CN111618897A - Claw changing mechanism capable of automatically correcting transverse deviation and manipulator equipment - Google Patents

Abstract

The invention provides a claw changing mechanism for automatically correcting lateral deviation. The first clamping block and the second connecting piece are provided with a second clamping block, and the lateral relative movement of the first and second connecting pieces causes the first and second clamping blocks to move laterally and clamped, and the first and second clamping blocks are clamped. There is a lateral correction slope at the card interface of the block, and the first and second connecting pieces are guided by the lateral correction slope during the above-mentioned lateral relative movement, and the positions are relatively fine-tuned laterally to make the first and second clamping blocks mutually alignment. Therefore, even if there is a positional deviation of the first and second clamping blocks in the lateral direction, during the clamping process, the first and second connecting pieces can be relatively fine-tuned in the lateral direction by using the lateral correction slope to make the first and second clamping pieces The blocks are aligned with each other, therefore, the claw changing mechanism has low requirements on the control precision of the manipulator equipment and high applicability.

Description

Claw changing mechanism and manipulator equipment for automatic correction of lateral deviation

technical field

The invention relates to the technical field of mechanical devices, in particular to a claw changing mechanism and a manipulator device for automatically correcting lateral deviation.

Background technique

In order to improve production efficiency and competitiveness, many companies currently use advanced manipulator equipment to assist the production process. Manipulator equipment is a kind of action function that can imitate human hands and arms to grab, move objects or operate tools according to fixed procedures. The automatic operation device is mainly composed of a mechanical arm and a mechanical claw installed on the mechanical arm. In order to meet the production needs of different types of products, the manipulator equipment needs to be equipped with different manipulator claws. The traditional manipulator equipment uses screws to fix the manipulator claws on the manipulator arm. When the manipulator needs to be replaced, the screws are removed for replacement. Therefore, the traditional manipulator Equipment loading and unloading takes a long time, resulting in low production efficiency.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is how to shorten the loading and unloading time of the manipulator equipment.

The inventor once conceived of a claw changing mechanism, which includes two connecting pieces that are fixedly mounted on the mechanical arm and the mechanical claw respectively, the two connecting pieces are longitudinally close to each other for snapping, and the first connecting piece is provided with a first snapping joint. The second connecting member is provided with a second clamping block, and the lateral movement of the first and second connecting members makes the first and second clamping blocks move laterally and clamped, so that the first and second connecting members are laterally opposite to each other. The installation and disassembly between the mechanical arm and the mechanical claw can be completed by moving, so that the installation and disassembly time of the manipulator equipment is shortened. However, before the first and second clamping blocks are moved laterally for clamping, the first and second clamping blocks need to be aligned with each other. 1. The second clamping block cannot be clamped because it blocks each other, so the claw changing mechanism has high requirements on the control precision of the manipulator equipment and low applicability. The present inventor provides the following technical solutions to solve the above-mentioned technical problems:

The claw changing mechanism for automatically correcting lateral deviation includes two connecting pieces respectively fixed and installed on the mechanical arm and on the mechanical claw, the two connecting pieces are relatively close to each other in the longitudinal direction so as to be clamped, and the first connecting piece is provided with a first clamping block , the second connecting piece is provided with a second clamping block, and the lateral movement of the first and second connecting pieces makes the first and second clamping blocks laterally move and clamp, at the card interface of the first and second clamping blocks A lateral correction slope is provided. During the above-mentioned lateral relative movement, the first and second connecting pieces are guided by the lateral correction slope, and their positions are relatively fine-tuned to make the first and second engaging blocks align with each other.

Preferably, the lateral relative movement performed by the first and second connecting members is specifically lateral relative rotation, and the lateral relative fine-tuning is particularly radial relative fine-tuning.

Preferably, there are at least two groups of the first and second clamping blocks that are clamped together, and the clamping blocks of each group are distributed around the circumference.

Preferably, the first clamping block is a laterally protruding clamping joint, the second clamping block is a clamping groove, and the first and second connecting pieces perform the above-mentioned lateral relative movement to make the clamping joint enter laterally to the clamping joint snap into the slot.

Preferably, the lateral correction slope is provided on the second connecting piece.

Preferably, the guiding is specifically: the first clamping block is guided by the lateral correction slope.

Preferably, it includes a claw changing assistant used when changing the claw, the second connecting member and the claw changing auxiliary are detachably fixed to each other, and the second connecting member is fixed on the claw changing auxiliary when changing the claw so as not to follow The first connecting piece moves laterally.

Preferably, a gap is formed on the claw-changing auxiliary member for accommodating the second connecting member, the claw-changing auxiliary member protrudes upwards from two fixing posts on both sides of the gap, and the two sides of the second connecting member are respectively Two fixing rings are respectively provided, and the fixing rings are sleeved on the fixing column to realize that the second connecting piece is fixed on the claw changing auxiliary piece.

Preferably, the first connecting member is a connecting member fixedly installed on the robot arm, and the second connecting member is a connecting member fixedly installed on the mechanical claw.

Preferably, the claw changing auxiliary member is provided with at least two installation positions, and different installation positions are used to fix the second connecting member with different mechanical claw.

The present invention also provides a manipulator device, which includes a manipulator arm and a manipulator claw, and also includes the above-mentioned claw changing mechanism, wherein the manipulator claw is mounted on the manipulator arm by using the claw changing mechanism.

The present invention has the following beneficial effects: because the lateral relative movement of the first and second connecting members causes the first and second clamping blocks to move laterally and engage, so the lateral movement of the first and second connecting members can complete the mechanical arm and the The installation and disassembly between the mechanical claws make the installation and disassembly of the manipulator equipment take less time. In addition, because the lateral correction slopes are provided at the card interfaces of the first and second clamping blocks, the first and second connectors are guided by the lateral correction slopes during the relative lateral movement, and the positions are relatively fine-tuned in the lateral direction to make the The first and second clamping blocks are aligned with each other, so even if the first and second clamping blocks have positional deviations in the lateral direction, the lateral correction slope can be used to laterally modify the first and second connecting pieces during the clamping process. Relatively fine-tuning is performed to align the first and second clamping blocks with each other. Therefore, the claw changing mechanism has low requirements on the control precision of the manipulator equipment and high applicability.

Description of drawings

Fig. 1 is the schematic diagram of manipulator equipment;

Fig. 2 is the structural exploded view of the claw changing mechanism of embodiment 1;

3 is a first perspective view of the arm connector of Embodiment 1;

FIG. 4 is a second perspective view of the arm connector of Embodiment 1;

5 is a schematic diagram of the base and the mounting cover of the claw connector of Embodiment 1 after being separated from each other;

Fig. 6 is the structure diagram of the claw changing assistant;

Fig. 7 is the structural exploded view of the claw changing mechanism of embodiment 2;

Fig. 8 is the structural diagram of the arm part connector of embodiment 2;

FIG. 9 is a schematic view of the arm connector of Embodiment 2 after the cover and the clip are separated from each other;

FIG. 10 is a structural diagram of the claw connector of Embodiment 2;

FIG. 11 is a top view of the claw connector of Embodiment 2;

Fig. 12 is a schematic view of the non-return motor driving the telescopic head to extend out of the closed end of the third engaging slot.

Description of reference numerals: 101 - mechanical arm; 102 - mechanical claw; 103 - claw changing mechanism; 104 - claw changing auxiliary part; 1 - arm part connecting part; 2 - claw part connecting part; 3 - through hole; 4 - installation 5-transverse hole; 6-cover; 7-axis column; 8-first snap block; 8a-first end of the first snap block; 8b-the second end of the first snap block; 9 - pit; 10 - electrical connection female terminal; 11 - magnetic induction sensor; 12 - positioning column; 13 - base; 14 - installation cover; 15 - snap hole; 16 - positioning hole; 17 - turning slot; 18 - positioning slot ;19-electric connection male terminal;20-adsorption magnet;21-position magnet;22-ball screw;23-fixing ring;24-notch;25-fixing post;26-first card joint;27-second 1 card connector; 28 - the third card connector; 29 - conductive male terminal; 30 - signal male terminal; 31 - non-return motor; 32 - telescopic head; 33 - wire hole; 34 - card slot; 35 - card interface ;36-closed end;37-transverse correction slope;38-longitudinal correction slope;39-conductive plate;40-conductive female terminal;41-guide slope;42-signal board;43-signal female terminal;44-clamp slot Longitudinal correction bevel on the upper groove wall.

Detailed ways

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that those skilled in the art can better understand the application, and will fully convey the scope of the application to those skilled in the art.

The controller referred to hereinafter comprises a memory and a processor which are connected to each other, and the memory has a computer program stored in the memory which, when executed by the processor, realizes the functions of the controller.

Example 1

As shown in FIG. 1 , the robot device includes a robot arm 101 and a robot claw 102 for grasping objects. The robot claw 102 to be used is installed on the robot arm 101 using a claw changing mechanism 103 , so that the robot arm 101 can drive the robot claw 102 moving, wherein the jaw changing mechanism 103 includes a jaw changing aid 104 on which the mechanical jaws 102 not in use are placed. As shown in FIG. 2 , the claw changing mechanism 103 includes two connecting pieces, namely the arm connecting piece 1 and the claw connecting piece 2 , wherein the arm connecting piece 1 is fixedly installed on the mechanical arm 101 , and the claw connecting piece 2 It is fixedly installed on the mechanical claw 102 , therefore, the arm connecting member 1 and the claw connecting member 2 are longitudinally close to each other for mutual assembly, so that the mechanical claw 102 can be installed on the mechanical arm 101 . The specific installation structure between the arm connector 1 and the mechanical arm 101 is as follows: the top of the arm connector 1 is provided with four through holes 3, and the mechanical arm 101 is provided with screw holes at the positions corresponding to the through holes 3, so that in the Make the top of the arm connector 1 fit against the robot arm 101, and align the through hole 3 of the arm connector 1 with the screw hole of the robot arm 101, and then screw the screw into the through hole 3 (not shown in the figure). ), the screw will be screwed into the screw hole of the mechanical arm 101 through the through hole 3 , so that the arm connecting member 1 is fixedly installed on the mechanical arm 101 . The specific installation structure between the claw connecting piece 2 and the mechanical claw 102 is as follows: the bottom end of the claw connecting piece 2 is provided with two mounting pieces 4 , each mounting piece 4 has a transverse hole 5 , and the mechanical claw 102 is provided with two mounting pieces 4 . There is a lateral mounting rod (not shown in the figure), so that after the mounting member 4 of the claw connecting member 2 is extended into the mechanical claw 102, the mounting rod is made to traverse the lateral hole 5, so as to connect the claw parts. The member 2 is fixedly mounted on the mechanical claw 102 .

As shown in FIG. 3 and FIG. 4 , the arm connector 1 includes a circular cover 6 and a shaft column 7 provided at the bottom center of the cover 6 , and a through hole 3 is opened on the cover 6 . A first clamping block 8 made of iron material is provided near the bottom end of the shaft column 7 , and the first clamping block 8 has a first end 8a and The second end 8b, the two ends 8a, 8b of the first clamping block 8 are respectively provided with two longitudinal recesses 9 with downward openings, and the first clamping block 8 is provided with two electrical connection female terminals 10 and A magnetic induction sensor 11, wherein the first electrical connection female terminal 10 and the magnetic induction sensor 11 are arranged on the first end 8a of the first clamping block 8, and the second electrical connection female terminal 10 is arranged on the first clamping block 8 On the second end 8b of the first electrical connection female terminal 10, the front end of the first electrical connection female terminal 10 is exposed on the first side of the first clamping block 8, and the front end of the second electrical connection female terminal 10 and the trigger end of the magnetic induction sensor 11 are on the first side. The second side of a clamping block 8 is exposed, that is, the trigger end of the magnetic induction sensor 11 faces opposite to the front end of the first electrical connection female terminal 10 . In this embodiment, two positioning posts 12 are further provided at the bottom of the cover body 6 .

It can be seen from FIG. 2 that a wire hole 33 is opened at the top center of the arm connector 1, and the rear ends of the two electrical connection female terminals 10 shown in FIG. 3 and FIG. 4 and the magnetic induction sensor 11 are connected with wires (Fig. (not shown in the figure), these wires pass through the inside of the first clamping block 8 and the inside of the shaft post 7 and pass through the wire hole 33 . Before the arm connector 1 is fixedly installed on the robotic arm 101, these wires are first connected to the robotic arm 101, so that the rear ends of the two electrical connection female terminals 10 are electrically connected to the robotic arm 101, and the magnetic induction sensor 11 is electrically connected to the robotic arm 101. The arms 101 are electrically connected. The electrical connection female terminal 10 uses its front end to connect with other electrical connection terminals to achieve electrical connection, and the rear end of the electrical connection female terminal 10 specifically refers to the other end that is electrically connected to the front end. Connect to any side of the female terminal 10 .

As shown in FIG. 5 , the claw connector 2 includes a circular base 13 and an installation cover 14 . After the installation cover 14 is installed on the circular base 13 , the two form a second clamping block. The mounting cover 14 is provided with a snap hole 15 and two positioning holes 16, wherein the snap hole 15 is used for the first snap block 8 on the arm connector 1 to pass through, and the two positioning holes 16 are respectively used for The two positioning posts 12 on the supply arm connector 1 pass through; the base 13 is provided with a rotation slot 17 and two positioning slots 18, wherein the rotation slot 17 is used for the first The clamping block 8 rotates laterally after being inserted, and the two positioning grooves 18 are respectively used for the two positioning posts 12 to rotate laterally after being inserted. The first side of the rotation slot 17 is provided with an electrical connection male terminal 19 and an adsorption magnet 20, and the second side is provided with an electrical connection male terminal 19, an adsorption magnet 20 and a positioning magnet 21. The bottom of the rotation slot 17 corresponds to the bottom of the first clamping block 8. A ball screw 22 is provided at the positions of the four pits 9. The ball screw 22 is arranged at both ends of the rotating groove 17 to align with the pits 9 at the bottom of the two ends of the first clamping block 8 respectively. The ball screw 22 It is an existing conventional device, and its detailed structure is not repeated here. Two longitudinal grooves (not shown in the figure) are also provided at both ends of the bottom of the installation cover 14. After the installation cover 14 is installed on the base 13, the two ball screws 22 at the same end are aligned with the same longitudinal groove. A fixing ring 23 protrudes from the opposite sides of the mounting cover 14. As shown in FIG. 6, the claw changing auxiliary member 104 is provided with two notches 24 for accommodating the claw connecting member 2. In each of the notches 24 Two fixing posts 25 protrude upward on both sides. After the claw connecting piece 2 is fixedly installed on the mechanical claw 102, the claw connecting piece 2 can be extended into the gap 24 with the mechanical claw 102, and then sleeved on the fixing post 25 through the fixing ring 23, so that the claw connecting piece 2 can carry the mechanical claw 102. The pawl 102 is fixed to the fixed column 25 so as not to rotate. Preferably, the fixing ring 23 may not protrude out of the mounting cover 14 , so that the dimensions of the first engaging block 8 , the engaging hole 15 and the rotating groove 17 need to be adaptively reduced to avoid the fixing ring 23 , and the The part below the fixing ring 23 is left empty, and the distance between the two fixing posts 25 on both sides of the same notch 24 of the claw changing assistant 104 is correspondingly reduced, so that the claw connecting piece 2 extends with the mechanical claw 102. After being inserted into the notch 24 , the vacant part of the base 13 is caught in the notch 24 of the claw changing auxiliary member 104 , so that the claw connecting member 2 can still be sleeved on the fixing post 25 through the fixing ring 23 .

The front ends of the two electrical connection male terminals 19 face the turning groove 17, and the rear ends are connected with wires (not shown in the figure). Before being mounted on the mechanical claw 102 , these wires are first connected to the mechanical claw 102 , so that the rear ends of the two electrical connection male terminals 19 are electrically connected to the mechanical claw 102 . The electrical connection male terminal 19 uses its front end to connect with the electrical connection female terminal 10 to achieve electrical connection, and the rear end of the electrical connection male terminal 19 specifically refers to the other end that is electrically connected to the front end. Any surface of the male terminal 19 is electrically connected.

The robot arm 101 is electrically connected with a controller (not shown in the figure), and the controller is electrically connected to the two electrical connection female terminals 10 on the arm connector 1 and the magnetic induction sensor 11 via the robot arm 101 . When the mechanical claw 102 needs to be installed on the mechanical arm 101, the claw changing auxiliary member 104 is firstly fixed on the external fixed platform (not shown in the figure), and then the claw connecting member 2 is used to place the mechanical claw 102 on the Then the controller controls the relevant circuit to make the mechanical arm 101 drive the arm connecting piece 1 to approach the claw connecting piece 2 longitudinally, until the positioning post 12 extends from the positioning hole 16 into the positioning groove 18 for positioning , and then the first clamping block 8 on the arm connector 1 extends from the clamping hole 15 into the rotation groove 17, and the trigger end of the magnetic induction sensor 11 on the first clamping block 8 is aligned with the rotation groove. If the magnet 21 in 17 is in place, the magnetic induction sensor 11 sends a relevant signal to the controller. After receiving the signal, the controller controls the relevant circuit to make the mechanical arm 101 drive the arm connector 1 to rotate clockwise. Because the fixing ring 23 of the connecting piece 2 is sleeved on the fixing column 25, it will not rotate with the arm connecting piece 1, so the arm connecting piece 1 rotates clockwise with the first clamping block 8 in the rotating groove 17, and the arm connecting piece 1 rotates clockwise. As the two positioning posts 12 rotate clockwise in the positioning grooves 18 , the first engaging block 8 is snapped into the second engaging block formed by the base 13 and the mounting cover 14 . In the process of the first clamping block 8 being rotated and clamped, the ball screw 22 at the bottom of the rotating groove 17 is firstly pressed down by the first clamping block 8 longitudinally and inwardly, until the dimples 9 at the bottom of the first clamping block 8 are paired with each other. The quasi-ball screw 22, then the ball screw 22 sticks out and gets stuck in the recess 9 at the bottom of the first clamping block 8, so that the first clamping block 8 is pushed up into the groove of the installation cover 14, so that the A clamping block 8 is stuck in the groove, and the pressing force generated by the ball screw 22 locks the clamping state. Since the first clamping block 8 is made of iron material, the two attracting magnets 20 The two ends of the first clamping block 8 are respectively sucked, so as to further lock the clamping state, so that the first clamping block 8 and the second clamping block are not easily loosened, so that the mechanical claw 102 is not easily released from the mechanical arm 101 The upper part falls off, so far the installation process between the mechanical arm 101 and the mechanical claw 102 is completed. Then the controller can control the related circuit to make the robot arm 101 move away from the gripper changing assistant 104 with the gripper 102 to grasp the object.

Non-preferably, the magnetic induction sensor 11 can be changed to other in-position switches, such as a pressure sensor, a limit switch, etc., which will not be described here. After the installation between the mechanical arm 101 and the mechanical claw 102 is completed, the two electrical connection female terminals 10 on the first clamping block 8 are respectively connected with the front ends of the two electrical connection male terminals 19 in the rotating groove 17, so that the mechanical The electrical connection between the arm 101 and the gripper 102 is completed along the way, so that there is no need to install and remove the connecting wire between the gripper 101 and the gripper 102, so that the loading and unloading time of the manipulator device is shortened.

When the manipulator 102 needs to be replaced, the controller controls the relevant circuit to make the manipulator 101 and the manipulator 102 extend into the notch 25 of the claw changing assistant 104 until the fixing ring 23 on the claw connecting member 2 is sleeved on the claw changing assistant 104 on the fixing column 25, and then the controller controls the relevant circuit to make the mechanical arm 101 drive the arm connector 1 to move down slightly in the longitudinal direction, so that the first clamping block 8 compresses the ball screw 22 and leaves the groove of the installation cover 14, The controller then controls the related circuit to make the mechanical arm 101 apply a counterclockwise driving force to the arm connector 1. At this time, the claw connector 2 will not rotate with the arm connector 1 under the action of the fixed column 25, and the mechanical The driving force exerted by the arm 101 on the arm connector 1 is large enough so that the first engaging block 8 can be released from the locking force of the ball screw 22 and the adsorption force of the adsorption magnet 20, then the arm connector 1 carries the first clamping force. A snap block 8 rotates counterclockwise in the rotation slot 17, and rotates counterclockwise with the two positioning posts 12 in the positioning slot 18, so that the two electrical connection female terminals 10 on the first snap block 8 are connected to the rotation slot. The front ends of the two electrical connection male terminals 19 in 17 are no longer butted, so that the electrical connection between the mechanical arm 101 and the mechanical claw 102 is disconnected; during the rotation of the first engaging block 8, the first engaging block 8 leaves The ball screw 22 is removed, and the first clamping block 8 is released from the adsorption of the adsorption magnet 20 . After the first clamping block 8 is rotated until the magnetic induction sensor 11 on it is aligned with the trigger end of the in-position magnet 21, the magnetic induction sensor 11 sends a relevant signal in place to the controller. After the controller receives the signal, it controls the relevant circuit to make When the mechanical arm 101 drives the arm connecting member 1 to move away from the claw connecting member 2 longitudinally, the first clamping block 8 on the arm connecting member 1 leaves the rotation slot 17 from the clamping hole 15, and the two positioning posts 12 move from the positioning hole 16 leaves the positioning groove 18, that is, the first clamping block 8 and the second clamping block are separated from each other, and the separation between the mechanical arm 101 and the mechanical claw 102 is completed so far. Then, the above-mentioned installation process between the mechanical arm 101 and the mechanical claw 102 is repeated for the other mechanical claw 102 , so as to realize the replacement of the mechanical claw 102 .

Non-preferably, the mechanical structure of the arm connector 1 and the claw connector 2 can be interchanged, that is, the arm connector 1 is fixedly installed on the mechanical claw 102, and the claw connector 2 is fixedly installed on the mechanical arm. 101 , the same snap-connection function as in this embodiment can also be implemented in this way, which is not repeated here.

Example 2

Compared with the first embodiment, the mechanical arm 101 , the mechanical claw 102 and the claw changing auxiliary member 104 of the manipulator device in this embodiment are all the same, but the structure of the claw changing mechanism 103 is different.

In this embodiment, the claw changing mechanism 103, as shown in FIG. 7, includes an arm connecting member 1 and a claw connecting member 2, the arm connecting member 1 is fixedly installed on the mechanical arm 101, and the claw connecting member 2 is fixedly installed on the mechanical arm 101. On the claw 102, the arm connector 1, as shown in FIG. 8, includes a circular cover body 6 and a shaft column 7 provided at the bottom center of the cover body 6, the through hole 3 is opened on the cover body 6, and the shaft column There are three snap joints 26, 27, 28 laterally protruding from the side wall of 7 near the bottom end. Two conductive male terminals 29 protrude longitudinally downward from the bottom of the snap joint 26. The conductive male terminals 29 are specifically connected to the first snap joint 26 through a spring (not shown in the figure), which can be retracted under pressure and can rebound. Reset; two signal male terminals 30 protrude longitudinally downward from the bottom of the second card joint 27, and the signal male terminals 30 are specifically connected to the second card joint 27 through a spring (not shown in the figure), and the inner The bottom of the third snap joint 28 is provided with a magnetic induction sensor 11, and the trigger end of the magnetic induction sensor 11 faces downwards longitudinally; the bottoms of the three snap joints 26, 27, and 28 are each provided with an opening facing downward. Longitudinal dimples 9. As shown in FIG. 9 , a non-return motor 31 is provided on the arm connecting member 1, and a telescopic head 32 that can extend out of the shaft column 7 is provided on the non-return motor 31; An adsorption magnet 20 is installed on the top of each.

It can be seen from FIG. 2 that the top of the cover body 6 is provided with a wire hole 33, and the rear end of the conductive male terminal 29 shown in FIG. 8, the rear end of the signal male terminal 30 and the magnetic induction sensor 11 are all connected with wires (not shown in the figure). shown), these wires pass through the inside of the three snap joints 26, 27, 28 and the inside of the shaft column 7 respectively and then pass through the wire hole 33. Before the arm connector 1 is fixedly installed on the mechanical arm 101, shill These wires are connected to the robot arm 101 , so that the rear end of the conductive male terminal 29 is electrically connected to the robot arm 101 , the rear end of the signal male terminal 30 is electrically connected to the robot arm 101 , and the magnetic induction sensor 11 is electrically connected to the robot arm 101 . The conductive male terminal 29 uses its front end to connect with other conductive terminals to achieve electrical connection. The rear end of the conductive male terminal 29 specifically refers to the other end that is electrically connected to the front end, and the rear end can be set on the conductive male terminal 29 The signal male terminal 30 uses its front end to connect with other signal terminals to achieve electrical connection, and the rear end of the signal male terminal 30 specifically refers to the other end that is electrically connected to the front end, and the rear end can be located in the signal terminal. Any surface of the male terminal 30 .

As shown in FIG. 10 , the claw connector 2 includes a circular base 13 and three engaging grooves 34 provided on the base 13 . The three engaging grooves 34 are used as second engaging blocks and are circumferentially distributed on the base 13 At the position of three equal parts, and the grooves of the three snap slots 34 are diametrically opposite, and are aligned with the center of the base 13, the groove bottoms of the three snap slots 34 are arc-shaped and along the edge side of the base 13. A circular clamping space is formed; fixing rings 23 are provided on the opposite sides of the base 13 , and the fixing rings 23 are used to be sleeved on the fixing posts 25 of the claw changing assistant 104 shown in FIG. 6 . 10 and FIG. 11 , one end of the latching slot 34 is open in the counterclockwise direction to form the card interface 35 , and one end in the clockwise direction is closed to form the closed end 36 , and the lateral groove of the latching slot 34 is open. There is a lateral correction slope 37 protruding from the bottom toward the card interface 35. The lateral correction slope 37 faces the clip space. The position of the lower groove wall of the clip slot 34 close to the card interface 35 is set as the vertical correction slope 38. The longitudinal correction slope 38 faces the upper groove wall, and the ball screw 22 is installed on the lower groove wall of the snap groove 34 close to the closed end 36 of itself. There is a groove (not shown in the figure) at the position, and an iron block (not shown in the figure) is arranged in the groove; a conductive plate 39 is installed outside the notch of the first snap groove 34, and the conductive plate 39 is installed Two longitudinal conductive female terminals 40 are provided, and the anti-clockwise end of the conductive plate 39 is provided with a longitudinal guide and shrinking slope 41; There are two longitudinal signal female terminals 43 on the 42, and the anti-clockwise end of the signal board 42 is also provided with a longitudinal guide and shrinking slope 41; a magnet 21 is installed outside the notch of the third clamping slot 34. .

Both the rear end of the conductive female terminal 40 and the rear end of the signal female terminal 43 are connected with wires (not shown in the figure), and these wires pass out from the bottom of the base 13 through the interior of the base 13 . Before fixing the claw connector 2 on the mechanical claw 102, connect these wires to the mechanical claw 102, so that the rear end of the conductive female terminal 40 is electrically connected to the mechanical claw 102, and the rear end of the signal female terminal 43 is connected to the mechanical claw 102. The pawls 102 are electrically connected. The conductive female terminal 40 uses its front end to connect with the conductive male terminal 29 to achieve electrical connection, and the rear end of the conductive female terminal 40 specifically refers to the other end that is electrically connected to the front end, and the rear end can be set on the conductive female terminal. Any surface of 40; the signal female terminal 43 uses its front end to connect with the signal male terminal 30 to achieve electrical connection, and the rear end of the signal female terminal 43 specifically refers to the other end that is electrically connected to the front end. on either side of the signal female terminal 43 .

Non-preferably, the conductive male terminal 29 and the signal male terminal 30 can be arranged on the same card joint, and the conductive female terminal 40 and the signal female terminal 43 can be arranged on the same terminal board, so that the structure of a single card joint and a single terminal board quite complicated.

The robot arm 101 is electrically connected with a controller (not shown in the figure), and the controller is electrically connected to the conductive male terminal 29 , the signal male terminal 30 , the magnetic induction sensor 11 and the non-return motor 31 on the arm connector 1 via the robot arm 101 . When the manipulator 102 needs to be installed on the manipulator 101, the manipulator 102 is firstly placed on the gripper 104 by the gripper connector 2, and then the controller controls the relevant circuit to make the manipulator 101 drive the arm connector. 1 is longitudinally close to the claw connecting piece 2, until the shaft column 7 on the arm connecting piece 1 is located between the three snap grooves 34 on the claw connecting piece 2, and the first snap joint 26 is located in the first snap joint 26. In front of the card interface 35 of the connecting slot 34, the second card joint 27 is located in front of the card interface 35 of the second clipping slot 34, and the third card joint 28 is located in front of the card interface 35 of the third clipping slot 34; then The controller controls the relevant circuit to make the robotic arm 101 drive the arm connector 1 to rotate clockwise. At this time, the claw connector 2 will not rotate with the arm connector 1 under the action of the fixed column 25, then the arm connector 1 will have Rotate the three snap joints 26, 27, 28 clockwise, so that the three snap joints 26, 27, 28 are respectively transferred from the card interfaces 35 of the three snap slots 34 into the corresponding snap slots 34 until they turn to the card slots 34. The closed end 36 of the slot 34 is connected for snapping. In the process of the clamping joints 26, 27, 28 being rotated and clamped, the ball screw 22 on the lower groove wall of each clamping slot 34 is firstly compressed and compressed in the longitudinal direction by the clamping joints 26, 27, 28 until the clamping joints 26, 27 The dimples 9 at the bottom of 28 and 28 are respectively aligned with each ball screw 22, then the ball screw 22 will stick out and be stuck in the dimple 9 at the bottom of the card joints 26, 27, 28, so that the card joints 26, 27, 28 are upwardly Push into the grooves of the upper groove walls of each clamping slot 34, so that the clamping joints 26, 27, 28 are clamped in each clamping slot 34, and the pressing force generated by the ball screw 22 at this time locks the clamping connection. state, and the card joints 26, 27, 28 are stuck in the grooves, the adsorption magnets 20 on the card joints 26, 27, 28 suck the iron blocks in the grooves, so as to further lock the card joint state, so that the card joints 26, 27, 28 are not easy to loosen from the respective clamping grooves 34, so that the mechanical claw 102 is not easy to fall off from the mechanical arm 101; , the magnetic induction sensor 11 on the third card joint 28 is aligned with the in-position magnet 21 in front of the third clamping slot 34, then the magnetic induction sensor 11 sends a relevant signal to the controller for being in position, and the controller controls the relevant circuit accordingly. When the non-return motor 31 is activated, the non-return motor 31 drives the telescopic head 32 to extend out of the shaft column 7 so as to press against the closed end 36 of the third clamping slot 34. At this time, the telescopic head 32 and the third clamping The connecting grooves 34 are formed to block each other to prevent the release of the clamping, so that the clamping joints 26, 27, 28 and the three clamping grooves 34 will not be loosened, so that the mechanical claw 102 will not fall off from the mechanical arm 101, so far it is completed. With the installation between the robotic arm 101 and the robotic claw 102 , the controller can control the related circuit to make the robotic arm 101 move away from the claw changing assistant 104 with the robotic claw 102 to grab the object.

Non-preferably, the magnetic induction sensor 11 can be changed to other in-position switches, such as a pressure sensor, a limit switch, etc., which will not be described here.

After the installation between the manipulator 101 and the manipulator 102 is completed, the conductive male terminal 29 on the first card joint 26 and the front end of the conductive female terminal 40 on the conductive plate 39 are connected to each other, and the signal on the second card joint 27 The male terminal 30 and the front end of the signal female terminal 43 on the signal board 42 are butted with each other, so that the electrical connection between the mechanical arm 101 and the mechanical claw 102 is completed along the way, so that there is no need to install and remove the connecting wire between the mechanical arm 101 and the mechanical claw 102. , so that the loading and unloading time of the manipulator equipment is short.

In the conventional claw changing mechanism, the conductive male terminal and the signal male terminal cannot be compressed. In this way, during the process that the clip joint is respectively transferred into the three clip slots for clip joint, if there is a gap between the arm connector and the claw connector. If the vertical distance is too close, the electrical male terminal and the signal male terminal will be crushed. In this embodiment, the conductive male terminal 29 and the signal male terminal 30 are compressed inwardly and can be resiliently reset. In this way, the above-mentioned snap connectors 26 , 27 , and 28 are respectively transferred into the three snap-fit slots 34 for snap-fit. If the longitudinal distance between the arm connector 1 and the claw connector 2 is too short, the conductive male terminal 29 and the signal male terminal 30 will be compressed by the claw connector 2 first, so that they will not be crushed. During the rotation, the conductive male terminal 29 moves to the conductive female terminal 40 along the guide and retraction slope 41 of the conductive plate 39, and the signal male terminal 30 moves to the signal female terminal 43 along the guide and retraction slope 41 of the signal plate 42. During this process The middle conductive male terminal 29 and the signal male terminal 30 are further compressed until the clip joints 26, 27, 28 are respectively clipped with the three clip slots 34, the conductive male terminal 29 is aligned with the conductive female terminal 40, and the signal male terminal 30 Align the signal female terminal 43, at this time the conductive male terminal 29 is butted with the front end of the conductive female terminal 40 under the action of the elastic restoring force, and the signal male terminal 30 and the front end of the signal female terminal 43 are butted with each other under the action of the elastic restoring force, thereby The mechanical arm 101 and the mechanical claw 102 are electrically connected to each other in this state. Therefore, the distance between the arm connecting member 1 and the claw connecting member 2 does not need to be completely precisely controlled, so that the claw changing mechanism 103 has low requirements on the control accuracy of the manipulator equipment and high applicability.

After the above-mentioned arm connector 1 is longitudinally approaching the claw connector 2, if the shaft column 7 is not completely aligned with the center of the base 13, there will be a transverse direction between the snap joints 26, 27, 28 and the three snap slots 34. (Because the base 13 is circular, and the three snap grooves 34 are circumferentially distributed on three equal positions of the base 13, the transverse direction is equivalent to the radial direction) There is a positional deviation, then the snap joints 26, 27, 28 During the process of turning into the clip slot 34 for clipping, the clip joint located in the deviation direction of the shaft column 7 will be guided by the lateral correction slope 37 and turn into the clip slot 34 , that is, the lateral correction slope 37 is opposite to the shaft column 7 . The lateral positions of the clip joints 26, 27, and 28 are relatively fine-tuned laterally, so that the lateral positions between the arm connector 1 and the claw connector 2 are relatively fine-tuned laterally, so that the shaft column 7 at the center of the quasi-base 13 . Therefore, even if there is a positional deviation in the lateral direction between the snap joints 26 , 27 , 28 and the three snap grooves 34 after the arm link 1 is made longitudinally close to the claw link 2 , at the snap joints 26 , 27 , 28 During the process of turning into the three clamping slots 34 for clamping, the lateral correction slopes 37 can also be used to fine-tune the lateral positions of the clamping joints 26 , 27 and 28 so as to smoothly clamp. Therefore, the lateral position between the arm connecting member 1 and the claw connecting member 2 does not need to be completely precisely controlled, so that the claw changing mechanism 103 has low requirements on the control accuracy of the manipulator equipment and high applicability.

After the above-mentioned arm connector 1 is longitudinally close to the claw connector 2, if the shaft column 7 is too close to the base 13, the card joints 26, 27, 28 are not completely aligned with the card interfaces 35 of the three clip slots 34. There is a positional deviation in the longitudinal direction between the joints 26 , 27 , 28 and the three clamping grooves 34 , then when the clamping joints 26 , 27 , 28 are respectively transferred into the three clamping grooves 34 for clamping, the clamping joints 26 , 27 , and 28 are guided by the longitudinal correction inclined surface 38 and turned into the clamping slot 34 , that is, the longitudinal correction inclined surface 38 can relatively fine-tune the longitudinal positions of the shaft column 7 and the clamping joint 26 , so that the arm connecting member 1 and the claw connecting piece 2 are laterally relatively fine-tuned. Therefore, after the arm connecting piece 1 is made longitudinally close to the claw connecting piece 2, even if the clip joints 26, 27, 28 are connected to the three clip joints. There is a positional deviation in the longitudinal direction between the connecting grooves 34. In the process of turning the card joints 26, 27, 28 into the three clipping grooves 34 for clipping, the vertical correction slope 38 can also be used to adjust the clip joints 26, 27. , 28 to fine-tune the vertical position for smooth snapping. Therefore, the longitudinal distance between the arm connecting member 1 and the claw connecting member 2 does not need to be completely precisely controlled, so that the claw changing mechanism has low requirements on the control precision of the manipulator equipment and high applicability. In addition, as shown in FIG. 10 , the position on the upper groove wall of the snap-fit slot 34 close to the snap-on interface 35 can also be set as the longitudinal correction slope 44 . In this way, after the arm connector 1 is moved to the claw connector 2 , if the shaft column 7 is too far away from the base 13 so that the card joints 26, 27, 28 are not completely aligned with the card interface 35 of the three clip slots 34, then the clip joints 26, 27, 28 are respectively transferred into the three clip slots 34 for snap-on process, the snap joints 26, 27, 28 will be guided by the longitudinal correction inclined surface 44 located on the upper groove wall and turned into the clamping groove 34, that is, the longitudinal correction inclined surface 44 located on the upper groove wall is also The longitudinal positions of both the shaft column 7 and the snap joints 26, 27, 28 can be finely adjusted.

When the manipulator 102 needs to be replaced, the controller controls the relevant circuit to make the manipulator 101 and the manipulator 102 extend into the notch 25 of the claw changing assistant 104 until the fixing ring 23 on the claw connecting member 2 is sleeved on the claw changing assistant 104 on the fixed column 25, and then the controller controls the relevant circuit to make the non-return motor 31 drive the telescopic head 32 to retract, so as to no longer form a mutual block with the third clamping slot 34, and then the controller controls the relevant circuit to make the mechanical arm 101. Drive the arm connector 1 to move down slightly in the longitudinal direction, so that the snap joints 26, 27, 28 compress the three ball screws 22 and leave the grooves on the upper slot wall of the snap slot 34. The controller controls the related circuit to make the robotic arm 101 applies a counterclockwise driving force to the arm connector 1. At this time, the claw connector 2 will not rotate with the arm connector 1 under the action of the fixed column 25, and the mechanical arm 101 applies the arm connector 1. The driving force is large enough so that the card joints 26, 27, 28 can be released from the locking force of the ball screw 22 and the suction force of the suction magnet 20, then the arm connector 1 carries the card joints 26, 27, 28 counterclockwise Rotate so that the conductive male terminal 29 on the first card connector 26 is separated from the conductive female terminal 40 on the conductive plate 39, and the signal male terminal 30 on the second card connector 27 is separated from the signal female terminal 43 on the signal board 42. The magnetic induction sensors 11 on the three snap joints 28 are no longer aligned with the magnets 21 in place, thereby disconnecting the electrical connection between the mechanical arm 101 and the mechanical claw 102; during the rotation of the snap joints 26, 27, and 28, the snap joints 26 , 27 and 28 are separated from the ball screw 22, and the adsorption magnets 20 on the card joints 26, 27 and 28 are separated from the iron blocks on the clip slot 34 until the clip joints 26, 27 and 28 are separated from the three clip slots 34 respectively. After the card interface 35 is turned out, the controller controls the relevant circuit to make the mechanical arm 101 drive the arm connecting member 1 to move away from the claw connecting member 2 longitudinally, and the shaft column 7 on the arm connecting member 1 carries the card joints 26, 27, 28 leaves the base 13, so far the separation between the mechanical arm 101 and the mechanical claw 102 is completed. Then, the above-mentioned installation process between the mechanical arm 101 and the mechanical claw 102 is repeated for the other mechanical claw 102 , so as to realize the replacement of the mechanical claw 102 .

Non-preferably, the mechanical structure of the arm connector 1 and the claw connector 2 can be interchanged, that is, the arm connector 1 is fixedly installed on the mechanical claw 102, and the claw connector 2 is fixedly installed on the mechanical arm. 101 , the same snap-connection function as in this embodiment can also be implemented in this way, which is not repeated here.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, but not to limit the protection scope of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that , the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present application.

Claims (11)

1. The claw changing mechanism that automatically corrects the lateral deviation includes two connectors that are fixedly installed on the mechanical arm and the mechanical claw, respectively. The two connectors are relatively close to each other in the longitudinal direction for clamping, and the first connector has a connecting block, the second connecting piece is provided with a second clamping block, and the first and second connecting pieces move laterally relative to each other to make the first and second clamping blocks move laterally and clamped. The card interface of the connecting block is provided with a lateral correction slope, the first and second connecting pieces are guided by the horizontal correction slope during the above-mentioned lateral relative movement, and the positions are relatively fine-tuned horizontally to make the first and second connecting blocks aligned with each other. 2. The claw changing mechanism for automatically correcting lateral deviation according to claim 1, wherein the lateral relative movement made by the first and second connecting pieces is specifically lateral relative rotation, and the lateral relative fine-tuning is specifically radial relative movement. Fine tune. 3 . The claw changing mechanism for automatically correcting lateral deviation according to claim 2 , wherein: there are at least two groups of the first and second engaging blocks that are engaged with each other, and the engaging blocks of each group are distributed around the circumference. 4 . 4 . The claw changing mechanism for automatically correcting lateral deviation according to claim 1 , wherein the first clamping block is a laterally protruding clamping joint, the second clamping block is a clamping groove, and the first clamping block is a clamping groove. 5 . 1. The above-mentioned lateral relative movement of the second connecting piece makes the clamping joint enter into the clamping groove laterally for clamping. 5 . The claw changing mechanism for automatically correcting lateral deviation according to claim 4 , wherein the lateral correcting slope is provided on the second connecting piece. 6 . 6 . The claw changing mechanism for automatically correcting longitudinal deviation according to claim 5 , wherein the guiding is specifically: the first clamping block is guided by the lateral correction slope. 7 . 7. The claw-changing mechanism for automatically correcting lateral deviation according to claim 1, characterized in that it comprises a claw-changing auxiliary part used during claw-changing, and the second connecting part and the claw-changing auxiliary part are detachably fixed to each other. , the second connecting piece is fixed on the claw changing auxiliary piece so as not to follow the first connecting piece for lateral movement when changing the claw. 8. The claw-changing mechanism for automatically correcting lateral deviation according to claim 7, wherein the claw-changing auxiliary is provided with a notch for accommodating the insertion of the second connecting piece, and the claw-changing auxiliary is respectively located in the notch. Two fixing posts protrude upward on both sides, and two fixing rings are respectively provided on both sides of the second connecting piece. 9. The claw changing mechanism for automatically correcting lateral deviation according to any one of claims 4 to 8, wherein the first connecting piece is a connecting piece fixedly installed on the mechanical arm, and the second connecting piece It is a connecting piece that is fixedly installed on the mechanical claw. 10. The claw-changing mechanism for automatically correcting lateral deviation according to claim 9, wherein the claw-changing auxiliary is provided with at least two installation positions, and different installation positions are used to fix the second claw with different mechanical claw. connector. 11. A manipulator device, comprising a manipulator arm and a manipulator claw, further comprising the claw change mechanism according to any one of claims 1 to 10, wherein the manipulator claw is mounted on the manipulator arm by using the claw change mechanism.

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