CN112026458A - Transport robot, locking mechanism and passive end assembly - Google Patents
Transport robot, locking mechanism and passive end assembly Download PDFInfo
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- CN112026458A CN112026458A CN202010723269.8A CN202010723269A CN112026458A CN 112026458 A CN112026458 A CN 112026458A CN 202010723269 A CN202010723269 A CN 202010723269A CN 112026458 A CN112026458 A CN 112026458A
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- limiting
- seat
- passive end
- holding claws
- assembly
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D1/24—Traction couplings; Hitches; Draw-gear; Towing devices characterised by arrangements for particular functions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60D—VEHICLE CONNECTIONS
- B60D1/00—Traction couplings; Hitches; Draw-gear; Towing devices
- B60D2001/001—Traction couplings; Hitches; Draw-gear; Towing devices specially adapted for use on vehicles other than cars
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Abstract
The invention discloses a transport robot, a locking mechanism and a passive end component, wherein the passive end component comprises a first seat body, a plurality of holding claws arranged on the first seat body, an elastic tension component and a limiting component; the plurality of holding claws are rotatably arranged on the first seat body and are also connected with the first seat body through elastic tension pieces so as to form an open state through the elastic tension pieces, and limiting holes which can be matched with the limiting assembly are formed in the outer surfaces of the plurality of holding claws; the holding claws are mutually folded under a first acting force, so that the limiting assembly is embedded into the limiting hole to be matched with the limiting hole to rotationally limit the holding claws. Through the mode, the invention can improve a good connection mode.
Description
Technical Field
The invention relates to the field of connection, in particular to a transport robot, a locking mechanism and a passive end assembly.
Background
In the mechanical field, in particular, a mechanical connection device is generally adopted for connection between self-reconfigurable robots, and an active connection part is mainly provided on one robot, a passive connection part is provided on another robot, and then the active connection part and the passive connection part are matched to be connected, so that a plurality of robots are connected.
The existing connecting device is generally connected through a buckle, the stability of the connecting mode is poor, and mechanical fatigue of the two connecting parts is easily caused.
Disclosure of Invention
The invention provides a transport robot, a locking mechanism and a passive end assembly, which aim to solve the problem of poor connection mode in the prior art.
In order to solve the technical problems, the invention adopts a technical scheme that: providing a passive end part, which is characterized in that the passive end part comprises a first seat body, and a plurality of holding claws, elastic tension parts and limiting assemblies which are arranged on the first seat body; the plurality of holding claws are rotatably arranged on the first seat body, are connected with the first seat body through the elastic tension piece to form an open state through the elastic tension piece, and are provided with limiting holes matched with the limiting assembly on the outer surfaces; the plurality of holding claws are mutually folded under a first acting force, so that the limiting assembly is embedded into the limiting hole to be matched with the limiting hole to limit the rotation of the plurality of holding claws.
According to an embodiment of the present invention, the limiting assembly is further configured to disengage from the limiting hole under a second acting force to release the rotational limitation on the plurality of clasps, so that the plurality of clasps can be opened by the elastic pulling force of the elastic pulling member.
According to an embodiment of the present invention, the passive end part further includes a driving assembly connected to the limiting assembly, and the driving assembly is configured to drive the limiting assembly to disengage from the limiting hole to release the rotational limitation of the plurality of clasps.
According to an embodiment provided by the invention, the limiting assembly comprises an elastic thrust piece, a fixed seat and a limiting top block, wherein the fixed seat and the limiting top block are mutually nested in a sliding manner;
the fixing seat and the limiting ejector block are enclosed to form a sliding cavity, the elastic thrust piece is arranged in the sliding cavity, and the fixing seat further comprises a through hole communicated with the sliding cavity.
According to an embodiment of the present invention, the driving assembly includes a driving member and a driving wire connected to an output end of the driving member, and the driving wire is inserted into the through hole and connected to the limit top block.
According to an embodiment provided by the invention, the limiting top block comprises a limiting seat and a limiting column arranged on the limiting seat, and the limiting column can be matched with the limiting hole for limiting; wherein, spacing seat is including keeping away from the first spout of spacing post, the fixing base includes the second spout, spacing seat slips to inlay and locates in the second spout or the fixing base slips to inlay and locates in the first spout so that first spout and second spout form the slip chamber.
According to an embodiment of the present invention, the passive end component further includes a U-shaped seat of a holding claw disposed on the first seat body, the holding claw is rotatably disposed in the U-shaped seat of the holding claw, the holding claw is further provided with a limiting member, and the limiting member is matched with the U-shaped seat of the holding claw to limit an opening range of the holding claw.
According to an embodiment of the present invention, the passive end part further includes a guide cylinder located on a side of the plurality of clasps away from the first seat, and the guide cylinder is fixed to the first seat through a fixing column.
In order to solve the technical problems, the invention adopts a technical scheme that: providing a locking mechanism comprising an active end component and a passive end component according to any of the above; the driving end part comprises a second seat body and a connecting part arranged on the second seat body in a sliding manner, and the connecting part comprises a spherical connecting rod; the plurality of holding claws are mutually folded under the first acting force of the spherical connecting rod and embrace the spherical connecting rod, so that the limiting component can be embedded into the limiting hole to be matched with the limiting hole to carry out rotation limiting on the plurality of holding claws.
According to an embodiment of the present invention, the connecting portion further includes a pushing portion, and the pushing portion includes a pushing member coaxial with the spherical connecting rod and slidably disposed in the spherical connecting rod; the limiting assembly is separated from the limiting hole under the second acting force of the abutting part so as to relieve the rotation limitation on the holding claws, so that the holding claws can be mutually opened under the elastic pulling force of the elastic pulling force part.
According to an embodiment of the present invention, the second seat includes: a first side support; the second side support is arranged at an interval with the first side support; the lead screw is arranged between the first side support and the second side support; the two sliding shafts are arranged between the first side support and the second side support, are respectively positioned on two sides of the screw rod and are parallel to the screw rod; and the first rotating motor is connected with the screw rod through a coupler.
According to an embodiment of the present invention, the connecting portion includes a lead screw fixing block sleeved on the lead screw and the two sliding shafts, the spherical connecting rod is slidably disposed through the first side support, and one end of the spherical connecting rod is fixed to the lead screw fixing block; the pushing part further comprises a second rotating motor arranged on the lead screw fixing block and a gear arranged on the second rotating motor, and the pushing part further comprises a rack matched with the gear.
In order to solve the technical problems, the invention adopts a technical scheme that: there is provided a transport robot comprising a passive end piece according to any of the preceding claims or a locking mechanism according to any of the preceding claims.
Has the advantages that: be different from prior art, through providing a transport robot, locking mechanism and passive end subassembly, this locking mechanism includes initiative end part and passive end part, and a plurality of claws of embracing of passive end part draw in each other and embrace the spherical connecting rod each other under the first effort of initiative end part to make spacing subassembly inlay in spacing hole with spacing hole cooperation to embracing the claw and rotate spacing. Thereby completing the locking of the active end part and the passive end part. And further, the limiting mode of the limiting assembly and the limiting hole enables the limiting assembly to be aligned accurately with the limiting hole, errors are not prone to occurring, the structure is simple, the matching is stable, and the sliding-out is not prone to occurring. Can carry out good rotatory spacing to a plurality of claws of embracing. Thereby enabling the whole passive end part and the active end part to achieve a stable locking state.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a passive end piece provided by the present invention;
FIG. 2 is an exploded schematic view of the passive end piece of FIG. 1;
FIG. 3 is a schematic structural view of another embodiment of a passive end piece provided by the present invention;
FIG. 4 is a schematic view of another angled configuration of the passive end piece of FIG. 3;
FIG. 5 is a schematic view of an alternate angle of the passive end piece of FIG. 3;
fig. 6 is a schematic structural view of the passive end member shown in fig. 3 with the first seat removed;
FIG. 7 is a schematic structural view of another embodiment of a passive end piece provided by the present invention;
FIG. 8 is a schematic view of an alternate angle configuration of the passive end piece of FIG. 7;
FIG. 9 is a schematic view of the structure of the embracing claw U-shaped seat in the passive end part shown in FIG. 3;
FIG. 10 is a schematic structural view of a locking mechanism provided by the present invention in a disengaged state;
FIG. 11 is a schematic structural view of a locking mechanism provided by the present invention in a locked state;
FIG. 12 is a schematic view of the active end piece of the locking mechanism of FIG. 10;
FIG. 13 is a schematic view of the locking mechanism of FIG. 10 engaged in a disengaged condition;
FIG. 14 is a schematic view of the locking mechanism of FIG. 13 engaged when the locking mechanism is in a locked condition;
FIG. 15 is a schematic view of the locking mechanism of FIG. 14 reengaged to the disengaged position;
fig. 16 is a schematic structural diagram of a transport robot provided by the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 16, the present invention provides a passive end component 10, wherein the passive end component 10 includes a first base 100, a plurality of claws 200, an elastic pulling member 300, and a position-limiting assembly 400. The clasps 200, the elastic tension member 300 and the position limiting assembly 400 are disposed on the first seat 100.
Optionally, the plurality of clasps 200 are rotatably disposed on the first seat 100, and the plurality of clasps 200 may further be connected to the first seat 100 through the elastic tension member 300, and further may form an open state through the elastic tension member 300, and optionally, the elastic tension provided by the elastic tension member 300 is parallel to a rotation plane of the clasps 200, so that the elastic tension member 300 may drive the clasps 200 to rotate by providing the elastic tension, and further, the plurality of clasps 200 may form an open state. Optionally, the outer surface of the plurality of clasps 200 is provided with a limiting hole 210 which can be matched with the limiting assembly 400.
Optionally, the plurality of holding claws 200 may be configured to be mutually folded under a first acting force, so that the limiting assembly 400 may be inserted into the limiting hole 210, and cooperate with the limiting hole 210 to rotationally limit the plurality of holding claws 200, so that the plurality of holding claws 200 may maintain a continuous folded state.
In the above embodiment, by providing a passive end component 10, the passive end component 10 includes a first seat 100, a plurality of clasps 200, an elastic pulling member 300, and a limiting assembly 400. The holding claws 200 can be mutually folded under the first acting force, and the limiting component 400 can be embedded into the limiting hole 210 and is matched with the limiting hole 210 to rotationally limit the holding claws 200, so that the holding claws 200 can be kept in a continuously folded state. So that the collected objects between the holding claws 200 can be clamped.
Optionally, the clasping claws 200 may be arc-shaped members, and include an inner arc surface and an outer arc surface, and the elastic tension member 300 connects the outer arc surface of the clasping claw 200 with the first seat 100, so that the clasping claws 200 rotate outwards under the elastic tension of the elastic tension member 300, and thus the clasping claws 200 form an open state. The first acting force can be specifically applied to the inner arc surface, so as to overcome the elastic pulling force of the elastic pulling force piece 300, so that the holding claws 200 rotate inwards, that is, the plurality of holding claws 200 are mutually folded, and the inner arc surfaces and the extension surfaces of the plurality of holding claws 200 form a folding cavity, so that folded objects in the folding cavity can be clamped. And because the limiting component 400 is embedded into the limiting hole 210 to limit the rotation of the plurality of holding claws 200, after the first acting force is removed, the plurality of holding claws 200 cannot be mutually opened under the elastic tension of the elastic tension member 300 due to the limitation of the rotation, so that the plurality of holding claws 200 can continuously keep the furled state to clamp the furled object.
In an alternative embodiment, the elastic tension member 300 may be an elastic tension spring. The number of the holding claws 200 can be four, and the holding claws are arranged around the axis of the furling cavity, and further, two adjacent holding claws 200 of the same holding claw 200 are symmetrically arranged along the axis of the furling cavity. In other embodiments, the number of clasps 200 may be other, and is not limited herein.
In an alternative embodiment, the limiting assembly 400 may be further configured to disengage from the limiting hole 210 under the second acting force, so as to release the rotational limitation on the plurality of clasps 200, such that the plurality of clasps 200 can be opened by the elastic tension of the elastic tension member 300. Namely, the furling cavity formed by the holding claws 200 is opened, so that the furled objects in the furling cavity can move freely, namely, the clamping of the furled objects is released.
As shown in fig. 4, the passive end part 10 further includes a driving assembly 500 connected to the limiting assembly 400, wherein the driving assembly 500 is used for driving the limiting assembly 400 to disengage from the limiting hole 210, thereby releasing the rotational limitation on the plurality of clasps 200. That is, optionally, a second force may be provided by the drive assembly 500 such that the spacing assembly 400 may translate and disengage the spacing aperture 210.
As shown in fig. 2 and 13, the limiting assembly 400 includes an elastic thrust member 410, a fixing seat 420 and a limiting top block 430. The fixing base 420 and the limiting top block 430 are nested in a sliding manner, a sliding cavity is formed by the fixing base 40 and the limiting top block 430 in a surrounding manner, the elastic thrust piece 410 is arranged in the sliding cavity, and two ends of the elastic thrust piece 410 are respectively abutted against the fixing base 420 and the limiting top block 430. The fixing base 420 is fixed on the first base 100, and the fixing base 420 further includes a through hole communicating with the sliding cavity.
The relative sliding direction between the fixed seat 420 and the limit top block 430 is perpendicular to the plane where the rotating shafts of the holding claws 200 are located.
As shown in fig. 4, the driving assembly 500 includes a driving member 510 and a driving wire 520 connected to an output end of the driving member 510, wherein the driving wire 520 penetrates through the through hole and is connected to the limit top block 430. Optionally, the driving element 510 may be a rotating motor, and the driving assembly 500 may further include a wire spool 530, the wire spool 530 is disposed at an output end of the driving element 510, the driving wire 520 is wound on the wire spool 530, and one end of the driving wire is fixedly connected to the wire spool 530, and the other end of the driving wire is fixedly connected to the limit top block 430.
As shown in fig. 6, the top block 430 includes a seat 431 and a post 432 disposed on the seat 431, and the post 432 is capable of engaging with the hole 210 for limiting. Optionally, the number of the limiting posts 432 matches the number of the limiting holes 210.
The position-limiting seat 431 includes a first sliding groove (not shown) far away from the position-limiting post 432, the fixing seat 420 includes a second sliding groove, and the position-limiting seat 431 is slidably embedded in the second sliding groove, or the fixing seat 420 is slidably embedded in the first sliding groove, so that the first sliding groove and the second sliding groove form a sliding cavity. That is, the position-limiting bases 431 can be slidably inserted into the second sliding grooves of the fixing bases 420, or the fixing bases 420 are slidably inserted into the first sliding grooves of the position-limiting bases 431 to slidably insert into each other. Are not particularly limited herein.
In the above embodiments, the limit seat 431 is slidably inserted into the second sliding slot of the fixing seat 420, or the fixing seat 420 is slidably inserted into the first sliding slot of the limit seat 431. Therefore, the stability of the horizontal movement of the limiting seat 431 can be ensured, the left-right shaking cannot occur, and the dislocation phenomenon cannot easily occur when the limiting seat is matched with the limiting hole 210.
Optionally, the limiting top block 430 is located on one side of the plurality of holding claws 200 facing the first holder 100. In a specific scenario, when the plurality of holding claws 200 are in an open state, the plurality of holding claws 200 can abut against the limiting seat 431, and the limiting hole 210 on the holding claw 200 is not located in the translation direction of the limiting column 432, so that the limiting top block 430 cannot limit the plurality of holding claws 200. When the holding claws 200 are in a closed state, the holding claws 200 can release the abutting against the limiting seat 431, and the limiting hole 210 on the holding claw 200 is located in the translation direction with the limiting post 432, so that the limiting top block 430 translates towards the holding claws 200 under the action of the elastic thrust piece 410 and the limiting post 432 enters the limiting hole 210 of the holding claw 200 to elastically abut against the holding claws 200, thereby completing the rotation limiting of the holding claws 200.
In another scenario, the driving member 510 controls the wire spool 530 to rotate by rotation, so as to drive the driving wire 520 to take up the wire, so that the driving wire 520 is tightened and pulls the limiting top block 430 to move horizontally in a direction away from the plurality of holding claws 200, and thus the limiting post 432 of the limiting top block 430 is disengaged from the limiting hole 210. When the plurality of holding claws 200 are opened under the elastic tension of the elastic tension member 300, the driving member 510 further drives the driving wire 520 to pay off, so that the driving wire 520 enters a loose state, and the free translation of the limiting top block 430 is not affected, thereby ensuring that the limiting top block 430 can still freely translate under the action of the elastic thrust member 410 and limit the plurality of holding claws 200 in the next folding process of the plurality of holding claws 200.
As shown in fig. 5, the passive end component 10 further includes a claw-holding U-shaped seat 110 disposed on the first seat 100, the claw 200 is rotatably disposed in the claw-holding U-shaped seat 110 through a claw-holding rotating shaft 230, a limiting member 220 is further disposed on the claw 200, and the limiting member 220 cooperates with the claw-holding U-shaped seat 110 to limit the opening range of the claw. As shown in fig. 9, optionally, the holding claw U-shaped seat 110 includes a bottom plate 111 and two side plates 112 disposed on the bottom plate 111, the two side plates 112 are disposed opposite to each other and form a rotating slot, and the holding claw 200 is disposed in the rotating slot and rotatably disposed with the two side plates 112 through a rotating shaft, so that the holding claw 200 can rotate in the rotating slot. The holding claw 200 is further provided with a limiting member 220, and the limiting member 220 abuts against the holding claw U-shaped seat 110 when the holding claw 200 is opened to a certain extent, so that the holding claw 200 cannot rotate outwards, and the opening extent of the holding claw 200 is limited.
As shown in fig. 1, fig. 7 and fig. 8, the passive end part 10 further includes a guide cylinder 130 located on a side of the plurality of clasps 200 away from the first seat 100, and the guide cylinder 130 is fixed to the first seat 100 by a fixing column 140. Optionally, the guide cylinder 130 may be a tapered guide hole, that is, the guide cylinder includes an outer opening and an inner opening, and the outer opening is larger than the inner opening. The passive end part 10 further includes a housing 150, the first seat 100, the plurality of clasps 200, the elastic tension member 300, the limiting assembly 400 and the driving assembly 500 are all located in the housing 150, the outer opening of the guide cylinder 130 is located outside the housing 150, and the inner opening of the guide cylinder 130 is located inside the housing 150 and corresponds to the openings of the plurality of clasps 200.
The present invention also provides a locking mechanism 1, as shown in fig. 10-15, the locking mechanism 1 comprising an active end piece 20 and a passive end piece 10 according to any of the embodiments described above. The driving end part 20 includes a second base 600 and a connecting part 700 slidably disposed on the second base 600, and the connecting part 700 includes a spherical connecting rod 710.
The holding claws 200 are mutually folded under the first acting force of the spherical connecting rod 710 and embrace the spherical connecting rod 710, so that the limiting component 400 can be elastically embedded into the limiting hole 210 to cooperate with the limiting hole 210 to limit the rotation of the holding claws 200.
Optionally, the connecting portion 700 and the second seat 600 slide relatively, and the spherical connecting rod 710 on the connecting portion 700 may sequentially pass through the openings of the guide cylinder 130 and the plurality of clasps 200 and abut against the inner surfaces of the plurality of clasps 200, so that the plurality of clasps 200 begin to be folded and clasp the spherical connecting rod 710, and the limiting assembly 400 may be elastically embedded into the limiting hole 210 to cooperate with the limiting hole 210 to limit the rotation of the plurality of clasps 200, thereby locking the whole driving end component 20 and the driven end component 10 with each other.
In an alternative embodiment, the spherical connecting rod 710 includes a connecting rod 711 and an abutting ball 712 disposed at an end of the connecting rod 711, and an outer surface of the abutting ball 712 and an inner surface of the plurality of clasps 200 are engaged with each other, so that the plurality of clasps 200 can lock the abutting ball 712 well when in the folded state. And because the abutting ball 712 is a spherical structure, when the abutting ball is matched with a plurality of holding claws 200, a spherical universal joint can be formed, namely, the abutting ball can freely rotate by taking the length direction of the connecting rod 711 as an axis. So that the active end part 20 and the passive end part 10 can be freely rotated after being locked, thereby providing flexibility of the whole device.
In the above embodiment, by providing the guide cylinder 130, a high tolerance characteristic of the docking position can be realized, that is, in a complex environment, the driving end part 20 can also control the spherical connecting rod 710 to enter between the plurality of holding claws 200 through the guide cylinder 130, so as to complete locking with the plurality of holding claws 200, thereby reducing the positioning accuracy requirements of both sides, and further being applicable to more application environments.
In the above embodiment, by providing a locking mechanism 1, the locking mechanism 1 includes an active end component 20 and a passive end component 10, the plurality of holding claws 200 of the passive end component 10 are mutually folded and embrace the spherical connecting rod 710 under the first acting force of the active end component 20, so that the limiting component 400 can be embedded into the limiting hole 210 to cooperate with the limiting hole 210 to limit the rotation of the plurality of holding claws 200. Thereby, the locking of the active end piece 20 with the passive end piece 10 can be accomplished. Furthermore, the limiting mode of the limiting component 400 and the limiting hole 210 enables the limiting component 400 to be aligned with the limiting hole 210 accurately, errors are not prone to occurring, the structure is simple, the matching is stable, and the sliding-out is not prone to occurring. The plurality of holding claws 200 can be well limited in rotation. Thereby enabling the entire passive end part 10 and the active end part 20 to achieve a stable locked state.
The connecting portion 700 further includes a pushing portion 720, and the pushing portion 720 includes a pushing member 721 coaxial with the ball-shaped connecting rod 710 and slidably disposed in the ball-shaped connecting rod 710. The limiting assembly 400 is translated under the second acting force of the pushing part 721 and separated from the limiting hole 210 to release the rotational limitation of the plurality of clasps 200, so that the plurality of clasps 200 can be opened by the elastic pulling force of the elastic pulling part 300.
In an alternative embodiment, the plurality of clasps 200 are spaced apart and form a pushing groove that communicates with the gathering chamber and the spacing assembly 400. The spherical connecting rod 710 includes a sliding groove arranged along the length direction, the pushing part 721 is slidably arranged in the sliding groove, i.e. can slide relative to the spherical connecting rod 710, when the spherical connecting rod 710 is locked with the plurality of clasping claws 200, the pushing part 721 can slide relative to the spherical connecting rod 710 and abut against the limiting component 400 after abutting against the pushing groove, so as to apply a second acting force to the limiting component 400, so that the limiting component 400 can be separated from the limiting hole 210, and thus the clasping claws 200 can be opened under the elastic pulling force of the elastic pulling force member 300. And then the locking of the spherical connecting rod 710 is released, so that the spherical connecting rod 710 can freely leave from among the holding claws 200.
As shown in fig. 12, the second base 600 includes a first side support 610, a second side support 620, a lead screw 630, two sliding shafts 640, and a first rotating motor 650. The first side support 610 and the second side support 620 are oppositely disposed at an interval, and the screw 630 is disposed between the first side support 610 and the second side support 620 and can rotate relative to the first side support 610 and the second side support 620. Two sliding shafts 640 are disposed between the first side support 610 and the second side support 620, and are respectively located at two sides of the screw 630 and parallel to the screw 630; the first rotating motor 650 is connected to the lead screw 630 through a coupling 651. Optionally, the second seat 600 further includes a motor fixing seat 660, and the first rotating electrical machine 650 is disposed on the motor fixing seat 660.
The connecting part 700 comprises a lead screw fixing block 730 sleeved on the lead screw 630 and the two sliding shafts 640, the spherical connecting rod 710 is slidably arranged through the first side support 610, and one end of the spherical connecting rod 710 is fixed on the lead screw fixing block 730; the pushing part 720 further includes a second rotating motor 722 disposed on the lead screw fixing block 730, and a gear 723 disposed at an output end of the second rotating motor 722, and the pushing part 721 further includes a rack 724 engaged with the gear 723.
In the above embodiment, the sliding shafts 640 are disposed on two sides of the lead screw 630 in parallel, which is beneficial to enhancing the stability of the lead screw fixing block 730 when sliding relative to the lead screw 630.
The locking and detaching process is discussed in relation to the above structure:
as shown in fig. 13 and 14, the locking process:
the first rotating motor 650 of the driving end member 20 drives the lead screw 630 to rotate through the coupling 651, so that the lead screw fixing block 730 sleeved on the lead screw 630 moves towards the passive end part 10 along the length direction of the lead screw 630, thereby driving the ball connecting rod 710 to enter between the clasps 200 of the passive end member 10 via the guiding cylinder 130, and then the abutting ball 712 of the ball connecting rod 710 abuts against the inner surface of the clasps 200 and continuously applies the first acting force, so that the plurality of holding claws 200 overcome the elastic tension of the elastic tension member 300 and begin to gather, and then the whole abutting ball 712 is clasped, and then, the top block 430 is translated towards the plurality of clasps 200 under the action of the elastic thrust piece 410 and makes the limiting column 432 enter the limiting hole 210 of the clasps 200, so as to elastically abut against the plurality of clasps 200, thereby completing the rotation limitation of the plurality of clasps 200. At this time, even if the abutting ball 712 does not apply the first acting force to the plurality of clasps 200 or moves in a direction away from the plurality of clasps 200, the abutting ball 712 cannot leave the plurality of clasps 200 and enter a locked state because the plurality of clasps 200 cannot rotate, i.e., the plurality of clasps 200 cannot open, so that the entire active end component 20 and the passive end component 10 are locked to each other.
As shown in fig. 14 and 15, the separation process controlled by the active end piece 20:
in an optional scenario, the second rotating motor 722 positioned on the lead screw fixing block 730 in the driving end component 20 drives the gear 723 to rotate, so that the rack 724 and the lead screw fixing block 730 perform relative translation, that is, the abutting part 721 slides relative to the spherical connecting rod 710, extends out of the abutting ball 712, abuts against the limiting top block 430 through the abutting groove, and applies a second acting force to the limiting top block 430, so that the limiting top block 430 can overcome the elastic thrust of the elastic thrust part 410 and perform translation in a direction away from the limiting hole 210, the limiting post 432 of the limiting top block 430 is separated from the limiting hole 210, thereby releasing the rotational limitation on the plurality of clasping claws 200, so that the plurality of clasping claws 200 are opened under the elastic tension of the elastic tension part 300, and then the first rotating motor 650 of the driving end component 20 drives the lead screw 630 to rotate reversely through the coupler 651, so that the lead screw fixing block 730 sleeved on the lead screw 630 moves away from the driven end component 10 along the length direction of the lead screw 630, since the plurality of holding claws 200 are already opened, the spherical connecting rod 710 can smoothly come out from between the plurality of holding claws 200, so that the entire active end part 20 and the passive end part 10 are separated from each other.
Separation process controlled by the passive end piece 10:
in another optional scenario, the driving member 510 of the passive end member 10 controls the wire spool 530 to rotate by rotation, so as to drive the driving wire 520 to take up the wire, so that the driving wire 520 is tightened and pulls the limiting top block 430 to overcome the elastic thrust of the elastic thrust member 410 and to translate in a direction away from the plurality of holding claws 200, so that the limiting post 432 of the limiting top block 430 is disengaged from the limiting hole 210. Therefore, the rotation limitation of the plurality of holding claws 200 is removed, so that the plurality of holding claws 200 are opened under the elastic tension of the elastic tension member 300, then the first rotating motor 650 of the driving end part 20 drives the screw 630 to rotate reversely through the coupler 651, so that the screw fixing block 730 sleeved on the screw 630 is far away from the driven end part 10 along the length direction of the screw 630 to move, and as the plurality of holding claws 200 are opened, the spherical connecting rod 710 can smoothly come out from among the plurality of holding claws 200, so that the whole driving end part 20 and the driven end part 10 are separated from each other.
In the above embodiment, the driving end part 20 is provided with the pushing part 721, and the driving gear 723 of the second rotating electrical machine 722 and the rack 724 on the pushing part 721 are engaged with each other to rotate, so that the pushing part 721 can extend out of the spherical connecting rod 710 and abut against the limit ejecting block 430 after passing through the pushing groove, and a second acting force is applied to the limit ejecting block 430, so as to release the limit fit between the limit ejecting block 430 and the limit hole 210, and further release the rotation limit of the plurality of holding claws 200, that is, the driving end part 20 and the driven end part 10 can be actively separated from the driving end part 20. And further, by arranging the driving assembly 500 at the passive end part 10, the driving member of the driving assembly 500 rotates through the rotation control wire spool 530, and further drives the driving wire 520 to take up the wire, so that the driving wire 520 is tightened and pulls the limiting top block 430 to overcome the elastic thrust of the elastic thrust piece 410 and to translate in the direction away from the plurality of embracing claws 200, and thus the limiting column 432 of the limiting top block 430 is disengaged from the limiting hole 210, and further the rotation limitation of the plurality of embracing claws 200 is disengaged. I.e. the active end part 20 and the passive end part 10 can be actively separated from the passive end 20. The fault tolerance is greatly improved, and the problem that the active end part 20 or the passive end part 10 cannot be separated due to mechanical failure is avoided. I.e. a two-way unlocking can be achieved.
As shown in fig. 16, the present invention further provides a transport robot 30, wherein the transport robot 30 comprises the passive end piece 10 in any of the above embodiments or the locking mechanism 1 in any of the above embodiments.
As shown in fig. 12 and 16, the transport robot 30 includes a passive end part 10 provided at the trailing end and an active end part 20 provided at the leading end. Optionally, the housing 150 of the passive end part 10 is fixed to the transportation robot 30, and the first side support 610, the second side support 620 and the motor fixing base 660 of the active end part 20 are fixed to the transportation robot 30, and optionally, the active end part 20 may further include an oblique reinforcing member 611 connecting the first side support 610 and the transportation robot 30, so as to enhance the connection stability of the entire active end part 20 and the transportation robot 30.
In an alternative embodiment, the passive end part 10 of one transport robot 30 may be locked with the active end part 20 of another transport robot 30, and a transport robot train may be formed by connecting a plurality of transport robots 30 to each other. And any one of the transport robots 30 of the transport robot train may be separated by controlling the passive end part 10 and the transport robot 30 adjacent to the trailing end, and/or by controlling the active end part 20 and the transport robot 30 adjacent to the leading end.
In an alternative embodiment, when the transportation robot 30 is spaced from the adjacent transportation robot 30, since the active end part 20 and the passive end part 10 form a spherical universal joint, the transportation robot 30 and the adjacent transportation robot 30 can be turned over relatively freely, that is, a flexible connection is realized between the transportation robots 30, which is suitable for some special occasions. If the spherical connecting rod 710 is pulled back by the matching of the screw fixing block 730 and the screw 630, the transportation robot 30 and the adjacent transportation robot 30 can be abutted against each other, so that the transportation robot 30 and the adjacent transportation robot 30 cannot be turned over freely, that is, the transportation robot 30 is rigidly connected with each other, and the method is also suitable for other special scenes.
In summary, the present invention provides a transportation robot, a locking mechanism and a passive end assembly, on one hand, a position-limiting post and a position-limiting hole are matched to rotationally limit a clasping claw, so as to effectively ensure the accuracy and stability of position limitation, on the other hand, a driving assembly is arranged on the passive end assembly, and a pushing portion is arranged on the active end assembly, so that unlocking can be realized on both the passive end assembly and the active end assembly, so that the passive end assembly and the active end assembly are separated from each other, on the other hand, a spherical universal joint is formed after the passive end assembly and the active end assembly are locked, so as to realize flexible connection.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all equivalent results or equivalent flow transformations performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (13)
1. A passive end part is characterized in that the passive end part comprises a first seat body, and a plurality of holding claws, elastic tension members and limiting assemblies which are arranged on the first seat body;
the plurality of holding claws are rotatably arranged on the first seat body, are connected with the first seat body through the elastic tension piece to form an open state through the elastic tension piece, and are provided with limiting holes matched with the limiting assembly on the outer surfaces;
the plurality of holding claws are mutually folded under a first acting force, so that the limiting assembly is embedded into the limiting hole to be matched with the limiting hole to limit the rotation of the plurality of holding claws.
2. The passive end piece of claim 1, wherein the retention assembly is further configured to disengage the retention aperture under a second force to release the rotational retention of the plurality of clasps such that the plurality of clasps can expand apart from each other under the resilient tension of the resilient tension member.
3. The passive end piece of claim 1, further comprising a drive assembly coupled to the retention assembly, the drive assembly configured to drive the retention assembly out of the retention aperture to free the plurality of clasps from rotational retention.
4. The passive end component of claim 3, wherein the limiting assembly comprises an elastic thrust member, and a fixing seat and a limiting top block which are slidably nested with each other, wherein the fixing seat is fixed on the first seat;
the fixing seat and the limiting ejector block are enclosed to form a sliding cavity, the elastic thrust piece is arranged in the sliding cavity, and the fixing seat further comprises a through hole communicated with the sliding cavity.
5. The passive end piece of claim 4, wherein the drive assembly comprises a driving member and a driving wire connected to an output end of the driving member, the driving wire passing through the through hole and being connected to the limit top block.
6. The passive end piece of claim 4, wherein the spacing block comprises a spacing seat and a spacing post disposed on the spacing seat, the spacing post being engageable with the spacing hole for spacing;
wherein, spacing seat is including keeping away from the first spout of spacing post, the fixing base includes the second spout, spacing seat slips to inlay and locates in the second spout or the fixing base slips to inlay and locates in the first spout so that first spout and second spout form the slip chamber.
7. The passive end part according to claim 1, further comprising a U-shaped seat of a holding claw disposed on the first seat, wherein the holding claw is rotatably disposed in the U-shaped seat of the holding claw, and a limiting member is further disposed on the holding claw, and the limiting member cooperates with the U-shaped seat of the holding claw to limit an opening range of the holding claw.
8. The passive end piece according to claim 1, further comprising a guiding cylinder located at a side of the plurality of clasps away from the first seat, wherein the guiding cylinder is fixed to the first seat by a fixing column.
9. A locking mechanism, comprising an active end component and a passive end component according to any of the preceding claims;
the driving end part comprises a second seat body and a connecting part arranged on the second seat body in a sliding manner, and the connecting part comprises a spherical connecting rod;
the plurality of holding claws are mutually folded under the first acting force of the spherical connecting rod and embrace the spherical connecting rod, so that the limiting component can be embedded into the limiting hole to be matched with the limiting hole to carry out rotation limiting on the plurality of holding claws.
10. The locking mechanism of claim 9, wherein the connecting portion further comprises an urging portion comprising an urging member coaxial with and slidably disposed within the spherical connecting rod;
the limiting assembly is separated from the limiting hole under the second acting force of the abutting part so as to relieve the rotation limitation on the holding claws, so that the holding claws can be mutually opened under the elastic pulling force of the elastic pulling force part.
11. The latch mechanism of claim 10, wherein the second housing comprises:
a first side support;
the second side support is arranged at an interval with the first side support;
the lead screw is arranged between the first side support and the second side support;
the two sliding shafts are arranged between the first side support and the second side support, are respectively positioned on two sides of the screw rod and are parallel to the screw rod;
and the first rotating motor is connected with the screw rod through a coupler.
12. The locking mechanism of claim 11, wherein the connecting portion includes a lead screw fixing block sleeved on the lead screw and the two sliding shafts, the spherical connecting rod is slidably disposed through the first side support, and one end of the spherical connecting rod is fixed to the lead screw fixing block;
the pushing part further comprises a second rotating motor arranged on the lead screw fixing block and a gear arranged on the second rotating motor, and the pushing part further comprises a rack matched with the gear.
13. A transport robot, characterized in that the transport robot comprises a passive end piece according to any of claims 1-8 or a locking mechanism according to any of claims 9-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010723269.8A CN112026458B (en) | 2020-07-24 | 2020-07-24 | Transport robot, locking mechanism and passive end assembly |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010723269.8A CN112026458B (en) | 2020-07-24 | 2020-07-24 | Transport robot, locking mechanism and passive end assembly |
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| CN112026458A true CN112026458A (en) | 2020-12-04 |
| CN112026458B CN112026458B (en) | 2021-12-14 |
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| CN202010723269.8A Active CN112026458B (en) | 2020-07-24 | 2020-07-24 | Transport robot, locking mechanism and passive end assembly |
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| CN112026458B (en) | 2021-12-14 |
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