CN106863357B - A kind of rapid replacing interface of reconfigurable manipulator - Google Patents
A kind of rapid replacing interface of reconfigurable manipulator Download PDFInfo
- Publication number
- CN106863357B CN106863357B CN201710109411.8A CN201710109411A CN106863357B CN 106863357 B CN106863357 B CN 106863357B CN 201710109411 A CN201710109411 A CN 201710109411A CN 106863357 B CN106863357 B CN 106863357B
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- China
- Prior art keywords
- follower link
- slot
- active connector
- rapid replacing
- replacing interface
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of rapid replacing interface of restructural space manipulator and restructural space manipulators, including active connector, by follower link, it the plug that is fixedly arranged in active connector and is fixedly arranged on by the socket in follower link, active connector is removably connect with by follower link so that plug is removably connect with socket, active connector is equipped with annular groove, slot is equipped at the ring groove position by corresponding on follower link, annular groove and the slot junction are provided with steel ball, and steel ball can be moved along the slot, to lock or unclamp active connector and passive connection, it uses mechanical structure, structure is simple, it is easy to maintain.Restructural space manipulator of the invention includes the rapid replacing interface and first mechanical arm, second mechanical arm, first mechanical arm is bolted with active connector, second mechanical arm is flexibly connected with by follower link, and the restructural space manipulator disassembly is easy for installation, convenient for safeguarding.
Description
Technical field
The invention belongs to robotic technology fields, more particularly, to a kind of rapid replacing interface for reconfigurable manipulator.
Background technique
The diversity and complexity of On-orbit servicing task promote the development of reconfigurable manipulator, in face of different
Space-orbit task can undoubtedly greatly increase economic input using the single mechanical arm of functionalization, and traditional mechanical arm is all base
It in a certain function development, can not be replaced between module and module, can be only done single in-orbit task, higher cost, the period is long,
For noncooperative target movement we can only field observation.Different tasks needs the mechanical arm of many simple functions
Execute operation.
A kind of method that different work is reality is completed by transformation configuration using restructural mechanical arm, it is restructural
The design of the rapid replacing interface of mechanical arm is the key that space manipulator recombination and replacement module, and the design of rapid replacing interface is restructural
The difficult point of mechanical arm design, to disassembly, whether complexity, interface tolerance, interface rigidity have higher requirement to whether convenient, interface,
Currently, domestic external space reconfigurable manipulator generally uses motor driven, high circuit protection cost is needed, and structure is multiple
Miscellaneous, maintenance is inconvenient.
Summary of the invention
Technical problem to be solved by the present invention lies in: a kind of rapid replacing interface of reconfigurable manipulator is provided, there is machinery
The structure of formula, features simple structure.
The technical proposal adopted by the invention to solve the above technical problems is that providing a kind of fast changing-over of reconfigurable manipulator
Mouthful, described passively connect including active connector, by follower link, the plug being fixedly arranged in the active connector and being fixedly arranged on
Socket in fitting, the active connector are removably connect by follower link so that the plug and the socket with described
Dismountable connection, the active connector are equipped with annular groove, it is described corresponded at the ring groove position on follower link set
There is at least three slot, the annular groove and the slot junction are provided with steel ball, and the steel ball can be moved along the slot,
To lock or unclamp the active connector and passive connection.
As a further improvement of the above technical scheme, described that set for the slot is arranged on follower link
Cylinder, the sleeve inside are provided with cavity corresponding to slot hole location, and the sleeve can be rotated relative to described by follower link,
So that the cavity and the slot position are interleaved to lock the rapid replacing interface, or make the cavity and the slot position one
Show the unlock rapid replacing interface.
As a further improvement of the above technical scheme, it is described by follower link, corresponding to two adjacent slots it
Between be installed with mechanical position limitation block at two, one of them described mechanical position limitation block corresponding to the slot position be arranged, wherein another
A mechanical position limitation block and the slot slot position that is staggered are arranged, and the sleeve extends outwardly equipped with convex block, described
Convex block is set between two mechanical position limitation blocks.
As a further improvement of the above technical scheme, the sleeve and described scrollwork is fixedly provided between follower link
Spring, the scroll spring are arranged with certain energy storage, with push the convex block make the convex block press closer in the slot position
The mechanical position limitation block being staggered.
As a further improvement of the above technical scheme, described sleeve one end is supported with described by the flange face of follower link
It holds, the other end of the sleeve is supported equipped with shaft block ring, and the shaft block ring is with described described in follower link cooperation fixation
The axial position of sleeve.
As a further improvement of the above technical scheme, described that stretching bullet is installed between follower link and the socket
Spring.
As a further improvement of the above technical scheme, it is installed with key on the active connector, it is described by follower link
Setting is fluted at the upper position corresponding to the key on the active connector, the active connector and the passive connection
Part positions grafting by the key and the groove.
As a further improvement of the above technical scheme, the insertion end of the key and groove is corresponding is inserted into end
It is set as inclined-plane, and at two corners of the insertion end of the key and corresponding two edges for being inserted into end of the groove are through falling
Angle processing.
As a further improvement of the above technical scheme, the head of the active connector is set as inclined-plane.
The present invention also provides a kind of restructural space manipulators comprising restructural space manipulator is fast as described above
Alias, further includes first mechanical arm and second mechanical arm, and the first mechanical arm and the active connector pass through bolt
Connection, the second mechanical arm are flexibly connected with described by follower link, so that the second mechanical arm can be relatively described passive
Connector rotation.
The beneficial effects of the present invention are:
The rapid replacing interface of reconfigurable manipulator of the invention is carried out removably by active connector with by follower link
Connection, at the same active connector be respectively arranged with annular groove, slot on follower link, and in the position of the annular groove and slot
Junction is provided with steel ball, and steel ball can be moved along slot, and rapid replacing interface is fixed or is detached to realize, of the invention can
The rapid replacing interface of reconstruction attractor mechanical arm uses mechanical detaching structure, has the advantages that structure is simple, easy to maintain.
Restructural space manipulator of the invention has the advantages that have disassembly easy for installation, convenient for safeguarding.
Detailed description of the invention
Fig. 1 is the overall structure structural schematic diagram of rapid replacing interface of the invention；
Fig. 2 is the fractionation structural representation of rapid replacing interface of the invention；
Fig. 3 is the structural schematic diagram of the active connector of rapid replacing interface of the invention；
Fig. 4 is the structural schematic diagram by follower link of rapid replacing interface of the invention；
Fig. 5 is the structural schematic diagram of the sleeve of rapid replacing interface of the invention；
Fig. 6 is the self-locking structural schematic diagram with two positions of solution of rapid replacing interface of the invention.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to design of the invention, specific structure and generation clear
Chu is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of the embodiment, rather than whole embodiments, based on the embodiment of the present invention, those skilled in the art are not being paid
Other embodiments obtained, belong to the scope of protection of the invention under the premise of creative work.In addition, being related in patent
All connection/connection relationships, not singly refer to that component directly connects, and refer to can according to specific implementation situation, by addition or
Reduce couple auxiliary, Lai Zucheng more preferably coupling structure.Each technical characteristic in the invention, in not conflicting conflict
Under the premise of can be with combination of interactions.
Please with reference to shown in Fig. 1 to Fig. 4, the rapid replacing interface of reconfigurable manipulator of the invention include active connector 1,
By follower link 2, it includes passive fixed by follower link 2 that active connector 1, which includes positive location plate 10 and active connecting plate 11,
Position plate 20 and passive connecting plate 21, wherein positive location plate 10 and Passive Positioning plate 20 for respectively with corresponding mechanical arm
Be fixedly connected, and active connecting plate 11 and passive connecting plate 21 for active connector 1 with by follower link 2 between the two
It is connected with each other or dismantles, in the present embodiment, active connecting plate 11 is inserted into passive connecting plate 21, is sheathed on passive connecting plate 21
Outside active connecting plate 11, and connection between the two is realized, in various embodiments, passive connecting plate 21 can also be inserted
Enter between active connecting plate 11 connection realized between the two, it is only necessary to change active connecting plate 11 and passive connecting plate 21
Diameter.
Active connector 1 and be installed with plug 3 and socket 4 respectively in follower link 2, wherein positive location plate 10 with
Be respectively provided in Passive Positioning plate 20 with the matched borehole structure of plug 3 and 4 aperture of socket, by plug 3 be aligned positive location plate
10 borehole structure, and socket 4 is aligned to the borehole structure of Passive Positioning plate 20, that is, realize the positioning to plug 3 and socket 4,
Further, it is fixed respectively by bolt between plug 3 and positive location plate 10, between socket 4 and Passive Positioning plate 20, with
Guarantee that the position of plug 3 and socket 4 is secured, it should be noted that, at this point, plug 3 is exactly on corresponding position with socket 4,
By active connector 1 with the grafting that plug 3 Yu socket 4 can be realized is connect by follower link 2.
In order to facilitate active connector 1 and by the grafting between follower link 2, active connector 1 and by follower link 2
It is respectively arranged with key 12, groove 22, is positioned when with to the two grafting, so that grafting is more efficient and firm, meanwhile, pass through
Key 12 can prevent active connector 1 and be relatively rotated between follower link 2, increase and hold between the two to torque
Stress, wherein preferably, the insertion end of key 12 is set as scarf, and two corners of its insertion end are through chamfered, corresponding,
Chamfered transition form is set as in the upstream end of groove 22, and two edges of its upstream end are through chamfered, both to facilitate
It smoothly realizes grafting or disassembly, ensure that a certain amount of tolerance.It certainly, in various embodiments, can also be using actively
Connector 1 is sheathed on by follower link 2, and the structure between corresponding key 12 and groove 22 only needs to carry out changing for adaptability
It is dynamic.
Wherein, the insertion end of active connecting plate 11 is set as scarf, is conducive to the insertion of active connector 1 by follower link
Among 2.
It is additionally provided in active connector 1 and between follower link 2 steel ball 5, wherein be provided on active connector 1
Annular groove 13 is had slot 23 at least 3, each slot 23 and annular groove at the position for corresponding to annular groove 13 on follower link 2
13 junction is provided with steel ball 5, and steel ball 5 is used to bear the axially loaded of the rapid replacing interface, and locking active connector 1
With by the connection between follower link 2, while steel ball 5 can be moved along 23 direction of slot, main when steel ball 5 is detached from slot 23
Follower link 1 and by between follower link 2 be in detachable state, it is noted that in various embodiments, slot 23 and
The quantity of steel ball 5 may be 4,5,6 or more, wherein being set with these steel balls 5 with the center of circle central symmetry of annular groove 13
It sets.
Preferably, as shown in figure 2, figure 5 and figure 6, sleeve 6 is arranged on follower link 2, and sleeve 6 covers slot 23 and sets
It sets, with closed trench hole 23, steel ball 5 is prevented to be detached from slot 23, sleeve 6 can be rotated relative to by follower link 2, and in sleeve 6
Side is provided with cavity 60 with 23 corresponding position of slot, and the quantity of cavity 60 is identical as the quantity of slot 23, multiple cavitys 60
It can be in simultaneously the outer end of slot 23, and be moved to steel ball 5 in cavity 60 along slot 23, realize tearing open for rapid replacing interface
It unloads, and when the position of cavity 60 and slot 23 is staggered, cavity 60 can lock the fixation of the rapid replacing interface with closed trench hole 23.
In order to make rapid replacing interface have the function of convenient tight dead and disassembly, fixed on by follower link 21 there are two machines
Tool limited block 24, one of mechanical position limitation block 24 are exactly at the corresponding position of slot 23, and another one are mechanical
Limited block 24 is set between the position of the slot and the slot 23 adjacent with 23 position of slot, meanwhile, on sleeve 6 outward
Extension be installed with convex block 61, convex block 61 is set between two mechanical position limitation blocks 24, when sleeve 6 rotate so that convex block 61 with slot
When at the position that the corresponding mechanical position limitation block 24 in 23 position of hole abuts, rapid replacing interface is in detachable state, at this point it is possible to realize
Disassembly to rapid replacing interface, and when sleeve 6 turns to convex block 61 and is in other positions, rapid replacing interface is in locking state.
It is wherein preferred, it is provided in sleeve 6 and between follower link 2 scroll spring 7, and scroll spring 7 is with certain
Energy storage setting, to 6 applied force of sleeve, to make sleeve 6 turn to convex block 61 with the mechanical position limitation block 24 that is staggered with slot 23
At the position abutted, rapid replacing interface is in self-locking state at this time, it is ensured that good stationary state when an external force is applied can
So that sleeve 6 rotates up at the position of the mechanical position limitation block 24 of the arrival of convex block 61 and 23 corresponding position of slot, at this point, quick change
Interface is in the unlocked state, and the disassembly to rapid replacing interface may be implemented.
Sleeve 6 in the axial direction by fixed by the flange face of follower link 2 and shaft block ring 8, shaft block ring 8 with passively connect
Fitting 2 bears against the two sides of sleeve 6, makes sleeve 6 that the movement in axial direction will not occur, it is ensured that the stable work of sleeve 6
Make.
In order to preferably guarantee the reliability of rapid replacing interface grafting, drawing is being fixedly provided between follower link 2 and socket 4
Spring 9 is stretched, after active connector 1 by follower link 2 with being plugged into together, plug 3 and socket 4 realize grafting, at this point, the two
Between further compression stretching spring 9, buffering when increasing pretightning force and plug.
Restructural space manipulator of the invention includes above-mentioned rapid replacing interface, further includes that first mechanical arm (is not shown in figure
Out) and second mechanical arm (not shown), wherein first mechanical arm is bolted with active connector 1, so that
One mechanical arm is removably fixedly connected with active connector 1, and second mechanical arm is flexibly connected with by follower link 2, makes second
Mechanical arm can be rotated relative to by follower link 2, so that second mechanical arm completes operation acts.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (7)
1. a kind of rapid replacing interface of restructural space manipulator, including active connector, by follower link, be fixedly arranged on the active
Plug in connector and it is fixedly arranged on the socket by follower link, it is characterised in that: the active connector and institute
It states and is removably connected by follower link so that the plug is removably connect with the socket, set on the active connector
There is annular groove, it is described to be corresponded at the ring groove position on follower link equipped at least three slot, the annular groove and the slot
Junction is provided with steel ball, and the steel ball can be moved along the slot, with lock or unclamp the active connector and by
Follower link, it is described to be arranged with sleeve for closing the slot on follower link, on the inside of the sleeve, correspond to slot
Cavity is provided at position, the sleeve can be rotated relative to described by follower link, so that the cavity and the slot position
It is interleaved to lock the rapid replacing interface, or makes the cavity and the slot position consistency to unlock the rapid replacing interface, it is described
It is installed with mechanical position limitation block at two on follower link, corresponding between two adjacent slots, one of them described mechanical limit
Position block corresponds to the slot position and is arranged, and mechanical position limitation block described in another one and the slot are staggered the slot position
Setting, the sleeve extends outwardly equipped with convex block, and the convex block is set between two mechanical position limitation blocks, the sleeve with
Described that scroll spring is fixedly provided between follower link, the scroll spring is arranged with certain energy storage, to push the convex block
Press closer the convex block in the mechanical position limitation block being staggered with the slot position.
2. the rapid replacing interface of restructural space manipulator according to claim 1, it is characterised in that: described sleeve one end with
Described to be supported by the flange face of follower link, the other end of the sleeve is supported equipped with shaft block ring, the shaft block ring and institute
It states by the axial position of the fixed sleeve of follower link cooperation.
3. the rapid replacing interface of restructural space manipulator according to claim 2, it is characterised in that: described by follower link
Extension spring is installed between the socket.
4. the rapid replacing interface of restructural space manipulator according to claim 3, it is characterised in that: the active connector
On be installed with key, it is described corresponded on follower link fluted, institute is set at the position of the key on the active connector
It states active connector and the key and groove positioning grafting is passed through by follower link with described.
5. the rapid replacing interface of restructural space manipulator according to claim 4, it is characterised in that: the insertion end of the key
And the corresponding end that is inserted into of the groove is set as inclined-plane, and at two corners of the insertion end of the key and the groove pair
Two edges for being inserted into end answered are through chamfered, and the head of the active connector is set as inclined-plane.
6. the rapid replacing interface of restructural space manipulator according to claim 5, it is characterised in that: the active connector
Head be set as inclined-plane.
7. a kind of restructural space manipulator, it is characterised in that: including restructural sky described in any one of claims 1 to 6
Rapid replacing interface, first mechanical arm and the second mechanical arm of room machine arm, the first mechanical arm and the active connector are logical
It crosses and is bolted, the second mechanical arm is flexibly connected with described by follower link, so that the second mechanical arm can be with respect to institute
It states and is rotated by follower link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109411.8A CN106863357B (en) | 2017-02-27 | 2017-02-27 | A kind of rapid replacing interface of reconfigurable manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710109411.8A CN106863357B (en) | 2017-02-27 | 2017-02-27 | A kind of rapid replacing interface of reconfigurable manipulator |
Publications (2)
| Publication Number | Publication Date |
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| CN106863357A CN106863357A (en) | 2017-06-20 |
| CN106863357B true CN106863357B (en) | 2019-10-01 |
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| CN201710109411.8A Active CN106863357B (en) | 2017-02-27 | 2017-02-27 | A kind of rapid replacing interface of reconfigurable manipulator |
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| CN108177158B (en) * | 2017-12-30 | 2021-08-03 | 哈尔滨工业大学深圳研究生院 | Quick change interface of reconfigurable mechanical arm based on memory alloy |
| CN110614651B (en) * | 2019-10-22 | 2024-09-20 | 京东科技信息技术有限公司 | Quick connecting device, functional arm and robot |
| CN111568614B (en) * | 2020-05-22 | 2023-03-31 | 上海理工大学 | Modular multi-degree-of-freedom upper limb prosthesis |
| CN111940819B (en) * | 2020-08-07 | 2021-07-13 | 国网江苏省电力有限公司常州供电分公司 | Universal interface convenient for replacing and locking |
| CN112077874B (en) * | 2020-09-04 | 2022-03-01 | 珠海格力智能装备有限公司 | Mechanical arm and robot |
| CN112208804B (en) * | 2020-09-22 | 2021-07-20 | 哈尔滨工业大学 | Spatial reconfigurable truss type capturing mechanism and capturing method thereof |
| CN113146679B (en) * | 2021-04-20 | 2022-06-03 | 哈尔滨工业大学 | Incomplete-constraint quick butt joint mechanism |
| CN113525731B (en) * | 2021-07-21 | 2023-02-28 | 中国人民解放军战略支援部队航天工程大学 | Spacecraft |
| CN114290377B (en) * | 2022-01-07 | 2023-06-06 | 上海工程技术大学 | Mechanical arm tail end quick-changing device with bidirectional sealing function |
| CN114939876B (en) * | 2022-04-28 | 2022-11-22 | 哈尔滨工业大学 | Robot end effector for on-orbit operation |
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| CN106863357A (en) | 2017-06-20 |
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