CN112297045A - Quick change device of terminal apparatus of arm - Google Patents
Quick change device of terminal apparatus of arm Download PDFInfo
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- CN112297045A CN112297045A CN202010990662.3A CN202010990662A CN112297045A CN 112297045 A CN112297045 A CN 112297045A CN 202010990662 A CN202010990662 A CN 202010990662A CN 112297045 A CN112297045 A CN 112297045A
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- piece
- connecting piece
- folding
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- pressing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0475—Exchangeable fingers
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Abstract
The invention discloses a quick device for an instrument at the tail end of a mechanical arm, which comprises an installation connecting mechanism, an instrument connecting piece, a pressing mechanism and a folding and unfolding mechanism, wherein the installation connecting mechanism is arranged on the installation connecting mechanism; the mounting and connecting mechanism comprises an upper connecting piece, a lower connecting piece and a sensor; the pressing device comprises a pressing piece and a spring fixedly connected between the pressing piece and the upper connecting piece; the pressing piece is in sliding fit with the inner wall of the upper connecting piece; the folding and unfolding mechanism comprises a fixed disc, a rotating element, a plurality of folding elements and a driving motor, wherein the folding elements and the driving motor are uniformly distributed between the fixed disc and the rotating element along the circumferential direction; the folding piece is provided with two hinge shafts which respectively correspond to the fixed disc and the rotating piece to form a moving pair and a rotating pair; a plurality of fan-shaped toothed plates are uniformly distributed at the upper end of the instrument connecting piece along the circumferential direction; after the driving motor drives the rotating piece to rotate relative to the fixed disc, the driving motor drives the folding piece to unfold and pushes the pressing piece to press the fan-shaped tooth piece of the instrument connecting piece; the quick-change device has the advantages of reliable connection, quick change, automatic operation, compact structure and large bearing capacity.
Description
Technical Field
The invention relates to the field of application of robot arms, in particular to a quick change device for an end instrument of a mechanical arm, which can be used for requiring high-reliability and stable connection of an end effector and the mechanical arm.
Background
The quick change device of terminal apparatus of arm has extensive demand in fields such as industrial robot, surgical robot. Industrial robots often use different end effectors when performing gripping of different goods or different process operations; surgical robots also involve the use of a variety of surgical instruments in a single procedure, thus requiring the robot to have the ability to change the end instrument.
The end effector or end surgical instrument is mounted at the end of the robot and moves along with the mechanical arm to complete various task operations, and in order to ensure the accurate follow-up of the end instrument to the mechanical arm, the connection between the mechanical arm and the end instrument needs to be stable and reliable. Furthermore, to improve efficiency, the robot should be as fast as possible when changing end effectors or surgical instruments. The quick-change device mainly adopted at present mainly has structures such as a bolt type, a hydraulic/pneumatic type, an electromagnetic type and a steel ball type, and the bolt type is usually manual and has a certain gap. The liquid/air pressure structure needs external air/liquid source, and occupies large space. Electromagnetic systems are relatively weak in load bearing capacity and are generally structurally large. The steel ball type structure is simple and ingenious, but usually has larger clearance, the connection is not completely fixed and connected, and only the degree of freedom in the required direction is limited.
In conclusion, the existing quick-change device is difficult to completely meet the requirements of reliable connection, quick change, automatic operation, compact structure and large bearing capacity.
Disclosure of Invention
The invention aims to provide a quick-change device formed by combining a mortise and tenon joint mechanism and a folding and unfolding mechanism based on the advantages of connection reliability of the mortise and tenon joint mechanism and structural compactness of the folding and unfolding mechanism, and the quick-change device has the advantages of reliable connection, quick replacement, automatic operation, compact structure and large bearing capacity.
The invention relates to a quick change device for an instrument at the tail end of a mechanical arm, which comprises an installation connecting mechanism, an instrument connecting piece, a pressing mechanism and a folding and unfolding mechanism;
the mounting and connecting mechanism comprises an upper connecting piece, a lower connecting piece and a sensor; the upper connecting piece and the lower connecting piece are fixed with each other to form a cylindrical inner space for accommodating the pressing mechanism and the folding and unfolding mechanism; the sensor is arranged on the lower connecting piece and used for obtaining the relative position between the lower connecting piece and the instrument connecting piece;
the pressing device comprises a pressing piece with a circular ring structure and a spring fixedly connected between the pressing piece and the upper connecting piece; a plurality of guide posts are uniformly distributed on the compressing piece along the circumferential direction and are in sliding fit with the inner wall groove of the upper connecting piece through the guide posts;
the folding and unfolding mechanism comprises a fixed disc fixed on the upper connecting piece, a rotating piece coaxially arranged below the fixed disc, a plurality of folding pieces evenly distributed between the fixed disc and the rotating piece along the circumferential direction, and a driving motor used for driving the rotating piece to rotate relative to the fixed disc; the folding piece is provided with two hinge shafts which respectively correspond to the fixed disc and the rotating piece to form a moving pair and a rotating pair;
a plurality of fan-shaped toothed plates are uniformly distributed at the upper end of the instrument connecting piece along the circumferential direction; the bottom surface of the lower connecting piece is provided with a special-shaped hole matched with the upper end of the instrument connecting piece; after the driving motor drives the rotating piece to rotate relative to the fixed disc, the folding piece is driven to unfold and the pressing piece is pushed to press the fan-shaped tooth piece of the instrument connecting piece tightly.
Furthermore, steel balls or sliding blocks are arranged in an inner wall groove of the upper connecting piece.
Further, the body of the driving motor is fixed on the rotating part through a motor fixing part, and an output shaft of the driving motor is coaxially and fixedly connected with the fixed disc.
Furthermore, a plurality of bosses are uniformly distributed on the bottom surface of the compressing piece along the circumferential direction; the boss can be embedded between two adjacent sector tooth plates of the mechanical connecting piece.
The invention has the beneficial effects that:
1. the invention is based on the principle of a mortise and tenon joint mechanism, and realizes reliable connection of two parts of a quick-change device by matching with a spring design.
2. The invention adopts a folding and unfolding mechanism, converts simple motor rotation into device locking motion, realizes simple control and improves the compactness of the mechanism.
3. The invention has simple principle, less number of parts, low manufacturing and production cost and higher cost performance.
4. The invention realizes the replacement control of the device through one motor and realizes the automatic operation of the device by matching with a position sensor.
Drawings
The invention is further described below with reference to the figures and examples.
FIG. 1 is an external overview of the present invention;
FIG. 2 is an exploded view of the present invention;
FIG. 3 is a schematic structural view of a pressing mechanism of the present invention;
FIG. 4 is a schematic structural view of the folding and unfolding mechanism of the present invention;
fig. 5 is a schematic view of the engagement of the instrument linkage, hold down mechanism and fold and unfold mechanism of the present invention.
Detailed Description
The quick change device for the mechanical arm tail end instrument comprises an installation connecting mechanism 1, an instrument connecting piece 2, a pressing mechanism 3 and a folding and unfolding mechanism 4;
the mounting and connecting mechanism 1 comprises an upper connecting piece 1-1, a lower connecting piece 1-2 and a sensor; the upper connecting piece 1-1 and the lower connecting piece 1-2 are mutually fixed to form a cylindrical inner space for accommodating the pressing mechanism 3 and the folding and unfolding mechanism 4; as shown in fig. 1, the upper connecting piece 1-1 and the lower connecting piece 1-2 are connected by threads through side connecting holes to form an installation connecting mechanism 1, and the installation of the installation connecting mechanism is the last step of the assembly of the whole quick-change device and is carried out after other internal parts are assembled; the sensor is arranged on the lower connecting piece 1-2 and used for obtaining the relative position between the lower connecting piece 1-2 and the instrument connecting piece 2;
as shown in fig. 3, the pressing mechanism comprises a pressing member 3-2 with a circular ring structure and a spring 3-1 fixedly connected between the pressing member 3-2 and the upper connecting member 1-1 in an adhering manner; three guide posts are uniformly distributed on the compressing piece 3-2 along the circumferential direction and are in sliding fit with the inner wall groove of the upper connecting piece 1-1 through the guide posts; steel balls or sliding blocks are arranged in the inner wall grooves of the upper connecting piece 1-1 to reduce the resistance of the guide columns in relative sliding; finally, the pressing piece 3-2 and the mounting and connecting mechanism 1 form a structure capable of moving relatively, and meanwhile, the pressing piece 3-2 is limited by the spring 3-1; the spring 3-1 and the pressing piece 3-2 are fixedly connected in a bonding mode and the like. A moving pair is formed between the pressing piece 3-2 and the mounting and connecting mechanism 1, and in a normal state, the spring 3-1 is at the shortest position, and the pressing piece 3-2 is tensioned and is in an uncompressed state. When the folding and unfolding mechanism 4 acts, the pressing piece 3-2 is pressed down and is in a pressing state. After the folding and unfolding mechanism 4 is removed, the pressing piece 3-2 is stretched back to the normal state under the action of the spring 3-1.
The folding and unfolding mechanism 4 comprises a fixed disc 4-1 fixed on the upper connecting piece 1-1, a triangular rotating piece 4-6 coaxially arranged below the fixed disc 4-1, three folding pieces 4-3 uniformly distributed between the fixed disc 4-1 and the triangular rotating piece 4-6 along the circumferential direction, and a driving motor 4-4 used for driving the triangular rotating piece 4-6 to rotate relative to the fixed disc 4-1; the folding piece 4-3 is provided with two hinge shafts 4-2 which respectively correspond to the fixed disc 4-1 and the triangular rotating piece 4-6 to form a moving pair and a rotating pair; namely, the triangular rotating piece 4-6 is provided with a round hole matched with one hinge shaft 4-2, and the fixed disc 4-1 is provided with a long circular sliding groove in sliding fit with the other hinge shaft 4-2; the folding and unfolding mechanism 4 is in threaded connection with the upper connecting piece 1-1 through a fixed disc 4-1 of the folding and unfolding mechanism, so that the folding and unfolding mechanism 4 is fixedly connected with the mounting and connecting mechanism 1; the machine body of the driving motor 4-4 is fixed on the triangular rotating part 4-6 through a motor fixing part 4-5, and the output shaft of the driving motor 4-4 is coaxially and fixedly connected with the fixed disc 4-1.
Three fan-shaped toothed plates are uniformly distributed at the upper end of the instrument connecting piece 2 along the circumferential direction; the bottom surface of the lower connecting piece 1-2 is provided with a special-shaped hole matched with the upper end of the instrument connecting piece 2 in shape; an output shaft of a driving motor 4-4 is fixed on a fixed disk 4-1, a machine body of the driving motor 4-4 is fixed on a triangular rotating part 4-6 through a motor fixing part 4-5, the triangular rotating part 4-6 can rotate relative to the fixed disk 4-1 under the driving of the driving motor 4-4, a folding and unfolding part and the fixed disk 4-1 and the triangular rotating part 4-6 form a moving pair and a rotating pair respectively through two hinges, the driving motor 4-4 rotates forwards to drive the triangular rotating part 4-6 to rotate forwards, and the folding and unfolding part is unfolded; the driving motor 4-4 rotates reversely to drive the triangular rotating part 4-6 to rotate reversely, and the folding and unfolding part is folded; three bosses are uniformly distributed on the bottom surface of the compressing piece 3-2 along the circumferential direction; the boss can be embedded between two adjacent sector toothed plates of the instrument connecting piece 2.
When the quick-change device works, the quick-change device is connected to the tail end of the mechanical arm except for the instrument connecting piece 2, and the instrument connecting piece 2 is connected with a tail end execution instrument and is placed in an instrument library. At the beginning, the end of the mechanical arm is vacant, and the mechanical arm is moved to the instrument library to be connected with an end execution instrument: the sensor 1-3 is used for aligning the instrument connecting piece 2, the folding and unfolding mechanism 4 is in a folding state, the pressing piece 3-2 is contracted to the shortest position (the pressing piece is closest to the upper connecting piece 1-1) under the action of the spring 3-1, the lower part of the pressing piece is not contacted with the lower end face of the lower connecting piece 1-2, and a space is reserved for the instrument connecting piece 2 to enter; after alignment, the mechanical arm controls the mounting and connecting mechanism 1 to move downwards, the upper end of the instrument connecting piece 2 enters the mounting and connecting mechanism 1 through a special-shaped hole, and then the mechanical arm rotates to enable the sector toothed plate of the instrument connecting piece 2 to be aligned with the protruding toothed part of the lower connecting piece 1-2; then, the driving motor 4-4 rotates forwards to drive the folding and unfolding mechanism 4 to unfold, the outer side surface of the folding and unfolding piece 4-3 is an inclined surface or a cambered surface, so that a downward component force is generated when the folding and unfolding piece 4-3 is contacted with the pressing piece, the folding and unfolding piece 4-3 unfolds to drive the pressing piece 3-2 to press downwards, the pressing piece 3-2 is located at the position farthest from the upper connecting piece 1-1, the fan-shaped toothed plate of the instrument connecting piece 2 is pressed and pressed, fastening connection is realized through pressure, meanwhile, the limit of circumferential movement is further enhanced through the design of the boss of the pressing piece 3-2, at the moment, the connection of the instrument connecting piece 2 and the installation connecting mechanism 1 is completed (namely, the connection of the end effector and the mechanical arm is completed). After an operation is completed, when the end effector needs to be replaced again, the mechanical arm is moved to the instrument library, the storage position of the end effector is aligned, the driving motor 4-4 rotates reversely to drive the folding and unfolding piece 4-3 to fold, the pressing piece 3-2 rises under the action of the spring 3-1 to release the pressing of the instrument connecting piece 2, then the mechanical arm is rotated (the installation connecting piece 1 rotates along with the mechanical arm) to enable the structure to return to a vacant state, the lifting mechanical arm drives the installation connecting piece 1 to move upwards and withdraw from connection, and then the mechanical arm is moved to the next end effector to repeat the operation, so that the replacement of the end effector can be realized again.
Finally, the above embodiments are only for illustrating the technical solutions of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all of them should be covered in the claims of the present invention.
Claims (4)
1. The utility model provides an end instrument quick change device of arm which characterized in that: comprises a mounting and connecting mechanism, an instrument connecting piece, a pressing mechanism and a folding and unfolding mechanism;
the mounting and connecting mechanism comprises an upper connecting piece, a lower connecting piece and a sensor; the upper connecting piece and the lower connecting piece are mutually fixed to form a cylindrical inner space for accommodating the pressing mechanism and the folding and unfolding mechanism; the sensor is arranged on the lower connecting piece and used for obtaining the relative position between the lower connecting piece and the instrument connecting piece;
the pressing device comprises a pressing piece with a circular ring structure and a spring fixedly connected between the pressing piece and the upper connecting piece; a plurality of guide posts are uniformly distributed on the compressing piece along the circumferential direction and are in sliding fit with the inner wall groove of the upper connecting piece through the guide posts;
the folding and unfolding mechanism comprises a fixed disc fixed on the upper connecting piece, a rotating piece coaxially arranged below the fixed disc, a plurality of folding pieces uniformly distributed between the fixed disc and the rotating piece along the circumferential direction, and a driving motor used for driving the rotating piece to rotate relative to the fixed disc; the folding piece is provided with two hinge shafts which respectively correspond to the fixed disc and the rotating piece to form a moving pair and a rotating pair;
a plurality of fan-shaped toothed plates are uniformly distributed at the upper end of the instrument connecting piece along the circumferential direction; the bottom surface of the lower connecting piece is provided with a special-shaped hole matched with the upper end of the instrument connecting piece; after the driving motor drives the rotating piece to rotate relative to the fixed disc, the folding piece is driven to unfold and the pressing piece is pushed to press the fan-shaped tooth piece of the instrument connecting piece.
2. The end-of-arm-instrument quick-change device of claim 1, wherein: and steel balls or sliding blocks are arranged in the inner wall grooves of the upper connecting piece.
3. The end-of-arm-instrument quick-change device of claim 2, wherein: the body of the driving motor is fixed on the rotating part through a motor fixing part, and the output shaft of the driving motor is coaxially and fixedly connected with the fixed disc.
4. The end-of-arm-instrument quick-change device of claim 3, wherein: a plurality of bosses are uniformly distributed on the bottom surface of the compressing piece along the circumferential direction; the boss can be embedded between two adjacent sector toothed plates of the instrument connecting piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010990662.3A CN112297045A (en) | 2020-09-19 | 2020-09-19 | Quick change device of terminal apparatus of arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010990662.3A CN112297045A (en) | 2020-09-19 | 2020-09-19 | Quick change device of terminal apparatus of arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112297045A true CN112297045A (en) | 2021-02-02 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010990662.3A Pending CN112297045A (en) | 2020-09-19 | 2020-09-19 | Quick change device of terminal apparatus of arm |
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| Country | Link |
|---|---|
| CN (1) | CN112297045A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
| CN114633276A (en) * | 2022-05-10 | 2022-06-17 | 淮阴工学院 | A multi-functional intelligent machine hand for material processing |
-
2020
- 2020-09-19 CN CN202010990662.3A patent/CN112297045A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112776000A (en) * | 2021-03-04 | 2021-05-11 | 内蒙古硕博自动化科技有限公司 | Electrically-driven permanent magnet adsorption type robot terminal quick-change device |
| CN114633276A (en) * | 2022-05-10 | 2022-06-17 | 淮阴工学院 | A multi-functional intelligent machine hand for material processing |
| CN114633276B (en) * | 2022-05-10 | 2023-10-20 | 淮阴工学院 | Multifunctional intelligent mechanical arm for material processing |
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