CN111098327B - Electric permanent magnet type mechanical arm tool hand quick changer - Google Patents
Electric permanent magnet type mechanical arm tool hand quick changer Download PDFInfo
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- CN111098327B CN111098327B CN202010026890.9A CN202010026890A CN111098327B CN 111098327 B CN111098327 B CN 111098327B CN 202010026890 A CN202010026890 A CN 202010026890A CN 111098327 B CN111098327 B CN 111098327B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
- B25J15/0441—Connections means having vacuum or magnetic means
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses an electro-permanent magnet type manipulator tool hand quick changer, which comprises a manipulator butt joint port module and a tool hand butt joint port module; the mechanical arm butt joint port module comprises a cylinder body and a piston; the side wall of the cylinder body is provided with a plurality of through holes along the radial direction of the cylinder body; a rigid ball is arranged in each through hole; the outer wall of the cylinder body is also provided with a positioning wall surface facing to the lower end; a permanent magnet core body is arranged in the piston; the tool hand butt joint port module comprises a U-shaped butt joint end cover; a first electromagnet is arranged on a bottom plate of the U-shaped butt end cover; a magnetic force between the first electromagnet and the permanent magnet core drives the piston to move in the cylinder body; the upper end surface of the side wall of the U-shaped butt end cover is connected with the positioning wall surface of the cylinder body; when the piston moves to the lower end limit position, the rigid ball is connected between the piston and the inner side wall of the U-shaped butt end cover in a pressing mode. The invention can self-adapt to load, adjust locking force in multiple stages, has simple structure and high safety, and realizes quick butt joint, locking and tool hand switching.
Description
Technical Field
The invention relates to the field of mechanical arms, in particular to a tool hand quick changer of an electro-permanent magnetic mechanical arm.
Background
Industrial robots have been widely used in various production fields due to their practicality and high efficiency. The tool hand quick changer can enable the mechanical arm to switch the tail end tool hand in a short time so as to execute the tasks of different types of work, and therefore the economical efficiency and the production efficiency of the industrial mechanical arm are greatly improved. The existing quick changer is mainly pneumatic and mainly faces to large heavy-load equipment fixed on the ground, however, for a mobile robot, additional pneumatic equipment is inconvenient to carry and is not beneficial to walking in an environment with limited space, and on the other hand, for light-load small-sized equipment, the structural design of a gas circuit is also particularly difficult due to the limited size.
Disclosure of Invention
In order to solve the problems, the invention provides an electric permanent magnet type mechanical arm tool hand quick changer which can be used for self-adapting to load and adjusting locking force in multiple stages, has a simple structure and high safety, and realizes quick butt joint, locking and tool hand switching.
The technical scheme is as follows: the invention provides an electro-permanent magnet type manipulator tool hand quick changer, which comprises a manipulator butt joint port module and a tool hand butt joint port module;
the mechanical arm butt joint port module comprises a cylinder body and a piston capable of reciprocating in the cylinder body; the side wall of the cylinder body close to the lower end is provided with a plurality of through holes extending along the radial direction of the cylinder body; the through holes are positioned on the cross section of the same cylinder body; a rigid ball is arranged in each through hole; the rigid ball can slide in the through hole along the radial direction of the cylinder body; the diameter of the rigid ball is larger than the wall thickness of the cylinder body at the through hole; the outer wall of the cylinder body is also provided with a positioning wall surface facing to the lower end;
a permanent magnet core body is arranged in the piston; the lower end of the piston is provided with an outer conical end part;
the tool hand butt joint port module comprises a U-shaped butt joint end cover; a first electromagnet is arranged on a bottom plate of the U-shaped butt end cover; the first electromagnet is positioned at the lower end of the permanent magnet core body, and the magnetic force between the first electromagnet and the permanent magnet core body drives the piston to move in the cylinder body;
the side wall of the U-shaped butt end cover is sleeved on the periphery of the side wall of the cylinder body; the upper end surface of the side wall of the U-shaped butt end cover is connected with the positioning wall surface of the cylinder body; the inner side wall of the U-shaped butt end cover is provided with an inner conical end face inclined towards the inner side of the upper end;
when the piston moves in the cylinder body until the outer conical end part is connected with the inner side of the upper part of the rigid ball in a pressing mode, the outer side of the upper part of the rigid ball is connected with the inner conical end face in a pressing mode, and the piston reaches the lower end limit position.
Further, the device also comprises a controller used for controlling the coil current of the first electromagnet; the input end of the controller is connected with a signal circuit; when the signal current of the signal circuit is increased, the controller controls the coil current of the first electromagnet to be reduced; when the signal current of the signal circuit is reduced, the controller controls the coil current of the first electromagnet to be increased;
the upper end face of the U-shaped butt end cover is provided with a conical groove; the conical groove and the outer conical end part are coaxial, and the conical angle of the conical groove is larger than that of the outer conical end part;
the signal circuit comprises a plurality of annular resistors and a plurality of pairs of elastic thimble contacts;
the plurality of annular resistors are arranged at the outer conical end part of the piston; the annular resistors and the outer conical end part are coaxial;
the elastic thimble contacts are connected in parallel on the signal circuit; the elastic thimble contacts are arranged on the conical groove; each pair of elastic thimble contacts is correspondingly arranged right below one annular resistor;
when the piston reaches the lower end limit position, each annular resistor is connected with a pair of elastic thimble contacts right below the annular resistor.
Further, the outer tapered end portion includes a first outer tapered surface and a second outer tapered surface; the first outer conical surface is positioned above the second outer conical surface; the taper angle of the first outer conical surface is smaller than that of the second outer conical surface; the first outer conical surface is connected with the inner side of the upper part of the rigid ball in a pressing way; the plurality of annular resistors are arranged on the second outer conical surface.
Further, the mechanical arm butt joint port module also comprises an upper end cover fixed at the upper end of the cylinder body; the upper end cover is provided with a second electromagnet; and the polarity direction of the second electromagnet is the same as that of the second electromagnet.
Further, the U-shaped butt end cover comprises a cover body and an elastic locking ring fixed at the upper end of the cover body; the inner conical end face is located on the elastic locking ring.
Furthermore, a plurality of positioning pins are arranged between the upper end face of the U-shaped butt end cover and the positioning wall face of the cylinder body.
Has the advantages that: (1) The invention adopts the electro-permanent magnet type to replace the existing pneumatic type as power, can reduce external carrying, remove the design consumption of a gas circuit, effectively cope with the occasions with limited pneumatic facilities and realize quick butt joint, locking and tool hand switching; (2) The signal circuit of the invention can adapt to the load by self-adapting the annular resistor on the piston and the elastic thimble contact on the U-shaped butt end cover, and adjust the electromagnetic force of the first electromagnet in multiple stages to adapt to the load of a tool hand, so that the upper end surface of the side wall of the U-shaped butt end cover is kept in a connection state with the positioning wall surface of the cylinder body, the piston is kept in a lower end limit position state, and the locking state of the mechanical arm and the tool hand is kept. (3) Due to the magnetic force of the permanent magnet core, when the electric power tool is used under the condition of complete power failure, the mechanical arm and the tool hand still have high locking force, and the safety requirement is met.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic view of a partial structure of the joint of the piston and the U-shaped butt end cap of the present invention;
FIG. 3 is a bottom view of the piston of the present invention;
FIG. 4 is a top view of the U-shaped butt end cap of the present invention at the tapered groove;
fig. 5 is an equivalent circuit diagram of a signal circuit of the present invention.
Detailed Description
Referring to fig. 1, the present invention provides an electro-permanent magnet robot arm tool hand quick changer, which includes a robot arm docking port module and a tool hand docking port module.
The mechanical arm butt joint port module comprises a cylinder body 1 and a piston 2 capable of reciprocating in the cylinder body 1.
The side wall of the cylinder body 1 close to the lower end is provided with a plurality of through holes extending along the radial direction of the cylinder body 1; the through holes are positioned on the cross section of the same cylinder body 1; a rigid ball 101 is arranged in each through hole; the rigid ball 101 can slide in the through hole along the radial direction of the cylinder body 1; the diameter of the rigid ball 101 is larger than the wall thickness of the cylinder body 1 at the through hole. Limiting structures can be arranged at two ends of the through hole to prevent the rigid ball 101 from sliding out.
The outer wall of the cylinder body 1 is also provided with a positioning wall surface facing to the lower end; the positioning wall surface is positioned above the through hole.
A permanent magnet core body 201 is arranged in the piston 2; the lower end of the piston 2 is provided with an outer conical end portion 202. The outer tapered end 202 includes a first outer tapered surface and a second outer tapered surface; the first outer conical surface is positioned above the second outer conical surface; the taper angle of the first outer tapered surface is smaller than that of the second outer tapered surface.
The tool hand butt joint port module comprises a U-shaped butt joint end cover; the bottom plate of the U-shaped butt end cover covers the lower end face of the cylinder body 1; a first electromagnet 301 is arranged on a bottom plate of the U-shaped butt end cover; the magnetic force between the first electromagnet 301 and the permanent magnet core 201 drives the piston 2 to move in the cylinder 1.
The side wall of the U-shaped butt end cover is sleeved on the periphery of the side wall of the cylinder body 1; the upper end surface of the side wall of the U-shaped butt end cover is connected with the positioning wall surface of the cylinder body 1. A plurality of positioning pins 102 for butt positioning are arranged between the upper end face of the U-shaped butt end cover and the positioning wall face of the cylinder body 1, and the positioning pins 102 are also used for preventing the U-shaped butt end cover and the cylinder body 1 from rotating relatively.
The U-shaped butt end cover comprises a cover body 302 and an elastic locking ring 303 fixed at the upper end of the cover body 302; the inner side wall of the elastic locking ring 303 is provided with an inner tapered end surface inclined towards the inner side of the upper end.
The working process of butt joint and locking of the mechanical arm and the tool hand is as follows: the first electromagnet 301 attracts the permanent magnet core 201, so that the piston 2 moves towards the lower end in the cylinder body 1 to reach the lower end limit position, the first outer conical surface is tightly pressed and connected with the inner side of the upper part of the rigid ball 101, the acting force applied to the first outer conical surface by the rigid ball 101 is perpendicular to the first outer conical surface and can be decomposed into a first transverse component force along the radial direction of the cylinder and a first vertical component force along the vertical upper end, wherein the first vertical component force is equal to the magnetic force of the first electromagnet 301 and the permanent magnet core 201; the smaller the taper angle of the first outer tapered surface, the greater the first transverse force component.
Meanwhile, the outer side of the upper part of the rigid ball 101 is connected with the inner conical end face in a pressing mode, the acting force applied to the inner conical end face by the rigid ball 101 is perpendicular to the inner conical end face and can be decomposed into a second transverse component force along the radial direction of the cylinder and a second vertical component force at the vertical upper end, and the second transverse component force is equal to the first transverse component force; the larger the first transverse component force is, the larger the second vertical component force is, that is, the larger the locking force applied to the U-shaped butt end cover is.
The taper angle of the first outer tapered surface should be as small as possible. Meanwhile, in order to prevent the piston 2 from moving towards the lower end in the cylinder body 1, the lower end surface of the outer conical end part 202 of the piston 2 collides with the rigid ball 101 to generate jamming, and the diameter of the lower end surface of the outer conical end part 202 is required to be as small as possible and can pass through the cross section area where the rigid ball 101 is located in the cylinder body 1; therefore, the taper angle of the second outer taper surface is larger than that of the first outer taper surface, so that the diameter of the lower end surface of the outer taper end portion 202 can be reduced in a shorter axial length, and the structural space is saved.
After the mechanical arm is in butt joint with the tool hand and locked, when the tool hand butt joint port module has no load or has a small load, the first electromagnet 301 can be in a power-off state, and locking can be kept only by means of attraction between the magnetic force of the permanent magnet core 201 and the iron core of the first electromagnet 301. Meanwhile, due to the magnetic force of the permanent magnet core body 201, when the electric power tool is used under the condition of complete power failure, the mechanical arm and the tool hand still have high locking force, and the safety requirement is met.
When the tool hand butt joint port module is subjected to a large load, the first electromagnet 301 supplies power to generate magnetic force to attract the permanent magnet core body 201, so that the mechanical arm and the tool hand are kept locked.
The invention also comprises a controller for controlling the coil current of the first electromagnet 301; the input end of the controller is connected with a signal circuit; when the signal current of the signal circuit is increased, the controller controls the coil current of the first electromagnet 301 to be reduced; when the signal current of the signal circuit decreases, the controller controls the coil current of the first electromagnet 301 to increase.
As shown in fig. 2, a tapered groove is formed on the upper end surface of the U-shaped butt end cover; the tapered recess is coaxial with the outer tapered end 202 and has a greater taper angle than the taper angle of the outer tapered end 202.
The signaling circuitry includes a plurality of ring resistors 401 and a plurality of pairs of resilient thimble contacts 402.
As shown in fig. 3, the plurality of annular resistors 401 are disposed on the second outer tapered surface of the piston 2; the plurality of annular resistors 401 are coaxial with the outer second outer conical surface.
The pairs of elastic thimble contacts 402 are connected in parallel to the signal circuit; as shown in fig. 4, the pairs of resilient ejector pin contacts 402 are disposed on tapered recesses; each pair of spring thimble contacts 402 is disposed directly below one of the ring resistors 401.
Fig. 5 shows an equivalent circuit diagram of the signal circuit, in this embodiment, three ring resistors 401 are provided, and the equivalent resistors are R1, R2, and R3 in this order from the upper end to the lower end.
When the tool hand docking port module is subjected to a large load, the first electromagnet 301 is powered, and when the piston 2 is located at the lower limit position, each annular resistor 401 is connected to a pair of elastic thimble contacts 402 directly below the annular resistor 401. The plurality of annular resistors are all connected to the signal circuit in parallel, the resistance value after the parallel connection is low, then the signal current of the signal circuit is large, the coil current of the first electromagnet 301 is controlled by the controller to be reduced, and the magnetic force between the first electromagnet 301 and the permanent magnet core 201 is small.
When the load borne by the tool hand butt joint port module is further increased, the U-shaped butt joint end cover moves towards the lower end; and the force applied to the rigid ball 101 by the U-shaped docking end cap causes the piston 2 to move towards the upper end; the tapered recess is separated from the second outer tapered surface. Because the taper angle of the tapered recess is greater than the taper angle of the outer tapered end 202, the distance between the elastic thimble contact 402 located at the outer circumference and the corresponding annular resistor 401 is greater than the distance between the elastic thimble contact 402 located at the inner circumference and the corresponding annular resistor 401, and therefore the amount of compression deformation of the elastic thimble contact 402 located at the outer circumference is less than the amount of compression deformation of the elastic thimble contact 402 located at the inner circumference. Then, as the distance between the conical groove and the second outer conical surface increases, the elastic thimble contact 402 at the outermost ring is firstly separated from the corresponding annular resistor 401, R1 is turned off, the resistance of the signal circuit increases, the signal current of the signal circuit decreases, the controller controls the coil current of the first electromagnet 301 to increase, and the magnetic force between the first electromagnet 301 and the permanent magnet core 201 increases; similarly, as the distance between the tapered groove and the second outer tapered surface is further increased, R2 and R3 are also gradually disconnected, and the magnetic force between the first electromagnet 301 and the permanent magnet core 201 is gradually increased. In the invention, the magnetic force between the first electromagnet 301 and the permanent magnet core 201 can be automatically adjusted to adapt to the load, so that the upper end surface of the side wall of the U-shaped butt end cover is kept in a connection state with the positioning wall surface of the cylinder body 1, the piston 2 is kept in a lower end limit position state, and the locking state of the mechanical arm and the tool hand is kept.
When other tool hands need to be switched and the mechanical arm and the tool hands need to be unlocked and released, the current direction of the coil of the first electromagnet 301 is adjusted, the first electromagnet 301 and the permanent magnet core body 201 repel each other, the piston 2 moves towards the upper end, the locking acting force of the rigid ball 101 and the U-shaped butt joint end cover is unloaded, and the mechanical arm butt joint port module is separated from the tool hand butt joint port module.
Preferably, the mechanical arm docking port module further comprises an upper end cover 5 fixed at the upper end of the cylinder body 1; the upper end cover 5 is provided with a second electromagnet 501; the polarity direction of the first electromagnet 301 is the same as the polarity direction of the second electromagnet 501. The second electromagnet 501 can be turned on simultaneously with the first electromagnet 301 for driving the piston 2 to move; when the mechanical arm is in butt joint with a tool hand and locked, the second electromagnet 501 and the first electromagnet 301 can be simultaneously opened, the magnetic force applied to the piston 2 towards the lower end is increased, and the locking force is increased; after the mechanical arm and the tool hand are unlocked and released, the second electromagnet 501 can adsorb and fix the piston 2, so that the piston 2 is prevented from sliding in the cylinder body 1.
Claims (5)
1. The utility model provides an electric permanent magnetism formula arm instrument hand fast converter which characterized in that: the system comprises a mechanical arm butt joint port module and a tool hand butt joint port module;
the mechanical arm butt joint port module comprises a cylinder body (1) and a piston (2) capable of reciprocating in the cylinder body (1); the side wall of the cylinder body (1) close to the lower end is provided with a plurality of through holes extending along the radial direction of the cylinder body (1); the through holes are positioned on the cross section of the same cylinder body (1); a rigid ball (101) is arranged in each through hole; the rigid ball (101) can slide in the through hole along the radial direction of the cylinder body (1); the diameter of the rigid ball (101) is larger than the wall thickness of the cylinder body (1) at the through hole; the outer wall of the cylinder body (1) is also provided with a positioning wall surface facing to the lower end;
a permanent magnet core body (201) is arranged in the piston (2); the lower end of the piston (2) is provided with an outer conical end part (202);
the tool hand butt joint port module comprises a U-shaped butt joint end cover; a first electromagnet (301) is arranged on a bottom plate of the U-shaped butt end cover; the first electromagnet (301) is positioned at the lower end of the permanent magnet core body (201), and the piston (2) is driven to move in the cylinder body (1) by magnetic force between the first electromagnet (301) and the permanent magnet core body (201);
the side wall of the U-shaped butt end cover is sleeved on the periphery of the side wall of the cylinder body (1); the upper end surface of the side wall of the U-shaped butt end cover is connected with the positioning wall surface of the cylinder body (1); the inner side wall of the U-shaped butt end cover is provided with an inner conical end face inclined towards the inner side of the upper end;
when the piston (2) moves in the cylinder body (1) until the outer conical end (202) is pressed and connected with the inner side of the upper part of the rigid ball (101), the outer side of the upper part of the rigid ball (101) is pressed and connected with the inner conical end surface, and the piston (2) reaches the lower end limit position;
the device also comprises a controller used for controlling the power supply current of the first electromagnet (301); the input end of the controller is connected with a signal circuit; when the signal current of the signal circuit is increased, the controller controls the power supply current of the first electromagnet (301) to be reduced; when the signal current of the signal circuit is reduced, the controller controls the power supply current of the first electromagnet (301) to be increased;
the upper end face of the U-shaped butt end cover is provided with a conical groove; the conical groove is coaxial with the outer conical end (202), and the conical angle of the conical groove is larger than that of the outer conical end (202);
the signal circuit comprises a plurality of annular resistors (401) and a plurality of pairs of elastic thimble contacts (402);
the plurality of annular resistors (401) are arranged at the outer conical end (202) of the piston (2); the plurality of annular resistors (401) are coaxial with the outer tapered end (202);
the pairs of elastic thimble contacts (402) are connected in parallel on the signal circuit; the pairs of elastic thimble contacts (402) are arranged on the conical grooves; each pair of elastic thimble contacts (402) is correspondingly arranged right below one annular resistor (401);
when the piston (2) reaches the lower end limit position, each annular resistor (401) is connected with a pair of elastic thimble contacts (402) right below the annular resistor (401).
2. The electro-permanent magnet robotic arm tool hand quick changer of claim 1, wherein: the outer tapered end (202) comprises a first outer tapered surface and a second outer tapered surface; the first outer conical surface is positioned above the second outer conical surface; the taper angle of the first outer conical surface is smaller than that of the second outer conical surface; the first outer conical surface is connected with the inner side of the upper part of the rigid ball (101) in a pressing manner; the plurality of annular resistors (401) are arranged on the second outer conical surface.
3. The electro-permanent magnet robotic arm tool hand quick changer of any one of claims 1-2, wherein: the mechanical arm butt joint port module further comprises an upper end cover (5) fixed at the upper end of the cylinder body (1); the upper end cover (5) is provided with a second electromagnet (501); the polarity direction of the first electromagnet (301) is the same as that of the second electromagnet (501).
4. The electro-permanent magnet robotic arm tool hand quick changer of claim 3, wherein: and a plurality of positioning pins (102) are arranged between the upper end surface of the U-shaped butt end cover and the positioning wall surface of the cylinder body (1).
5. The electro-permanent magnet robotic arm tool hand quick changer of claim 4, wherein: the U-shaped butt end cover comprises a cover body (302) and an elastic locking ring (303) fixed at the upper end of the cover body (302); the inner conical end surface is positioned on the elastic locking ring (303).
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| CN202010026890.9A CN111098327B (en) | 2020-01-10 | 2020-01-10 | Electric permanent magnet type mechanical arm tool hand quick changer |
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| CN202010026890.9A CN111098327B (en) | 2020-01-10 | 2020-01-10 | Electric permanent magnet type mechanical arm tool hand quick changer |
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| CN111098327B true CN111098327B (en) | 2022-11-25 |
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| CN112032152A (en) * | 2020-08-24 | 2020-12-04 | 深圳力合精密装备科技有限公司 | High-precision positioning quick-change interface for providing thrust by electric permanent magnet |
| NL2026409B1 (en) * | 2020-09-04 | 2022-05-04 | Univ Delft Tech | A mechanical construction and a method for assembling and/or disassembling such a mechanical construction |
| CN112248020B (en) * | 2020-10-10 | 2022-03-29 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
| CN112976040B (en) * | 2021-03-04 | 2022-04-26 | 内蒙古工业大学 | Terminal quick change device of rotary electromagnetic control claw type robot |
| CN114559424B (en) * | 2022-02-17 | 2023-06-20 | 中国矿业大学 | Module robot self-reconstruction docking mechanism and docking method based on programmable magnet |
| CN117260798A (en) * | 2023-11-21 | 2023-12-22 | 西湖大学 | Butt joint device for robot automatic operation |
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