Single-degree-of-freedom bidirectional butt joint locking device

Abstract

The invention relates to a single-degree-of-freedom two-way butt-joint locking device which comprises a butt-joint driving end, a centering mechanism, a locking mechanism, a mini air cylinder and a rack. The locking mechanism is coaxially arranged in the rack; the centering mechanism is coaxially arranged above the locking mechanism; the centering mechanism and the locking mechanism are fixedly connected through bolts and nuts which are uniformly distributed on the circumference; the mini air cylinder is coaxially arranged at the bottom end of the rack, and the output end of the mini air cylinder is coaxially and fixedly connected with the bottom of the locking mechanism. The butt joint driving end is arranged above the centering mechanism, and a butt joint shaft is coaxially arranged on the inner top wall of the butt joint driving end. The invention provides a single-degree-of-freedom two-way butt joint locking scheme, and the device has high rigidity and high connection reliability, so that the butt joint is more stable. A pure mechanical locking scheme is adopted, an electromagnetic device is not needed, butt joint is more direct and convenient, the number of locking points is large, the locking rigidity is good, and connection work of a plurality of self-reconfiguration robots can be completed.

Description

Technical Field

[0001] The present invention relates to the technical field of modular self-reconfigurable robots, and in particular to a single-degree-of-freedom bidirectional docking and locking device. Background Art

[0002] The docking mechanism is the core mechanism for completing space docking missions and is widely used in docking operations such as spacecraft docking, aerial refueling docking, and self-reconfigurable robot docking. For modular self-reconfigurable robots, the docking and locking mechanism must have high rigidity and high connection reliability. Because the individual modules of self-reconfigurable robots are relatively small, the docking and locking mechanism also needs to be compact and lightweight.

[0003] Docking mechanism is one of the key technologies of self-reconfigurable robots. By consulting relevant domestic and foreign literature, it can be found that existing docking mechanisms mostly use electromagnetic-mechanical methods to complete the connection of the docking mechanism. This connection method makes the docking mechanism have harsh requirements on environmental conditions. However, in extreme conditions such as aerospace, the existing docking method is unstable and the docking strength is weak. Summary of the Invention

[0004] In response to the above problems, the purpose of the present invention is to provide a single-degree-of-freedom, bidirectional docking and locking device, which utilizes the cooperation of the active end and the passive end for mechanical locking, and is manufactured using advanced continuous carbon fiber materials. It can effectively solve problems such as unstable docking, poor stiffness, and heavy weight, and can be applied to the complex motion environment of self-reconfigurable robots.

[0005] The technical solution adopted in the present invention is as follows:

[0006] The present invention proposes a single-degree-of-freedom, bidirectional docking locking device, which includes a docking active end, a centering mechanism, a locking mechanism, a mini cylinder and a frame; the locking mechanism is coaxially arranged inside the frame; the centering mechanism is coaxially arranged above the locking mechanism; the centering mechanism and the locking mechanism are fixedly connected by bolts and nuts evenly distributed around the circumference; the mini cylinder is coaxially arranged at the bottom end of the frame, and its output end is coaxially fixed to the bottom of the locking mechanism; the docking active end is arranged above the centering mechanism, and a docking shaft is coaxially arranged on its inner top wall.

[0007] Furthermore, the locking mechanism includes an active inward slider, a driving slider, a secondary transmission rod, an intermediate positioning plate, an active outward slider, a push rod transmission rod and a cylinder rod connecting piece; the upper and lower end surfaces of the intermediate positioning plate are respectively provided with cross slide rails, and an axial through hole is provided in the middle; the active inward slider is arranged around the axial through hole of the intermediate positioning plate, and respectively corresponds to the cross slide rails on the upper end surface of the intermediate positioning plate for sliding cooperation; the active outward slider is arranged around the bottom of the intermediate positioning plate and corresponds one-to-one to the active inward slider; the active outward sliders respectively correspond to the cross slide rails on the lower end surface of the intermediate positioning plate for sliding cooperation; the driving sliders are respectively slidably mounted on the active inward sliders The outer side of the active outward slider and the inner side of the active outward slider; the driving sliders of the corresponding group of active inward sliders and the active outward slider are connected by a secondary transmission rod; the two ends of the secondary transmission rod are respectively connected to the driving slider rotation pairs on the corresponding group of active inward sliders and the active outward sliders; the cylinder rod connecting piece is coaxially arranged below the middle positioning plate, and connecting seats corresponding to each active outward slider are respectively provided around it, and the corresponding group of active outward sliders and the connecting seats are connected by a push rod transmission rod; the two ends of the push rod transmission rod are respectively connected to the inner end of the active outward slider and the connecting seat rotation pair; the bottom of the cylinder rod connecting piece is coaxially fixed to the output end of the mini cylinder.

[0008] Furthermore, the active docking end, the centering mechanism, the locking mechanism and the frame are all made of Onyx material.

[0009] Furthermore, the lower end surface of the centering mechanism is provided with a cross slide rail corresponding to the upper end surface of the intermediate positioning plate; the upper part of the active inward sliding block corresponds to the cross slide rail of the lower end surface of the centering mechanism for sliding cooperation.

[0010] Furthermore, the cylinder rod connector, the middle positioning plate, the active inward slider and the active outward slider are all designed as a hollow structure after topological optimization.

[0011] Furthermore, a binocular camera is installed on the inner side of the active docking end through a reserved hole.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The present invention has small size, light weight, strong rigidity, simple control and single degree of freedom when connected, making the connection more reliable and convenient;

[0014] 2. The present invention adopts a symmetrical structural design and has been subjected to high-strength verification and dynamic analysis through finite element analysis;

[0015] 3. The present invention can meet the docking requirements at any angle;

[0016] 4. The present invention has the characteristics of high load-bearing capacity and can complete the docking of multiple single-module robots.

[0017] 5. The use of binocular cameras can detect the distance between the active and passive ends in real time during the docking process to achieve accurate docking. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall explosion structure of the present invention;

[0019] Figure 2 yes Figure 1 Schematic diagram of the explosion structure of the locking mechanism;

[0020] Figure 3 It is a single branch chain and overall spatial diagram of the locking mechanism of the present invention;

[0021] Figure 4 Schematic diagram of the locking movement effect of the locking mechanism of the present invention;

[0022] Figure 5 It is a static analysis cloud diagram of the locking mechanism of the present invention;

[0023] Figure 6 is the free mode vibration shape diagram of the locking mechanism of the present invention;

[0024] Figure 7 is the constraint mode vibration shape diagram of the locking mechanism of the present invention;

[0025] Figure 8 Schematic diagram of the harmonic response analysis results of the active outward slider of the locking mechanism of the present invention;

[0026] Figure 9 It is a schematic diagram of the harmonic response analysis results of the active inward slider of the locking mechanism of the present invention.

[0027] Among them, the figure markings are: 1-docking active end; 2-bolt; 3-centering mechanism; 4-locking mechanism; 5-nut; 6-cylinder rod; 7-frame; 8-mini cylinder; 9-active inward slider; 10-driving slider; 11-secondary transmission rod; 12-intermediate positioning plate; 13-active outward slider; 14-push rod transmission rod; 15-cylinder rod connecting piece. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0029] It should be noted that, in the description of the present invention, the terms "up", "down", "top", "bottom", "one side", "the other side", "left", "right", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not mean that the device or element must have a specific orientation, be constructed and operated in a specific orientation.

[0030] See attached Figure 1 , gives the specific structure of an embodiment of a single-degree-of-freedom bidirectional docking locking device proposed by the present invention. The device includes a docking active end 1, a centering mechanism 3, a locking mechanism 4, a frame 7 and a mini cylinder 8. Among them, the locking mechanism 4 is coaxially arranged inside the frame 7; the centering mechanism 3 is a disc structure, which is coaxially arranged above the locking mechanism 4; in this embodiment, the centering mechanism 3 and the locking mechanism 4 are fixedly connected by four groups of bolts 2 and nuts 5 evenly distributed around the circumference; the mini cylinder 8 is coaxially arranged at the bottom end of the frame 7, and its output end is coaxially fixedly connected to the bottom of the locking mechanism 4; the docking active end 1 is arranged above the centering mechanism 3, and a docking shaft is coaxially arranged on its inner top wall.

[0031] like Figure 2 As shown, in this embodiment, the locking mechanism 4 includes four active inward sliders 9, eight driving sliders 10, four secondary transmission rods 11, an intermediate positioning plate 12, four active outward sliders 13, four push rod transmission rods 14 and a cylinder rod connector 15.

[0032] Among them, the intermediate positioning plate 12 is a square structure, and its upper and lower end faces are respectively provided with cross slide rails, and an axial through hole is opened in the middle of the intermediate positioning plate 12, that is, with the axial through hole as the center, the upper and lower end faces of the intermediate positioning plate 12 are respectively provided with four evenly distributed radial slide rails, and the four radial slide rails on the upper end face correspond one to one with the four radial slide rails on the lower end face.

[0033] The four active inward sliders 9 are arranged around the axial through-hole of the intermediate positioning plate 12 and slide in a one-to-one correspondence with the four radial slide rails on the upper end surface of the intermediate positioning plate 12. The four active outward sliders 13 are evenly distributed at the bottom of the intermediate positioning plate 12 and correspond one-to-one with the active inward sliders 9. The four active outward sliders 13 slide in a one-to-one correspondence with the four radial slide rails on the lower end surface of the intermediate positioning plate 12.

[0034] The eight driving sliders 10 are slidably installed one by one on the outside of the active inward slider 9 and the inside of the four active outward sliders 13; the upper driving sliders 10 corresponding to a group of active inward sliders 9 and the active outward sliders 13 are connected by a secondary transmission rod 11, and the two ends of the secondary transmission rod 11 are respectively connected to the rotating pairs of the driving sliders 10 on the corresponding group of active inward sliders 9 and the active outward sliders 13.

[0035] The cylinder rod connecting member 15 is coaxially arranged below the intermediate positioning plate 12, and four connecting seats corresponding to each active outward slider 13 are respectively arranged around it. The inner end of the active outward slider 13 is connected to the corresponding connecting seat through a push rod transmission rod 14; the two ends of the push rod transmission rod 14 are respectively connected to the inner end of the active outward slider 13 and the corresponding connecting seat rotation pair; the bottom of the cylinder rod connecting member 15 is coaxially fixed to the cylinder rod 6 of the mini cylinder 8.

[0036] Among them, the docking mechanism parts, including the active end 1, the centering mechanism 3, the locking mechanism 4 and the frame 7, are all manufactured using Markforged's FX20 continuous carbon fiber 3D printer. They use Onyx material, which is light in weight and high in strength, so that the final weight of the invention can reach 0.25 kg and it can carry a weight of 1 kg.

[0037] The lower end surface of the centering mechanism 3 is provided with a cross slide rail corresponding to the upper end surface of the intermediate positioning plate 12, and a central through hole is opened in the middle; the upper part of the active inward slider 9 slides with the corresponding slide rails on the lower end surface of the centering mechanism 3.

[0038] The cylinder rod connector 15, intermediate positioning plate 12, active inward slider 9, and active outward slider 13 are all designed as hollow structures after topological optimization. This design makes the present invention lighter (reduced by approximately 39%) and allows for a higher installation density while maintaining the same rigidity.

[0039] In this embodiment, a binocular camera can be installed through a reserved hole on the inner side of the active docking end 1. The use of the binocular camera for docking assistance allows the active docking end 1 to dock with the passive end more accurately.

[0040] The present invention adopts a "center-peripheral" hybrid design, in which the central structure is the centering mechanism 3, and the peripheral structure and the central structure jointly bear the force during operation, so that the present invention can withstand greater force during locking operation.

[0041] The present invention as a whole is composed of four symmetrically arranged branches in parallel. The constraint spiral relationship between branch one and branch three, and branch two and branch four is linearly related. The constraint spiral of the final moving platform can be obtained by synthesis. The device has only one degree of freedom to move along the Z axis. This design makes the device move more stable and the locking operation more direct.

[0042] When the active docking end 1 is matched with the passive docking end, the active docking end 1 moves downward until its docking shaft touches the mini cylinder 8. The active docking end 1 moves downward, driving the mini cylinder 8 to move downward, and then driving the active outward slider 13 to move inward. At the same time, the active inward slider 9 is driven inward by the secondary transmission rod 11, so that the four active inward sliders 9 wrap the docking shaft of the active docking end 1 to achieve locking operation.

[0043] The cylinder rod connecting member 15 is connected to the active outward slider 13 through the push rod transmission member 14 and the driving slider 10. When the mini cylinder 8 moves downward, it will give the active outward slider 13 an oblique downward force through the push rod transmission member 14, and finally decompose it into downward and inward forces. The inward force drives the active outward slider 13 to move inward, and its downward force is offset by the intermediate positioning plate 12, finally realizing the movement of the active outward slider 13.

[0044] The active outward slider 13 is connected to the active inward slider 9 via a secondary transmission rod 11 and a drive slider 10. When the active outward slider 13 moves inward, the secondary transmission rod 11 applies an oblique upward force to the active inward slider 9. This force is then decomposed into an upward and an inward force. The inward force drives the active inward slider 9 inward, while the upward force is offset by the intermediate positioning plate 12, ultimately achieving the movement of the active inward slider 9.

[0045] After the docking is completed, the lock can be released by pushing the mini cylinder 8 upward.

[0046] like Figure 5-9 As shown, dynamic and static finite element analysis was performed on the present invention using simulation software such as ADAMS and ANSYS. The analysis results show that the present invention has good overall stability, the load-bearing capacity exceeds the actual working conditions and design goals, and the vibration effect during operation is not significant.

[0047] Matters not covered in the present invention are all known technologies.

[0048] The embodiments described above are merely descriptions of preferred implementations of the present invention and are not intended to limit the scope of the present invention. Without departing from the spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the scope of protection determined by the claims of the present invention.

Claims

1. A single-degree-of-freedom, bidirectional docking locking device, characterized in that: The device includes a docking active end, a centering mechanism, a locking mechanism, a mini cylinder and a frame; the locking mechanism is coaxially arranged inside the frame; the centering mechanism is coaxially arranged above the locking mechanism; the centering mechanism and the locking mechanism are fixedly connected by bolts and nuts evenly distributed around the circumference; the mini cylinder is coaxially arranged at the bottom end of the frame, and its output end is coaxially fixedly connected to the bottom of the locking mechanism; the docking active end is arranged above the centering mechanism, and a docking shaft is coaxially arranged on its inner top wall.

2. A single-degree-of-freedom, bidirectional docking locking device according to claim 1, characterized in that: The locking mechanism includes an active inward slider, a driving slider, a secondary transmission rod, an intermediate positioning plate, an active outward slider, a push rod transmission rod and a cylinder rod connecting piece; the upper and lower end surfaces of the intermediate positioning plate are respectively provided with cross slide rails, and an axial through hole is provided in the middle; the active inward slider is arranged around the axial through hole of the intermediate positioning plate, and respectively corresponds to the cross slide rails on the upper end surface of the intermediate positioning plate for sliding cooperation; the active outward slider is arranged around the bottom of the intermediate positioning plate and corresponds one to one to the active inward slider; the active outward sliders respectively correspond to the cross slide rails on the lower end surface of the intermediate positioning plate for sliding cooperation; the driving sliders are respectively slidably mounted on the outer edges of the active inward slider side and the inner side of the active outward slider; the driving sliders of a corresponding group of active inward sliders and the active outward sliders are connected by a secondary transmission rod; the two ends of the secondary transmission rod are respectively connected to the driving slider rotation pairs on the corresponding group of active inward sliders and the active outward sliders; the cylinder rod connecting piece is coaxially arranged below the middle positioning plate, and connecting seats corresponding to each active outward slider are respectively arranged around it, and the corresponding group of active outward sliders and the connecting seats are connected by a push rod transmission rod; the two ends of the push rod transmission rod are respectively connected to the inner end of the active outward slider and the connecting seat rotation pair; the bottom of the cylinder rod connecting piece is coaxially fixed to the output end of the mini cylinder.

3. The single-degree-of-freedom, bidirectional docking locking device according to claim 1, characterized in that: The active docking end, the centering mechanism, the locking mechanism and the frame are all made of Onyx material.

4. The single-degree-of-freedom, bidirectional docking locking device according to claim 1, characterized in that: The lower end surface of the centering mechanism is provided with a cross slide rail corresponding to the upper end surface of the middle positioning plate; the upper part of the active inward sliding block is slidably matched with the cross slide rail on the lower end surface of the centering mechanism.

5. The single-degree-of-freedom, bidirectional docking locking device according to claim 2, characterized in that: The cylinder rod connector, the middle positioning plate, the active inward sliding block and the active outward sliding block are all designed as hollow structures after topological optimization.

6. The single-degree-of-freedom, bidirectional docking locking device according to claim 1, characterized in that: A binocular camera is installed on the inner side of the active docking end through a reserved hole.

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