CN207536139U - A kind of cone rod-type docking mechanism - Google Patents

Abstract

The utility model discloses a taper rod type docking mechanism, which comprises an active docking module and a passive docking module. The passive docking module completes the self-locking action of the deadbolt through the return spring. The active docking module further includes a docking module, an unlocking module and a locking module. A total of four of the three modules are arranged circumferentially along the docking axis, so that the docking module and the unlocking module are respectively fixed on the upper and lower sides and the two locking modules are respectively fixed on the On the left and right sides, at the same time, the trapezoidal screw, the unlocking disc telescopic rod and the sliding linear guide are empty sleeve structures. The entire docking mechanism utilizes the low-friction characteristics of high-pair contact and the reset function of the spring to achieve the purpose of fast docking and fast unlocking, and uses trapezoidal screw, worm gear, and rack and pinion as the main transmission components. Therefore, while retaining On the basis of all the functions of the cone-rod docking mechanism, the miniaturization and compactness of its overall structure is realized, and the execution action of the docking process is simplified.

Description

A taper rod type docking mechanism

technical field

The utility model patent relates to a cone-rod docking mechanism, which is mainly used in the combined docking of various types of mobile robots, and belongs to the technical field of mobile robot docking.

Background technique

At present, there are mainly four types of docking mechanisms used in aerospace: ring-cone type, cone-rod type, heterogeneous isomorphic peripheral type and gripper collision lock type. With the development of mobile robots becoming more and more mature, docking mechanism, as the core part of self-reconfigurable modular mobile robot system, has been widely studied in order to achieve multi-machine cooperation in complex environments to complete increasingly complex practical tasks. Among them, the cone-rod docking mechanism is widely used in the docking system of small spacecraft and mobile robots due to its simple structure, small overall mass, low requirements for initial attitude, and large tolerance during docking. Since there is still a large difference in the size of mobile robots compared to small spacecraft, it is necessary to improve the use of cone-rod docking mechanisms for spacecraft to miniaturize the overall structure and simplify docking actions to adapt to small-volume objects. Requirements for carrying mobile robots.

Utility model content

The utility model aims at the problems of the existing mobile robot docking technology, and provides a cone-rod type docking mechanism with compact mechanical structure, large docking tolerance and simple execution.

The taper rod type docking mechanism of the utility model is realized by the following technical solutions:

The taper rod type docking mechanism of the utility model includes: an active docking module and a passive docking module.

The passive docking module includes: a passive docking module fixing plate, a receiving cone, a deadbolt, a lock nut, a limit nut, a sliding guide rail, and a return spring, and it is characterized in that: the rear part of the dead bolt is inserted into the sliding guide rail through the return spring, The pre-tightening force of the spring and the length of the lock tongue in the receiving cone are fine-tuned through the limit nut, and the double-nut anti-loosening structure is formed through the lock nut to form a self-resetting lock body. The two lock bodies are symmetrically arranged in the rear of the receiving cone side, and fixed with the passive docking module fixed plate and receiving cone by bolts and nuts.

The active docking module includes a docking module, an unlocking module, and a locking module.

The docking module includes: a guide ball head, a guide cone, an active docking module fixing plate, a fixing flange, a limit bracket, a screw nut, a driven gear, a force bearing bracket, a trapezoidal screw, a docking drive motor, and a driving gear. It is characterized in that: the driven gear is fixed with the lead screw nut through bolts and nuts and forms a lead screw nut pair with the trapezoidal lead screw. On the stressed support, the driving gear is fixed on the output shaft of the docking drive motor through set screws and meshes with the driven gear to form a single-stage cylindrical gear reducer. The stressed support is fixed on the upper part of the fixed flange through bolts and nuts. The fixing method The blue is fixed on the fixed plate of the active docking module by screws, the front end of the trapezoidal screw passes through the guide cone, the fixed plate of the active docking module, and the fixing flange, and the guide ball head is fixed on the front end of the trapezoidal screw through threaded connection.

The unlocking module includes: an unlocking disc, a guide cone, an active docking module fixing plate, a fixing flange, an unlocking drive motor, an unlocking module fixing bracket, an unlocking worm, an unlocking gear, an unlocking rack, an unlocking gear shaft, an unlocking disc telescopic rod, The sliding linear guide rail, the unlocking rack fixing bracket, and the unlocking worm gear are characterized in that: the sliding linear guide rail is fixed by screws and guide cones, and the active docking module fixing plate, and the unlocking module fixing bracket is fixed on the lower part of the fixing flange by bolts and nuts to unlock the drive The motor is fixed on the fixed bracket of the unlocking module through screws, and the unlocking worm is fixed on the output shaft of the unlocking drive motor through set screws. One end of the unlocking gear shaft passes through the hole on the rib plate in the middle of the fixing bracket of the unlocking module to form a rotating pair. The unlocking gear and The unlocking worm gear is respectively fixed on both ends of the unlocking gear shaft through set screws, and the unlocking rack is fixed on the fixing bracket of the unlocking rack through screws. The threads at the front and rear ends of the telescopic rod of the unlocking disc are respectively fixedly connected with it, and at this moment, the unlocking gear and the unlocking rack, the unlocking worm and the unlocking worm gear mesh respectively to form a two-stage gear-worm reducer.

The locking module includes: guide cone, active docking module fixing plate, fixing flange, active locking gear shaft, driven locking gear shaft, locking plate, locking drive motor, locking worm, locking worm gear, locking drive motor fixing bracket, The locking drive motor gasket, the driven locking gear, and the active locking gear are characterized in that: the locking drive motor fixing bracket is fixed on the active docking module fixing plate through screws, and the locking driving motor and the locking driving motor gasket are fixed on the fixed plate through bolts and nuts. On the fixed bracket of the locking drive motor, the locking worm is fixed on the output shaft of the locking drive motor through set screws. The active locking gear is respectively fixed to the front end of the active locking gear shaft through set screws, the locking worm gear is fixed to the rear end of the active locking gear shaft through set screws, and the locking plate and driven locking gear are respectively fixed to the driven locking gear through set screws At the front end of the shaft, the locking worm and the locking worm gear, the driven locking gear and the driving locking gear mesh respectively to form a two-stage gear—the worm reducer.

Further, since the helix angle of the worm is smaller than that of the worm gear and the unlocking worm contact friction angle, it has self-locking properties.

Furthermore, due to the self-locking property of the trapezoidal screw and the worm gear, the overall stability of the mechanism and the certainty of the docking action are guaranteed.

Optimized, the docking module, the unlocking module, and the locking module, a total of 4 individuals of the three modules are arranged circumferentially on the rear side of the fixed flange along the docking axis, so that the docking module and the unlocking module are respectively fixed on the upper and lower sides and the two locking modules are respectively It is fixed on the left and right sides, and the trapezoidal screw, unlocking disc telescopic rod and sliding linear guide are empty sleeve structures, which ensure the independence of the action of each mechanism and the overall quality balance of the mechanism.

Description of drawings

Fig. 1 is a schematic diagram of the overall composition of the docking mechanism of the present utility model;

Figure 2a and Figure 2b are schematic diagrams of the composition of the passive docking module mechanism of the present invention;

Figure 3a and Figure 3b are schematic diagrams of the composition of the active docking module mechanism of the present invention;

Figure 4a, Figure 4b and Figure 4c are schematic diagrams of the structure of the docking module of the present invention;

Figure 5a and Figure 5b are schematic diagrams of the structure of the unlocking module of the present invention;

Figure 6a, Figure 6b and Figure 6c are schematic diagrams of the locking module mechanism of the present invention;

Fig. 7 is a schematic diagram of the installation position relationship of the trapezoidal screw, the unlocking disk telescopic rod, the sliding linear guide rail and the guide cone in the storage state of the utility model;

Fig. 8 is a schematic diagram of the principle of the docking process of the present invention;

Fig. 9 is a schematic diagram of the principle of the unlocking process of the present invention.

Fig. 10a and Fig. 10b are the principle schematic diagrams of the locking and unlocking process of the present invention.

In the figure: A, active docking module; B, passive docking module; I, docking module; II, unlocking module; III, locking module; 1, passive docking module fixing plate; 2, receiving cone; 3, locking tongue; 4, Lock nut; 5. Limit nut; 6. Sliding guide rail; 7. Return spring; 8. Guide ball head; 9. Guide cone; 10. Active docking module fixing plate; 11. Fixed flange; 12. Limit bracket ;13, lead screw nut; 14, driven gear; 15, force support; 16, trapezoidal screw; 17, docking drive motor; 18, driving gear; 19, unlocking plate; 20, unlocking drive motor; Module fixing bracket; 22, unlocking worm; 23, unlocking gear; 24, unlocking rack; 25, unlocking gear shaft; 26, unlocking plate telescopic rod; 27, sliding linear guide rail; Worm gear; 30, active locking gear shaft; 31, driven locking gear shaft; 32, locking plate; 33, locking drive motor; 34, locking worm; 35, locking worm gear; 36, locking drive motor fixing bracket; 37, locking Drive motor gasket; 38, driven locking gear; 39, active locking gear.

Detailed ways

1. Docking process

Docking driving motor 17 rotates, drives the fixed driving gear 18 of motor output shaft end to rotate, and drives driven gear 14 and the leading screw nut 13 that is fixed with it by screw nut and rotates, and trapezoidal leading screw 16 is stretched out to predetermined docking length. Then, the active docking module A and the passive docking module B approach each other, and the guide ball head 8 slides into the rear cylindrical storage space under the guidance of the conical surface of the receiving cone 2 until it contacts the front slope of the lock tongue 3 . At this time, since the active docking module A and the passive docking module B are still close to each other, and because the guide ball head 8 is in high contact with the inclined surface of the dead bolt 3, the dead bolt 3 is retracted under the action of force, and the return spring 7 is in the compressed state, and the active docking module A and the passive docking module B continue to approach. When the guide ball head 8 moved to the top of the receiving cone 2 cylinder storage space, the guide ball head 8 was out of contact with the dead bolt 3, and the dead bolt 3 resets under the elastic force of the back-moving spring 7. Then, the butt drive motor 17 reversely rotates, and the trapezoidal screw 16 retracts to the rear edge of the guide ball head 8 and is in close contact with the rear plane of the dead bolt 3. The degree of freedom of movement and the degree of freedom of pitch and yaw in the three directions of docking module A and passive docking module B, and the docking process ends at this point.

2. Locking process

After the docking process is finished, the locking drive motor 33 rotates, which drives the fixed locking worm 34 at the output end of the motor to rotate, and drives the locking worm gear 35 meshed with it to rotate. Since the locking worm gear 35 and the active locking gear 39 are all fixed on both sides of the active locking gear shaft 30 by set screws, the active locking gear 39 rotates and drives the driven locking gear 38 meshed with it to rotate. And because the active locking gear 39 and the driven locking gear 38 are gears with the same number of teeth and modulus, the two rotate in the opposite direction at a constant speed, that is, the driven locking gear shaft 31 and the active locking gear shaft 30 are reversed at a constant speed. Rotate, then drive the locking piece 32 fixed on the front side of the two shafts to rotate to the preset angle at the same speed in the opposite direction, so that the outer surface of the locking piece 32 relative to the steering contacts with the upper and lower sides of the groove of the receiving cone 2, limiting only The remaining relative rotational degrees of freedom between the active docking module A and the passive docking module B, at this point the locking process ends.

3. Unlocking process

The unlocking process is the reverse process of the locking process, that is, the locking drive motor 33 rotates in the opposite direction, drives the locking piece 32 to reverse the preset angle, and returns to the initial position, and the unlocking process ends at this time.

4. Unlocking process

After the unlocking process is finished, the unlocking drive motor 20 rotates, which drives the fixed unlocking worm 22 at the output end of the motor to rotate, and drives the unlocking worm gear 29 meshed with it to rotate. Because the unlocking worm gear 29 and the unlocking gear 23 are all fixed on both sides of the unlocking gear shaft 25 by set screws, the unlocking gear 23 rotates and drives the unlocking rack 24 meshing with it to move linearly, and drives the screw thread to be fixed as a whole. The unlocking disc 19, the unlocking disc telescopic rod 26, and the unlocking rack fixed support 28 stretch out under the guidance of the sliding linear guide rail 27 until the front taper of the unlocking disc 19 contacts with the front side slope of the dead bolt 3. At this time, because the unlocking disc 19 is still stretching out, and because the unlocking disc 19 is in high contact with the inclined surface of the dead bolt 3, the dead bolt 3 is retracted under the action of force, the return spring 7 is in a compressed state, and the unlocking disc 19 is in a compressed state. 19 continues to stretch out to coincide with guide ball head 8 rear sides. Since the cylindrical transition section in the middle of the unlocking disc 19 limits the ejection of the dead bolt 3, at this time, the active docking module A is controlled to leave the passive docking module B. 8 spherical contact, gradually reset with the relative displacement of module A and module B and the reset action of return spring 7, at this time, the unlocking process ends.

The above description is an explanation of the utility model, not a limitation of the utility model. For the limited scope of the utility model, refer to the claims. Without violating the basic structure of the utility model, the utility model can be modified in any form.

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.