Matching device and robot module

Abstract

The utility model discloses a matching device which comprises a first part with a hole or / and a groove, the first part is used for being matched with a second part, the hole or / and the groove is provided with at least three sections including a first section, a second section and a third section, the first section and the third section are located on the two sides of the hole or / and the groove, the second section is located between the first section and the third section, and when the first part with the hole or / and the groove is matched with the second part, the first part is matched with the second part. By means of the device, the length of the second part robot module is not fixed, the module can be spliced with other different modules and stably connected with the other different modules, the section feeling in the assembling process defines the correct assembling position, and the assembling efficiency is improved. And the problem of difficult push-in and pull-out in the assembling process is also simplified by the unchanged maximum resistance in the assembling process.

Description

Technical Field

[0001] The utility model relates to the field of structural design, in particular to an axis matching device and a robot module. Background Art

[0002] Shaft parts are widely used in many fields and are often used to transmit torque. In the process of matching the shaft with various existing holes and slots, the matching forms are usually divided into interference fit, transition fit, clearance fit, and the use of keys, wedges and other fasteners to achieve relative fixation between the shaft and the hole or slot. The assembly position is often determined by the shaft shoulder or hole on the shaft and the step in the slot. When this matching method is used, the size of the shaft shoulder is generally larger than the shaft end that first enters the hole or slot, ensuring that the shaft body cannot continue to be pushed into the hole or slot. The size of the step in the hole is also generally smaller than the hole or slot that the shaft body enters first, which also prevents the shaft body from entering deeper into the hole or slot. Although this assembly method can accurately reach the preset assembly position, the size of a shaft body entering the hole or slot is also limited, and the length of the exposed hole or slot is also fixed. When the user of this part wants to change the length of the shaft body exposed to match other different parts, this demand cannot be met. If the shaft shoulder or the step in the hole / groove is not used, that is, the shaft diameter and the hole / groove size do not change, then the size of the shaft body cannot be determined, and the shaft hole / groove fit that lacks a sense of segmentation affects the accuracy of the fit. At the same time, if this kind of fit is a transition fit or an interference fit between the shaft body and the hole / groove, the force required during the pushing process is related to the length. Therefore, when the shaft body is pushed a long distance, the required force is too large, and the user's assembly difficulty increases. If a clearance fit is used, although the pushing process becomes easy, the clearance can easily cause the shaft body to have unnecessary displacement during the torque transmission process, affecting the torque transmission effect. Utility Model Content

[0003] In view of the problems existing in the prior art, the utility model provides a matching device, which aims to solve the technical problems of inaccurate matching position or difficult matching assembly when the length of the shaft exposed through the hole / slot is not fixed and needs to be matched with a variety of different parts.

[0004] Based on the above purpose, the utility model provides a matching device, including a first part with a hole and / or a groove, wherein the hole and / or the groove are used to match with another second part, and the hole and / or the groove have at least three sections, namely section one, section two, and section three. Section one and section three are on both sides of the hole and / or the groove, and section two is between section one and section three. When the first part with the hole and / or the groove matches with another second part, the minimum gap between section two and the second part is greater than the minimum gap between section one and / or section three and the second part.

[0005] Furthermore, the other second part is a shaft part.

[0006] Furthermore, the first part and the second part cooperate in such a way that the second part is pushed from section one or section three of the first part hole and / or groove into the first part hole and / or groove, so that the first part and the second part reach corresponding positions.

[0007] Furthermore, when the second part begins to enter the hole or / and groove section one or section three, the resistance increases significantly with the length of the pushing distance. After entering section two from section one or section three, the resistance does not change significantly with the pushing distance. After entering section one or section three from section two, the resistance increases significantly with the lengthening of the pushing distance.

[0008] Furthermore, the first part with holes and / or grooves is composed of multiple parts with holes and / or grooves, and segment one and segment three are respectively on two different parts, and the two parts are connected and rotate synchronously.

[0009] Furthermore, the cross-sectional shape and size of segment 1 and segment 3 of the first part are the same.

[0010] Furthermore, when the first part is matched with the second part, segment one of the first part and the second part form a transition fit or an interference fit, segment two of the first part and the second part form a clearance fit, and segment three of the first part and the second part form a transition fit or an interference fit.

[0011] Furthermore, the shaft parts are Lego cross shafts.

[0012] Furthermore, the hole or / and groove of the first part has chamfers or / and fillets at the entrances of segment 1 and segment 3, and the hole or / and groove of the first part has chamfers or / and fillets between segment 1 and segment 2 or / and between segment 2 and segment 3.

[0013] The utility model also provides a robot module, comprising the above-mentioned matching device.

[0014] By using this matching device, users can conveniently match shaft parts with parts with holes / slots. In the process of the shaft entering the hole / slot, the length of the shaft entering is determined by the force feedback of the shaft entering. When the length of the shaft entering is greater than the minimum entry size set by the user, the resistance to pushing the shaft does not increase significantly, which is convenient for users to determine that the usage method meets the design specifications through the assembly feel, ensuring the accuracy of torque transmission. At the same time, the distance of the shaft pushing in is not completely limited, so that when the same shaft is used for matching, the size of the shaft entering can be selected more freely, and the exposed length when used for matching with other parts is also not fixed, so it can be matched with a variety of different parts. The insignificant increase in the resistance to pushing in also reduces the difficulty of assembling the shaft and the hole / slot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The drawings described herein are used to provide further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0016] Figure 1 It is a schematic structural diagram of the matching device and the shaft parts when they are separated in one embodiment of the utility model.

[0017] Figure 2 In one embodiment of the utility model, the matching device is separated from the shaft parts along the Figure 1 Structural cross-section view of surface AA.

[0018] Figure 3 When the matching device and the shaft parts are separated in one embodiment of the utility model Figure 2 A partial enlarged view of the mating device at position I is shown.

[0019] Figure 4 When the matching device and the shaft parts are separated in one embodiment of the utility model Figure 2 A partial enlarged view of the mating device position II is shown.

[0020] Figure 5 It is a structural schematic diagram of a matching device in one embodiment of the utility model when matching with a shaft part.

[0021] Figure 6 The matching device in one embodiment of the utility model is a kind of matching device that matches with shaft parts along the Figure 5 Structural cross-section view of surface BB.

[0022] Figure 7 In one embodiment of the utility model, a matching device is separated from the shaft parts. Figure 6 A partial enlarged view of the mating device position III is shown.

[0023] Figure 8 When the matching device and the shaft parts are separated in one embodiment of the utility model Figure 6 A partial enlarged view of the mating device position IV is shown.

[0024] Fig. 9 This is a schematic structural diagram of another embodiment of the matching device of the utility model when matching with a shaft part.

[0025] Fig.10 Another embodiment of the utility model is a matching device that matches with shaft parts along the Fig. 9 Structural cross-section view of the CC surface.

[0026] Fig.11 It is a structural schematic diagram of a robot module using the matching device in one embodiment of the utility model. DETAILED DESCRIPTION

[0027] The present invention will be described in further detail below in conjunction with the accompanying drawings.

[0028] Figure 1 The figure shows a matching device provided by the present invention, comprising a first part 10 with a hole or / and a groove. In one embodiment of the present invention, the first part 10 has a hole, and the hole is used to match with another second part 3, and the second part 3 is Lego. The hole of the first part 10 has at least three sections, such as Figure 2 The sections shown are segment 1 4, segment 2 5, and segment 3 6, respectively. Segment 1 4 and segment 3 6 are on both sides of the hole, and segment 2 5 is between segment 1 4 and segment 3 6. When the hole of the first part 10 is matched with the second part 3, the minimum clearance between segment 2 5 and the second part 3 is greater than the minimum clearance between segment 1 4 and segment 3 6 and the second part 3, that is, the second part 3 and the hole segment 1 4 of the first part 10 form a transition fit or an interference fit, the second part 3 and the hole segment 3 5 of the first part 10 form a transition fit or an interference fit, and the second part 3 and the hole segment 2 5 of the first part 10 form a clearance fit. In actual use, the first part 10 and the second part 3 are matched in such a way that the second part 3 is pushed from segment 1 4 or segment 3 6 of the hole of the first part 10 into the hole of the first part 10, so that the first part 10 and the second part 3 reach corresponding positions. At this time, the positions of the first part 10 and the second part 3 are as shown in FIG. Figure 5 In this mating process, when the second part 3 begins to enter the section 1 4 or section 3 6 of the hole, the mating Figure 7 and Figure 8 As shown in FIG. 1 , a transition fit or interference fit is formed, and the push-in resistance increases significantly with the change of the push-in distance. After entering the second section 5 from the first section 4 or the third section 6, the second section 5 and the second part 3 are as shown in FIG. Figure 7 and Figure 8 The clearance fit shown does not generate additional resistance, so the resistance does not change significantly with the pushing distance. It is the maximum resistance generated between the second part 3 and segment 1 4 or segment 3 6. After entering segment 1 4 or segment 3 6 from segment 2 5, the pushing resistance of the second part 3 is the superposition of segment 1 4 and segment 3 6. At this time, the resistance also increases significantly with the pushing distance.

[0029] In another embodiment of the utility model, the first part 10 is composed of a gear sleeve 1 and a perforated disk 2, segments 1 4 and 2 5 are on the gear sleeve 1, and segment 3 6 is on the perforated disk 2, which solves the problem that the size of segment 2 5 of the first part 10 is larger than that of segment 1 4 and segment 3 6, and is difficult to process. To simplify the processing of the gear sleeve 1 and the perforated disk 2, the cross-sectional shape and size of segment 1 4 of the gear sleeve 1 and segment 3 6 of the perforated disk 2 are the same, and the gear sleeve 1 and the perforated disk 2 are connected and rotate synchronously. Figure 2As shown, the entrance of segment 1 4 has a segment 1 entrance chamfer 40, which is convenient for the second part 3 to enter from the entrance of segment 1 4, and the entrance of segment 3 6 has a segment 3 entrance chamfer 60, which is convenient for the second part 3 to enter from the entrance of segment 3 6. Figure 3 As shown, there is a reverse chamfer 45 between the segment 1 4 and the segment 2 5, so that when the second part 3 enters from the segment 3 6, the process from the segment 2 5 to the segment 1 4 is smoother, as shown in FIG. Figure 4 As shown, there is a segment two entrance chamfer 51 and a segment three reverse chamfer 61 between segment two 5 and segment three 6, so that the process when the second part 3 enters segment two 5 on the gear sleeve 1 from segment three 6 on the perforated disk 2 and the second part 3 enters segment two 5 from segment one 4 to segment three 6 is smoother.

[0030] In another embodiment of the utility model, the section one inlet chamfer 40, the section three inlet chamfer 60, the section one reverse chamfer 45, the section three reverse chamfer 61, and the section two inlet chamfer 51 can be a combination of chamfers and / or fillets, respectively. The matching process and beneficial effects are similar to those when all are chamfers, and are not elaborated here.

[0031] In actual use, Figure 5 and Fig. 9 As shown, the length of the second part 3 inserted into the first part 10 is different, and the length of the second part 3 exposed is also different. Figure 5 The second part 3 completely passes through the first segment 4, the second segment 5, and the third segment 6, which can ensure the accuracy and stability of the matching structure. Fig. 9 The second part 3 is as follows Fig.10 As shown, only segment 1 4 is completely passed through, but segment 1 4 and second part 3 are transitionally matched, which also ensures the accuracy and stability of the matching structure. When only segment 3 6 is passed through, the situation is the same as when only segment 1 4 is passed through. Therefore, as long as the second part 3 completely passes through segment 1 4 or segment 3 6, the insertion distance of the same second part 3 is not fixed, and the exposed length is also not fixed. At this time, the shaft hole is stable, and different parts can be matched with different exposed lengths of the second part 3. When the second part 3 enters segment 2 5 from segment 1 4 or enters segment 2 5 from segment 3 6, the changes in the insertion distance and resistance can be fed back to the user of the device. When the resistance does not increase significantly, it means that the second part 3 has reached the minimum insertion distance. This sense of segmentation helps the user to make a more accurate judgment on the insertion distance.

[0032] In another embodiment of the utility model, the first part 10 has a groove, and the matching process between the groove and the second part 3 is the same as when the first part 10 has a hole, which will not be described in detail here.

[0033] Fig.11What is shown is a robot module using the matching device provided by the utility model, and the robot module includes a module shell 20, a first part 10, and a second part 3. The length of the second part 3 extending out of the module shell 20 is not fixed, so that the module can be spliced ​​with different other modules and stably connected. The sense of section during the assembly process clarifies the correct assembly position, and the unchanged maximum resistance also simplifies the problem of difficulty in pushing in and pulling out during the assembly process.

[0034] The above embodiments only express the preferred implementation of the utility model, and the description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A matching device, characterized in that: It comprises a first part with a hole and / or a groove, wherein the hole and / or the groove are used to cooperate with the second part, the hole and / or the groove have at least three sections, namely section one, section two and section three, section one and section three are on both sides of the hole and / or the groove, section two is between section one and section three, when the first part with the hole and / or the groove cooperates with the second part, the minimum gap between section two and the second part is greater than the minimum gap between section one and / or section three and the second part.

2. The matching device according to claim 1, characterized in that: The second part is a shaft part.

3. The matching device according to claim 1, characterized in that: The first part and the second part cooperate in such a way that the second part is pushed from segment one or segment three of the first part hole and / or groove into the first part hole and / or groove, so that the first part and the second part reach corresponding positions.

4. The matching device according to any one of claims 1 to 3, characterized in that: During the mating process, when the second part begins to enter the hole or / and groove segment one or segment three, the resistance increases as the pushing distance increases. After entering segment two from segment one or segment three, the resistance does not change as the pushing distance increases. After entering segment one or segment three from segment two, the resistance increases as the pushing distance increases.

5. The matching device according to claim 1, characterized in that: The first part with holes and / or grooves is composed of a plurality of parts with holes and / or grooves. The segment one and segment three are respectively on two different parts, and the two parts are connected and rotate synchronously.

6. The matching device according to claim 1, characterized in that: The cross-sectional shape and size of segment 1 and segment 3 of the first part are the same.

7. The matching device according to claim 1, characterized in that: When the first part is matched with the second part, segment one of the first part and the second part form a transition fit or an interference fit, segment two of the first part and the second part form a clearance fit, and segment three of the first part and the second part form a transition fit or an interference fit.

8. The matching device according to claim 2, characterized in that: The shaft parts are Lego cross shafts.

9. The matching device according to any one of claims 1 to 3, characterized in that: The hole or / and groove of the first part has chamfers or / and fillets at the entrances of segment 1 and segment 3, and the hole or / and groove of the first part has chamfers or / and fillets between segment 1 and segment 2 or / and between segment 2 and segment 3.

10. A robot module, characterized in that: Comprising the matching device as described in any one of claims 1-9.

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