| CN113955161A (en) * | 2021-12-10 | 2022-01-21 | 北京科技大学 | Space non-cooperative target capturing device and capturing method thereof |
| CN113955161B (en) * | 2021-12-10 | 2023-06-20 | 北京科技大学 | Capturing device and capturing method for space non-cooperative target |
| CN115614621A (en) * | 2022-10-21 | 2023-01-17 | 西安应用光学研究所 | Two-axis synchronous locking and unlocking device for U-shaped two-dimensional rotary table |
| CN116161239A (en) * | 2023-02-14 | 2023-05-26 | 中国科学院空间应用工程与技术中心 | Linear motion locking mechanism and space load device |
| CN116161239B (en) * | 2023-02-14 | 2023-08-08 | 中国科学院空间应用工程与技术中心 | Linear motion locking mechanism and space load device |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20200712 |