CN213703485U - Quick connecting device - Google Patents

Abstract

The utility model discloses a quick connecting device, be used for carrying out the high-speed joint with link module and by link module, including setting up the drive assembly on link module, the lead screw is vice, slider promotion subassembly and sliding block set spare, the lead screw is vice including lead screw and screw, drive assembly connects the lead screw and rotates in order to drive the lead screw, slider promotion subassembly connection screw is so that the slider promotes the axial direction round trip movement of subassembly along the lead screw, sliding block set spare can connect on link module along radial movement ground, the size of the radial direction of slider promotion subassembly is crescent and sliding block set spare is corresponding with the position of slider promotion subassembly along the axial from the end position to the vice direction of lead screw, so that when the slider promotes the subassembly along the axial to the end position direction removal sliding block set spare along radial direction outwards removal in order to support the inner wall of being connected the module. The utility model provides a quick connecting device, the connection process is smooth and easy, can realize firm the connection to higher bending strength has.

Description

Quick connecting device

Technical Field

The utility model relates to a restructural modularization robot field especially relates 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 provided to aid in understanding the concepts and technical solutions of the present invention, and it does not necessarily belong to the prior art of the present patent application, and it should not be used to assess the novelty and inventive step of the present application without explicit evidence that the above content has been disclosed at the filing date of the present patent application.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a quick connecting device, the connection process is smooth and easy, can realize firm the connection to higher bending strength has.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the utility model discloses a quick connecting device which is used for quickly connecting a connecting module and a connected module and 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 beneficial effects of the utility model reside in that: the utility model discloses a quick connecting device passes through the drive assembly and drives the vice rotation of lead screw, the lead screw is vice turns into axial direction's linear motion with rotary motion and makes linear motion along axial direction with driving the slider promotion subassembly, the special construction design of rethread slider promotion subassembly and with sliding block assembly's cooperation, turn into sliding block assembly's axial direction's linear motion along radial direction with sliding block assembly, make sliding block assembly can expand to support the inner wall by connecting module, rely on radial pressure and frictional force to realize connecting module and by connecting module's quick mechanical connection, the connection process is smooth and easy, and sliding block assembly is line contact at least with being connected by connecting module inner wall, can realize firm the connection, and higher bending strength has.

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 diagram of a quick connection device according to a preferred embodiment of the present invention when a connection 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 problem, technical scheme and beneficial effect that the embodiment of the present invention will solve more clearly understand, the following combines the drawings and embodiment, and goes forward the further detailed description of the present invention. 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 the 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 and operated in a particular orientation, and are not to be construed as limiting the 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, the present invention is a schematic structural diagram of a quick connection device when the quick connection device is to connect a connection module 100 and a connected module 200, the quick connection device is used to quickly connect the connection module 100 and the connected module 200, with reference to fig. 2 and 3, the quick connection device includes a driving motor 10 disposed on the connection module 100, a screw pair 20, a slider pushing assembly 40 and a slider assembly 50, the screw pair 20 includes a screw 21 and a nut 22, the driving motor 10 is connected to the screw 21 to drive the screw 21 to rotate, the slider pushing assembly 40 is connected to the nut 22 to enable the sliding pushing assembly 40 to move back and forth along an axial direction (X direction) of the screw 21, the slider assembly 50 is movably connected to the connection module 100 along a radial direction (Y direction), a size of the radial direction of the slider pushing assembly 40 gradually increases from an end position to the direction of the screw pair 20 along the axial direction (X direction), and the slider assembly 50 and the slider pushing assembly 40 are located at the same position Correspondingly, when the sliding block pushing component 40 moves to the end position direction along the axial direction, the sliding block component 50 moves outwards along the radial direction to abut against the annular inner wall of the connected module 200, and the quick mechanical connection between the connecting module 100 and the connected module 200 is realized 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 utility model discloses preferred embodiment's quick connecting device's working process does: 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 present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the technical field of the utility model belongs to the prerequisite of not deviating from the utility model discloses, can also make a plurality of equal substitution or obvious variants, performance or usage are the same moreover, all should regard as belonging to the utility model's scope of protection.

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.

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