Rotary Drive Docking Mechanism with Fault Tolerance
A technology of rotary drive and docking mechanism, applied in the direction of connecting components, mechanical equipment, etc., can solve the problems of docking failure and strict accuracy requirements, and achieve the effect of not easy to withdraw, improve accuracy, and correct errors
Active Publication Date: 2019-01-22
BEIHANG UNIV
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Problems solved by technology
However, for the general docking mechanism, the accuracy requirements are very strict, and a slight error may lead to the failure of the docking
Method used
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Embodiment Construction
[0024] The present invention will be further described in detail below in conjunction with the drawings.
[0025] The rotating drive docking mechanism with fault tolerance of the present invention includes a docking actuator 1 and a docking positioning mechanism 2, such as figure 1 Shown.
[0026] The docking actuator 1 includes an actuator frame 101, a driving mechanism 102, and a docking rotating head 103; the end of the actuator is designed with two actuator connecting shafts; the connecting axes of the two actuators are parallel and located on the same horizontal plane. There are two docking rotating heads 103, which are respectively installed on the connecting shafts of the two actuators. The two docking rotating heads 103 have the same structure, and both include a rotating head 103a and a transmission gear 103b; wherein the rotating head 103a adopts a truncated cone structure, and the bottom end is coaxially fixed to the end of the actuator connecting shaft through a bearing...
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The invention discloses a rotation driving docking mechanism with the fault tolerance characteristic. Two devices are in docking through mutual cooperation of a docking executing mechanism and a docking positioning mechanism. The docking executing mechanism is provided with rotary conical rotation heads driven by a drive mechanism to rotate. The docking positioning mechanism is provided with conical cylindrical positioning heads, the conical cylindrical positioning heads are matched with the conical rotation heads, and accordingly the conical positioning heads stretch into the positioning heads. Docking bosses are designed on the outer walls of the rotation heads, and positioning bosses are designed on the positioning heads. When the two devices are in docking, the rotation heads are inserted in the positioning heads, the rotation heads are driven by the drive mechanism to rotate, the lower surfaces of the docking bosses are in lap joint with the upper surfaces of the positioning bosses, and docking of the two devices is achieved. The rotation driving docking mechanism has the beneficial effects that conical docking faces are adopted between the docking executing mechanism and the docking positioning mechanism, certain fault tolerance is achieved in the docking process, and docking can be finished under the situation that the docking precision is not high.
Description
Technical field [0001] The invention relates to a docking device, in particular to a rotary drive docking mechanism with fault tolerance. Background technique [0002] The mechanism's automatic docking technology has a wide range of applications in the fields of robotics and aerospace. However, for the general docking mechanism, the accuracy requirements are very strict, and slight errors may cause docking failure. Due to the difficulty of docking and high docking requirements, automatic docking technology has always been the focus and difficulty. Designing a simple docking mechanism with certain fault tolerance is a requirement for the development of robotics and space technology. Summary of the invention [0003] In view of the above problems, the present invention proposes a rotary drive docking mechanism with fault-tolerant characteristics, which is simple and effective, and can efficiently complete the docking task between small objects. [0004] The rotary drive docking mec...
Claims
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IPC IPC(8): F16B17/00
CPCF16B17/00
Inventor 严亮张天龙跃程浩
Owner BEIHANG UNIV