CN110000770B - The mechanical arm bindiny mechanism of tool-free dismounting - Google Patents
The mechanical arm bindiny mechanism of tool-free dismounting Download PDFInfo
- Publication number
- CN110000770B CN110000770B CN201910483762.4A CN201910483762A CN110000770B CN 110000770 B CN110000770 B CN 110000770B CN 201910483762 A CN201910483762 A CN 201910483762A CN 110000770 B CN110000770 B CN 110000770B
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- CN
- China
- Prior art keywords
- pin
- mechanical arm
- pin hole
- semicircle
- working end
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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
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
Abstract
The invention discloses a kind of mechanical arm bindiny mechanisms of tool-free dismounting comprising locking piece, locking piece include locking pin and handle；Locking pin includes straight pin and semicircle pin；Mechanical arm working end has the first hollow portion；The outer wall of mechanical arm working end is equipped with the first pin hole, and the first pin hole is connected to the first hollow portion；Mechanical arm actuating station includes insertion end；The second pin hole is offered on the outer wall of insertion end, and open slot is equipped between the second pin hole and the end of insertion end；Insertion end is inserted in the first hollow portion；The position of first pin hole and the second pin hole is corresponding；Straight pin is inserted in the first pin hole, is equipped with blocking portion in the first pin hole；Semicircle pin is inserted in the hollow-out parts and the second pin hole of the first pin hole simultaneously.Bindiny mechanism of the invention, can be convenient, quickly, the firm locking and unlocking safely realized between mechanical arm actuating station and mechanical arm working end, locking and unlocking process is not necessarily to additional external tool, greatly improves the efficiency.
Description
Technical field
The present invention relates to the field of medical instrument technology, in particular to a kind of mechanical arm bindiny mechanism of tool-free dismounting.
Background technique
In the application of mechanical arm, mechanical arm working end is fixedly arranged on mechanical arm, and mechanical arm executing agency is connected to machinery
On arm working end.According to the needs of practical application, connect mechanical arm executing agency on mechanical arm working end carry out quickly and
Reliably replace.It is safely and reliably locked on mechanical arm working end to consolidate mechanical arm executing agency, often
The movement of locking and unlocking is realized using complicated design, and it also requires using additional tool.This is in many applied fields
Conjunction all brings inconvenience to user.
In addition, due to somewhat complex design, it can not be power cable needed for mechanical arm actuating station or signal cable
Etc slave mechanical arm inside cabling, can only be using method outside mechanical arm be hung over outside, it is ugly not only to influence actuating station, but also
It is easy to cause accident.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of tool-free to overcome drawbacks described above of the existing technology
The mechanical arm bindiny mechanism of dismounting.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of mechanical arm bindiny mechanism of tool-free dismounting is set between mechanical arm working end and mechanical arm actuating station；
It includes locking piece, and locking piece includes the handle of locking pin and rotatable locking pin；Locking pin includes the cylinder for being fixed on handle
Pin and set on cylinder pin end semicircle pin；Mechanical arm working end has the first hollow portion；On the outer wall of mechanical arm working end
Equipped with the first pin hole, the first pin hole is connected to the first hollow portion；Mechanical arm actuating station includes insertion end；It is opened up on the outer wall of insertion end
There is the second pin hole, open slot is equipped between the second pin hole and the end of insertion end；Insertion end is inserted in the first hollow portion；First pin
Hole and the position of the second pin hole are corresponding；Straight pin is inserted in the first pin hole, and being equipped in the first pin hole can prevent straight pin from entering
The blocking portion of first hollow portion；Semicircle pin is inserted in the hollow-out parts and the second pin hole of the first pin hole simultaneously；When semicircle pin revolves
When going to the side of blocking portion, semicircle pin can prevent insertion end from being detached from mechanical arm working end；When semicircle pin is rotated to blocking
When the top in portion, by sliding of the control open slot outside semicircle pin, insertion end can be detached from or be inserted into mechanical arm work
End.
The outer wall of insertion end is equipped with collimation key, and the inner wall of mechanical arm working end is equipped with collimation slot；Collimation key is slidedly arranged on standard
In straight trough.
Blocking portion is a quarter round；The hollow-out parts of first pin hole are 3/4ths rounds.
The arc end of blocking portion is connected to the inner wall of the first pin hole；Blocking portion is set to the obliquely downward of the first pin hole and close
The front end of mechanical arm working end.
Open slot is connected to the oblique top edge of the second pin hole；Second pin hole has in the lower section of open slot can be with semicircle pin
The inner wall that abuts against of arcuate flanks.
The radius of semicircle pin is less than the width of open slot；Diameter of the width of open slot less than the second pin hole；Straight pin
Radius be greater than semicircle pin radius.
The radius of the radius of first pin hole and the second pin hole is identical；The width of open slot is less than or equal to the second pin hole
Radius.
First pin hole, the second pin hole and open slot are two, and two the second pin holes are respectively arranged on the two sides of insertion end；Two
A open slot is connected to two the second pin holes respectively；Two the first pin holes are respectively arranged on the two sides of mechanical arm working end；Two
Two pin holes are corresponding with the position of two the first pin holes respectively.
Locking pin is two, and handle is located at the outer wall of mechanical arm working end, and two locking pins are fixedly arranged on the two of handle respectively
End.
Insertion end has the second hollow portion；Second hollow portion is connected with the first hollow portion；Insertion end, the first hollow portion,
Second hollow portion is cylindric.
The beneficial effects of the present invention are mechanisms of the invention, can be convenient, quickly, firm safely realize mechanical arm
Locking between actuating station and mechanical arm working end, locking process are not necessarily to additional external tool, substantially increase mechanical arm
The efficiency of actuating station and the locking of mechanical arm working end.Mechanism of the invention quickly, conveniently, reliably can be such that mechanical arm executes
End is detached from mechanical arm working end, to quickly and reliably realize the replacement of mechanical arm actuating station.Its unlocking process is without additional
External tool, substantially increase replacement mechanical arm actuating station efficiency.Mechanism of the invention also have it is compact-sized, manufacture at
This low advantage.
Detailed description of the invention
Fig. 1 is the schematic elevation view of present pre-ferred embodiments.
Fig. 2 is A direction view in Fig. 1.
Fig. 3 is B-B schematic cross-sectional view in Fig. 2.
Fig. 4 is the three-dimensional installation diagram of present pre-ferred embodiments.
Fig. 5 is stereochemical structure of the present pre-ferred embodiments in mechanical arm actuating station and mechanical arm working end separated position
Schematic diagram.
Structural schematic diagram when Fig. 6 present pre-ferred embodiments are in the lock state.
Specific embodiment
A preferred embodiment is named, and completely illustrates the present invention in conjunction with attached drawing to become apparent from.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of mechanical arm bindiny mechanism of tool-free dismounting is set to
Between mechanical arm working end 10 and mechanical arm actuating station 20.The rear end of mechanical arm working end is fixed by bolts in mechanical arm.
The mechanical arm bindiny mechanism of the tool-free dismounting includes locking piece 30, and locking piece 30 includes locking pin 40 and can revolve
The handle 31 of twist lock rationed marketing.Locking pin 40 includes the straight pin 41 for being fixed on handle and the semicircle pin set on cylinder pin end
42。
Handle is elastic component, and the end of handle can apply the power that locking pin is mobile towards the first hollow portion on locking pin.
Mechanical arm working end 10 has the first hollow portion 11；The outer wall of mechanical arm working end 10 is equipped with the first pin hole 51,
First pin hole 51 is connected to the first hollow portion 11.
Mechanical arm actuating station 20 includes insertion end 21；The second pin hole 52, the second pin hole are offered on the outer wall of insertion end 21
Open slot 22 is equipped between 52 and the end of insertion end 21.
Insertion end 21 is inserted in the first hollow portion 11.
The outer wall of insertion end 21 is equipped with collimation key 23, and the inner wall of mechanical arm working end is equipped with collimation slot 12；Collimate key 23
It is slidedly arranged in collimation slot 12.
The position of first pin hole 51 and the second pin hole 52 is corresponding；Straight pin 41 is inserted in the first pin hole 51, the first pin hole
The blocking portion 50 that straight pin can be prevented to enter the first hollow portion is equipped in 51；Semicircle pin 42 is inserted in the first pin hole 51 simultaneously
Hollow-out parts and the second pin hole 52.
Blocking portion 50 is a quarter round；The hollow-out parts of first pin hole 51 are 3/4ths rounds.
The arc end of blocking portion 50 is connected to the inner wall of the first pin hole 51；Blocking portion 50 is set to the obliquely downward of the first pin hole 51
And close to the front end of mechanical arm working end 10.
Open slot 22 is connected to the oblique top edge of the second pin hole 52；Second pin hole 52 has in the lower section of open slot can be with half
The inner wall that the arcuate flanks of straight pin abut against.
The radius of semicircle pin 42 is less than the width of open slot 22；The width of open slot 22 is straight less than the second pin hole 52
Diameter；The radius of straight pin 41 is greater than the radius of semicircle pin 42.
The radius of the radius of first pin hole 51 and the second pin hole 52 is identical；The width of open slot 22 is less than or equal to second
The radius of pin hole 52.
When the rotation of semicircle pin 42 to the side of blocking portion 50, semicircle pin 42 can prevent insertion end 21 from being detached from mechanical arm
Working end 10；When the rotation of semicircle pin 42 to the top of blocking portion 50, through control open slot 22 outside semicircle pin 42
Sliding, insertion end 21 can be detached from or be inserted into mechanical arm working end 10.
In the present embodiment, the first pin hole 51, the second pin hole 52 and open slot 22 are two, two the second pin hole 52 difference
Set on the two sides of insertion end 21；Two open slots 22 are connected to two the second pin holes 52 respectively；Two the first pin holes 51 are set respectively
In the two sides of mechanical arm working end 10；Two the second pin holes 52 are corresponding with the position of two the first pin holes 51 respectively.
Locking pin 40 is two, and handle 31 is located at the outer wall of mechanical arm working end 10, and two locking pins 40 are fixedly arranged on respectively
The both ends of handle.
Insertion end 21 has the second hollow portion 24；Second hollow portion 24 is connected with the first hollow portion 11；Insertion end 21,
One hollow portion 11, the second hollow portion 24 are cylindric.
The mechanism of the present embodiment, in actual use, locking pin are inserted in always in the first pin hole.The elastic force of handle makes
Locking pin will not fall off from mechanical arm working end.Rotating handles, straight pin can rotate in the first pin hole, and semicircle pin can be with
It is rotated in the hollow-out parts of the first pin hole, i.e., semicircle pin can be located at the top of blocking portion, can also turn to blocking portion
Side.
The operating mode one of the mechanism of the present embodiment:
When mechanical arm actuating station needs to be connected to mechanical arm working end, first swing handle so that handle be in as Fig. 1,
The state of Fig. 2, Fig. 3 or Fig. 5.At this point, semicolumn pins position is in the top of blocking portion.Insertion end is inserted into the first hollow portion.Opening
Slot passes through semicircle pin, and until the edge of semicircle pin is connected to the inner wall of the second pin hole, insertion end can not readvance.At this point,
Semicircle pin is arranged in the second pin hole simultaneously, and is located at the upper half of the second pin hole.
Swing handle makes straight pin drive the rotation of semicircle pin, semicircle pin is gone to the side of blocking portion.At this point, half
The arcuate flanks of straight pin can be connected to the inner wall below open slot of the second pin hole.Semicircle pin can prevent insertion end de-
From the first hollow portion.
More than, complete the locking of mechanical arm actuating station and mechanical arm working end.At this point, the state of the mechanism of the present embodiment is such as
Shown in Fig. 6.
The mechanism of the present embodiment, can be convenient, quickly, firm safely realize mechanical arm actuating station and mechanical arm working end
Between locking, locking process be not necessarily to additional external tool, substantially increase mechanical arm actuating station and mechanical arm working end
The efficiency of locking.It also has the advantages that compact-sized, manufacturing cost is low etc..
The operating mode two of the mechanism of the present embodiment:
Lock state based on mechanical arm actuating station and mechanical arm working end, when mechanical arm actuating station needs to be detached from mechanical arm
When working end, swing handle makes semicircle pin go to the top of blocking portion, at this time the position of semicircle pin as shown in Figure 1, Figure 2, Fig. 3
Or shown in Fig. 5.Then, mechanical arm actuating station is pulled, so that open slot moves outward outside semicircle pin, to rapidly will
Mechanical arm actuating station is detached from mechanical arm working end.
More than, it completes mechanical arm actuating station and is detached from mechanical arm working end.At this point, the state of the mechanism of the present embodiment such as Fig. 6
It is shown.
The mechanism of the present embodiment can quickly, conveniently, reliably make mechanical arm actuating station be detached from mechanical arm working end, from
And quickly and reliably realize the replacement of mechanical arm actuating station.Its unlocking process is not necessarily to additional external tool, substantially increases
Replace the efficiency of mechanical arm actuating station.
The mechanism of the present embodiment, the setting collimation key in insertion end, the setting collimation slot on the inner wall of mechanical arm working end,
When insertion end is inserted into the first middle part, key alignment collimation slot need to be only collimated, so that it may quickly and accurately reach insertion end
Its position.
Hollow portion is respectively set in mechanical arm actuating station and mechanical arm working end, so that mechanical in the mechanism of the present embodiment
Arm actuating station is to having internal hollow passage, power cable or signal needed for mechanical arm actuating station between mechanical arm working end
The cables such as cable can no longer need to that the method outside mechanical arm will be hung over outside cable, in this way, both avoiding from cabling inside mechanical arm
Unexpected generation, and make mechanical arm more compact structure, improve aesthetics.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (5)
1. a kind of mechanical arm bindiny mechanism of tool-free dismounting is set between mechanical arm working end and mechanical arm actuating station；Its
It is characterized in that comprising locking piece, locking piece include the handle of locking pin and rotatable locking pin；Locking pin includes being fixed on handle
The straight pin of hand and semicircle pin set on cylinder pin end；Mechanical arm working end has the first hollow portion；Mechanical arm working end
Outer wall be equipped with the first pin hole, the first pin hole be connected to the first hollow portion；Mechanical arm actuating station includes insertion end；Outside insertion end
The second pin hole is offered on wall, and open slot is equipped between the second pin hole and the end of insertion end；It is hollow that insertion end is inserted in first
Portion；The position of first pin hole and the second pin hole is corresponding；Straight pin is inserted in the first pin hole, and being equipped in the first pin hole can prevent to justify
Pin enters the blocking portion of the first hollow portion；Blocking portion is a quarter round；The hollow-out parts of first pin hole are 3/4ths
Round；Semicircle pin is inserted in the hollow-out parts and the second pin hole of the first pin hole simultaneously；When semicircle pin is rotated to blocking portion
When side, semicircle pin can prevent insertion end from being detached from mechanical arm working end；When semicircle pin is rotated to the top of blocking portion, lead to
Sliding of the control open slot outside semicircle pin is crossed, insertion end can be detached from or be inserted into mechanical arm working end；The circle of blocking portion
Arc end is connected to the inner wall of the first pin hole；Blocking portion is set to the obliquely downward of the first pin hole and before mechanical arm working end
End；Open slot is connected to the oblique top edge of the second pin hole；Second pin hole has in the lower section of open slot can be with semicircle pin
The inner wall that arcuate flanks abut against；First pin hole, the second pin hole and open slot are two, and two the second pin holes are respectively arranged on slotting
Enter the two sides at end；Two open slots are connected to two the second pin holes respectively；Two the first pin holes are respectively arranged on mechanical arm working end
Two sides；Two the second pin holes are corresponding with the position of two the first pin holes respectively；Locking pin is two, and handle is located at machinery
The outer wall of arm working end, two locking pins are fixedly arranged on the both ends of handle respectively.
2. the mechanical arm bindiny mechanism of tool-free dismounting as described in claim 1, which is characterized in that set on the outer wall of insertion end
There is collimation key, the inner wall of mechanical arm working end is equipped with collimation slot；Collimation key is slidedly arranged in collimation slot.
3. the mechanical arm bindiny mechanism of tool-free dismounting as described in claim 1, which is characterized in that the radius of semicircle pin is small
In the width of open slot；Diameter of the width of open slot less than the second pin hole；The radius of straight pin is greater than the radius of semicircle pin.
4. the mechanical arm bindiny mechanism of tool-free dismounting as claimed in claim 3, which is characterized in that the radius of the first pin hole and
The radius of second pin hole is identical；The width of open slot is less than or equal to the radius of the second pin hole.
5. the mechanical arm bindiny mechanism of tool-free dismounting as described in claim 1, which is characterized in that insertion end has in second
Empty portion；Second hollow portion is connected with the first hollow portion；Insertion end, the first hollow portion, the second hollow portion are cylindric.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483762.4A CN110000770B (en) | 2019-06-05 | 2019-06-05 | The mechanical arm bindiny mechanism of tool-free dismounting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910483762.4A CN110000770B (en) | 2019-06-05 | 2019-06-05 | The mechanical arm bindiny mechanism of tool-free dismounting |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110000770A CN110000770A (en) | 2019-07-12 |
| CN110000770B true CN110000770B (en) | 2019-08-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910483762.4A Active CN110000770B (en) | 2019-06-05 | 2019-06-05 | The mechanical arm bindiny mechanism of tool-free dismounting |
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| CN (1) | CN110000770B (en) |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4689147A (en) * | 1985-09-27 | 1987-08-25 | Nalge Company | Plastic filter assembly |
| CN103727336B (en) * | 2013-12-31 | 2015-10-14 | 辽宁东泰自动化设备制造有限公司 | A kind of quick connector |
| CN205744768U (en) * | 2016-05-16 | 2016-11-30 | 北京康力优蓝机器人科技有限公司 | A kind of latch assembly for connecting robot module and robot |
| CN207977553U (en) * | 2017-12-29 | 2018-10-16 | 泰科电子(上海)有限公司 | Connector assembly |
| CN208744865U (en) * | 2018-09-17 | 2019-04-16 | 沈阳泰德自动化设备有限公司 | A kind of quick connector |
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2019
- 2019-06-05 CN CN201910483762.4A patent/CN110000770B/en active Active
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| Publication number | Publication date |
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| CN110000770A (en) | 2019-07-12 |
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