CN112476399A - Mechanical arm modular joint rapid electromechanical butt joint device - Google Patents
Mechanical arm modular joint rapid electromechanical butt joint device Download PDFInfo
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- CN112476399A CN112476399A CN202011265073.5A CN202011265073A CN112476399A CN 112476399 A CN112476399 A CN 112476399A CN 202011265073 A CN202011265073 A CN 202011265073A CN 112476399 A CN112476399 A CN 112476399A
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- butt joint
- module body
- connecting module
- cam
- butt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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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
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Details Of Connecting Devices For Male And Female Coupling (AREA)
Abstract
Quick electromechanical interfacing apparatus of arm modularization joint belongs to arm butt joint technical field. The butt joint device comprises a first connecting module and a second connecting module which are respectively arranged at two ends of two mechanical arms, wherein the first connecting module and the second connecting module are matched to realize connection and disconnection between the two mechanical arms. The mechanical arm module rapid butt joint mechanism is fixedly connected with the end parts of the two mechanical arms or arranged between other parts and fixedly connected with other parts, the magnetic suction seat is attracted by the electromagnet, simultaneously, a memory metal wire is controlled to shrink, the cam is pulled through the guide wheel to drive the four hook claws, and the claws of the first connecting module are tightly gripped and locked when the highest point of the cam is reached, so that the mechanical connection of the two mechanical arms is realized. When the four hooks in the second connecting module lock the first connecting module, the electric connecting spring contact is contacted with the electric connecting contact to realize electric connection. The invention has small volume and light weight, and can quickly connect or separate the mechanical arms.
Description
Technical Field
The invention belongs to the technical field of mechanical arm butt joint, and particularly relates to a quick electromechanical butt joint device for a modular joint of a mechanical arm.
Background
The butt joint mechanism is a device for realizing connection and separation between two mechanical arm modules or other components, and has the characteristics of stable connection during butt joint, simple action during separation and capability of quickly separating two connected parts. Based on the docking mechanism, assembly among different robot arms and assembly among other components can be realized. However, the connection stability and the butt joint simplicity of the existing butt joint mechanism are not sufficient.
Various existing docking mechanism designs include magnetic docking mechanisms, claw docking mechanisms, and the like. The magnetic type butt joint mechanism has the advantages of flexible and quick connection, but the connection part is connected only by electromagnetic attraction, so that the defects of low connection strength and poor stability exist. The traditional claw type butt joint mechanism needs a driving and transmission mechanism due to the complex claw design, is high in cost and heavy in weight, and fails in butt joint and locking due to the fact that the claw cannot be in place during butt joint. Therefore, the conventional docking mechanism cannot satisfy the requirements in connection stability, simplification, and light weight.
Disclosure of Invention
The invention aims to provide a quick electromechanical butt joint device for a modular joint of a mechanical arm, which is used for realizing stable connection and quick separation of different mechanical arms and improving the universality and modularization of an expanded mechanical arm.
The invention provides a butt joint device which is stable in butt joint, simple and quick in separation action and capable of effectively overcoming the defects. The invention can also be connected with other mechanical modules which can be provided with the butting mechanism.
In order to achieve the purpose, the invention adopts the technical scheme that:
the quick electromechanical butt joint device for the modular joints of the mechanical arms comprises a first connecting module and a second connecting module which are respectively installed at two ends of the two mechanical arms, wherein the first connecting module and the second connecting module are matched to realize connection and disconnection between the two mechanical arms.
Furthermore, the first connecting module comprises a first butt-joint module body, an electrical connecting contact, a hook seat and two magnetic suction seats; the first butt-joint module body is provided with four first grooves penetrating the thickness of the first butt-joint module body, the four first grooves are symmetrically arranged relative to the center of the first butt-joint module body, the hook seat is fixedly connected with one side surface of the first butt-joint module body, the hook seat is provided with four claws, the four claws penetrate out of the four first grooves, the center of the other side surface of the first butt-joint module body is fixedly provided with a convex electric connection contact, and the two magnetic suction seats are both inwards concave in the other side surface of the first butt-joint module body and are fixed on the first butt-joint module body;
the second connecting module comprises a control panel, a second butt-joint module body, a fixed seat, a cross-shaped supporting frame, a cam, an electrical connecting spring contact, two electromagnets, four hook claws, four torsion springs, four stand columns, two memory metal wires, a plurality of large guide wheels and a plurality of small guide wheels; the middle part of one side surface of the second butt joint module body is provided with an inwards concave electric connection spring contact, the second butt joint module body is provided with four grooves II which run through the thickness of the second butt joint module body, the four grooves II are arranged in central symmetry relative to the second butt joint module body, each groove II is internally and rotatably connected with a hook claw through a pin shaft, the two electromagnets are protruded and fixed on the one side surface of the second butt joint module body, one end of each hook claw positioned on the other side surface of the second butt joint module body is fixedly provided with a torsion spring, the two ends of the torsion spring are respectively and fixedly connected with the hook claws and the second butt joint module body, the fixed seat is arranged opposite to the second butt joint module body, the four upright posts are vertically fixed between the second butt joint module body and the fixed seat, the cross-shaped support frame is fixedly arranged on the four upright posts through four through holes at the, each upright post is fixedly sleeved with a plurality of large guide wheels and a plurality of small guide wheels, the large guide wheels and the small guide wheels are sequentially and alternately arranged, the large guide wheels on the four upright posts are uniformly and correspondingly arranged, the small guide wheels on the four upright posts are uniformly and correspondingly arranged, one memory metal wire is sequentially wound on the large guide wheels in a clockwise direction, the other memory metal wire is sequentially wound on the small guide wheels in an anticlockwise direction, two ends of the two memory metal wires are respectively fixed on the cam and the fixed seat, and the two memory metal wires are both connected with a control panel fixed on the fixed seat;
when the first connecting module and the second connecting module are close to each other, the electromagnet in the second connecting module is electrified and is attracted with the magnetic suction seat; the memory metal wire wound on the small guide wheel anticlockwise is electrified to contract, the cam is pulled to rotate anticlockwise and is contacted with the hook claw, the hook claw rotates around the pin shaft and is hooked into the hook seat in the first connecting module, the cam rotates anticlockwise along with the contraction of the memory metal wire and stops when reaching the upper stop point of the cam, the hook claw tightly hooks the claw in the first connecting module, meanwhile, the electrical connection contact point in the first connecting module is contacted with the electrical connection spring contact point in the second connecting module, electrical synchronous connection is realized, and the connection of the two mechanical arms is completed;
when the two mechanical arms are to be separated, the memory metal wire wound on the large guide wheel clockwise is electrified and contracted, the cam is pulled to rotate clockwise, the hook claw rotates around the pin shaft due to the reset torsion spring, the claw in the first connecting module is loosened, the electromagnet in the second connecting module is powered off and separated from the magnetic suction seat, meanwhile, the electrical connection contact point in the first connecting module is separated from the electrical connection spring contact point in the second connecting module, electrical synchronous disconnection is realized, and disconnection of the two mechanical arms is completed.
Compared with the prior art, the invention has the beneficial effects that:
1. through two electro-magnet magnetism inhale high-speed joint and direction, avoid appearing because of colluding the butt joint failure that the claw dislocation and can not arrive the position and lead to.
2. According to the butt joint locking device, the contraction of one memory metal wire is controlled, the cam is driven to rotate through the large guide wheel, when the cam rotates to the top limit, the four hook claws achieve a self-locking effect, and the first connecting module and the second connecting module are stably connected together. When the hook needs to be separated, the other memory metal wire is controlled to contract, the cam is driven to rotate in the opposite direction through the small guide wheel, and meanwhile the torsion spring on the hook returns the hook to the opened state.
3. The invention adopts cam drive, and has simple structure, small volume, light weight and high reliability.
4. In the butt joint process of the first connecting module and the second connecting module, the electric connecting spring contact is in contact with the electric connecting contact to realize electric synchronous connection, and the electric connecting spring contact has certain pretightening force to provide a stable connecting state.
In summary, the mechanical arm modular joint rapid electromechanical butt joint device is fixedly connected with the end parts of two mechanical arms or arranged between other parts and fixedly connected with other parts, the magnetic attraction seat in the first connecting module is attracted with the electromagnet of the second connecting module, simultaneously, a memory metal wire is controlled to shrink, the cam in the second connecting module is pulled through the guide wheel to drive the four hook claws, and the claws of the first connecting module are tightly grasped and locked when the highest point of the cam is reached, so that the mechanical connection of the two mechanical arms is realized. When the four hooks in the second connecting module lock the first connecting module, the electric connecting spring contact in the second connecting module is contacted with the electric connecting contact in the first connecting module to realize electric connection. The invention has small volume and light weight, and can quickly connect or separate the mechanical arms.
Drawings
FIG. 1 is a schematic structural diagram of the mechanical arm modular joint rapid electromechanical docking device of the present invention;
FIG. 2 is a schematic structural diagram of a first connection module;
FIG. 3 is a schematic structural diagram of a second connection module;
FIG. 4 is a schematic view illustrating a state of the first connection module being mated with the second connection module;
FIG. 5 is a cross-sectional view of section A-A of FIG. 4;
FIG. 6 is a schematic view showing the first and second connection modules in a released state;
FIG. 7 is a cross-sectional view of section B-B of FIG. 6;
FIG. 8 is an enlarged view of a portion of FIG. 1 at C;
FIG. 9 is an enlarged view of a portion of FIG. 1 at D;
fig. 10 is a partial enlarged view at E of fig. 3;
FIG. 11 is an enlarged view of a portion of FIG. 4 at F;
FIG. 12 is an enlarged view of a portion of FIG. 4 at G;
FIG. 13 is an enlarged view of a portion of FIG. 5 at H;
FIG. 14 is an enlarged view of a portion of FIG. 6 at J;
fig. 15 is a partially enlarged view of fig. 7 at K.
The names and reference numbers of the components referred to in the above figures are as follows:
the mechanical arm 1, the second connection module 2, the second butt-joint module body 201, the electromagnet 202, the hook claw 203, the torsion spring 204, the cross support frame 205, the large guide wheel 206, the fixed seat 207, the upright column 208, the memory metal wire 209, the cam 210, the electrical connection spring contact 211, the small guide wheel 212, the first connection module 3, the first butt-joint module body 301, the electrical connection contact 302, the claw 303 and the magnetic suction seat 304.
Detailed Description
The first embodiment is as follows: as shown in fig. 1, 8 and 9, the present embodiment discloses a rapid electromechanical docking device for a modular joint of a robot arm, which includes a first connection module 3 and a second connection module 2 respectively installed at two ends of two robot arms 1, where the first connection module 3 and the second connection module 2 cooperate to connect and disconnect the two robot arms 1.
Further, the method comprises the following steps: as shown in fig. 1 to 15, the first connection module 3 includes a first connection module body 301 (which is circular), electrical connection contacts 302, a hook seat, and two magnetic attraction seats 304; the first butt-joint module body 301 is provided with four first grooves penetrating the thickness of the first butt-joint module body, the four first grooves are symmetrically arranged relative to the center of the first butt-joint module body 301, the hook seat is fixedly connected with one side surface of the first butt-joint module body 301, the hook seat is provided with four claws 303, the four claws 303 penetrate out of the four first grooves, a convex electrical connection contact 302 is fixed at the center of the other side surface of the first butt-joint module body 301, and the two magnetic suction seats 304 are both inwards concave in the other side surface of the first butt-joint module body 301 and fixed on the first butt-joint module body 301;
the second connection module 2 comprises a control panel, a second butt-joint module body 201 (which is circular), a fixed seat 207, a cross support frame 205, a cam 210, an electrical connection spring contact 211, two electromagnets 202, four hook claws 203, four torsion springs 204, four upright posts 208, two memory metal wires 209, a plurality of large guide wheels 206 and a plurality of small guide wheels 212; the middle part of one side surface of the second butt-joint module body 201 is provided with a concave electric connection spring contact 211, the second butt-joint module body 201 is provided with four grooves II penetrating the thickness of the second butt-joint module body, the four grooves II are arranged in central symmetry relative to the second butt-joint module body 201, each groove II is internally and rotatably connected with a hook claw 203 through a pin shaft, the two electromagnets 202 are protruded and fixed on the one side surface of the second butt-joint module body 201, one end of each hook claw 203 positioned on the other side surface of the second butt-joint module body 201 is fixed with a torsion spring 204, two ends of the torsion spring 204 are respectively and fixedly connected with the hook claws 203 and the second butt-joint module body 201, the fixed seat 207 and the second butt-joint module body 201 are arranged oppositely, the four upright columns 208 are vertically fixed between the second butt-joint module body 201 and the fixed seat 207, and the cross-shaped support, the cam 210 is fixedly connected with the middle part of the cross support frame 205 through a central shaft thereof (the cam 210 can rotate in a limited range), a plurality of large guide wheels 206 and a plurality of small guide wheels 212 are fixedly sleeved on each upright 208, the large guide wheels 206 and the small guide wheels 212 are sequentially and alternately arranged, the large guide wheels 206 on four upright 208 are uniformly and correspondingly, the small guide wheels 212 on four upright 208 are uniformly and correspondingly, one memory wire 209 is sequentially wound on the large guide wheel 206 in a clockwise direction, the other memory wire 209 is sequentially wound on the small guide wheels 212 in a counterclockwise direction, two ends of the two memory wires 209 are respectively fixed on the cam 210 and the fixed seat 207, and the two memory wires 209 are connected with a control board (the function of the control board is to electrify the memory wires 209) fixed on the fixed seat 207;
when the first connection module 3 and the second connection module 2 are close to each other, the electromagnet 202 in the second connection module 2 is electrified and attracted to the magnetic suction seat 304; the memory metal wire 209 wound on the small guide wheel 212 anticlockwise is electrified and contracted, the cam 210 is pulled to rotate anticlockwise, the cam 210 is contacted with the hook claw 203, the hook claw 203 rotates around the pin shaft and is hooked into the hook seat 303 in the first connecting module 3, the cam 210 rotates anticlockwise along with the contraction of the memory metal wire 209 and stops when reaching the top dead center of the cam 210, the hook claw 203 tightly hooks the claw 303 in the first connecting module 3, and meanwhile, the electrical connecting contact 302 in the first connecting module 3 is contacted with the electrical connecting spring contact 211 in the second connecting module 2, so that electrical synchronous connection is realized (the electrical connecting spring contact 211 has pretightening force, the reliable contact of the two mechanical arms can be ensured), and the connection of the two mechanical arms 1 is finished;
when the two mechanical arms 1 are to be separated, the memory metal wire 209 wound on the large guide wheel 206 clockwise is electrified and contracted, the cam 210 is pulled to rotate clockwise, the hook claw 203 rotates around the pin shaft due to the reset torsion spring 204, the claw 303 in the first connecting module 3 is loosened, the electromagnet 202 in the second connecting module 2 is powered off and separated from the magnetic attraction seat 304, meanwhile, the electrical connection contact 302 in the first connecting module 3 is separated from the electrical connection spring contact 211 in the second connecting module 2, electrical synchronous disconnection is realized, and disconnection of the two mechanical arms 1 is completed.
Further, as shown in fig. 3 and 10, three large guide wheels 206 and three small guide wheels 212 are alternately arranged on each upright 208 in sequence.
Further, as shown in fig. 2, two adjacent claws 303 are arranged at 90 °.
Further, as shown in fig. 2, the two magnetic suction seats 304 are symmetrically arranged with respect to the center of the first butt module body 301 and are respectively located between two adjacent claws 303.
Further, as shown in fig. 3, two adjacent hooks 203 are arranged at 90 °.
Further, as shown in fig. 3, the two electromagnets 202 are symmetrically disposed with respect to the center of the second docking module body 201 and are respectively located between two adjacent hooks 203.
Further, as shown in fig. 3, the four columns 208 are vertically and uniformly fixed between the second butt-joint module body 201 and the fixing seat 207.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention, and the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution of the present invention and its inventive concept within the technical scope of the present invention.
Claims (8)
1. The utility model provides a quick electromechanical interfacing apparatus of arm modularization joint which characterized in that: the mechanical arm connecting device comprises a first connecting module (3) and a second connecting module (2) which are respectively installed at two ends of two mechanical arms (1), wherein the first connecting module (3) and the second connecting module (2) are matched to realize connection and disconnection between the two mechanical arms (1).
2. The mechanical arm modular joint rapid electromechanical docking device according to claim 1, wherein: the first connecting module (3) comprises a first butt-joint module body (301), an electric connecting contact (302), a hook seat and two magnetic suction seats (304); the first butt joint module body (301) is provided with four first grooves penetrating through the thickness of the first butt joint module body, the four first grooves are arranged in a central symmetry mode relative to the first butt joint module body (301), the hook seat is fixedly connected with one side face of the first butt joint module body (301), the hook seat is provided with four claws (303), the four claws (303) penetrate through the four first grooves, a convex electrical connection contact (302) is fixed at the center of the other side face of the first butt joint module body (301), and the two magnetic suction seats (304) are both inwards concave in the other side face of the first butt joint module body (301) and fixed on the first butt joint module body (301);
the second connecting module (2) comprises a control panel, a second butt-joint module body (201), a fixed seat (207), a cross-shaped supporting frame (205), a cam (210), an electric connecting spring contact (211), two electromagnets (202), four hook claws (203), four torsion springs (204), four upright posts (208), two memory metal wires (209), a plurality of large guide wheels (206) and a plurality of small guide wheels (212); the middle part of one side surface of the second butt joint module body (201) is provided with a concave electric connection spring contact (211), the second butt joint module body (201) is provided with four grooves II which run through the thickness of the second butt joint module body, the four grooves II are arranged in central symmetry relative to the second butt joint module body (201), each groove II is internally and rotatably connected with a hook claw (203) through a pin shaft, the two electromagnets (202) are protruded and fixed on the one side surface of the second butt joint module body (201), one end of each hook claw (203) positioned on the other side surface of the second butt joint module body (201) is fixedly provided with a torsion spring (204), two ends of the torsion spring (204) are respectively and fixedly connected with the hook claws (203) and the second butt joint module body (201), the fixed seat (207) is arranged opposite to the second butt joint module body (201), and the four upright columns (208) are vertically fixed between the second butt joint module body (201) and the fixed seat (, the cross-shaped support frame (205) is fixedly arranged on four upright posts (208) through four through holes at the top end of the cross, the cam (210) is fixedly connected with the middle part of the cross-shaped support frame (205) through a central shaft of the cam (210), a plurality of large guide wheels (206) and a plurality of small guide wheels (212) are fixedly sleeved on each upright post (208), the large guide wheels (206) and the small guide wheels (212) are sequentially and alternately arranged, the large guide wheels (206) on the four upright posts (208) are uniformly and correspondingly arranged, the small guide wheels (212) on the four upright posts (208) are uniformly and correspondingly arranged, one memory metal wire (209) is sequentially wound on the large guide wheel (206) in a clockwise direction, the other memory metal wire (209) is sequentially wound on the small guide wheels (212) in a counterclockwise direction, two ends of the two memory metal wires (209) are respectively fixed on the cam (210) and the fixed seat (207), the two memory metal wires (209) are connected with a control board fixed on the fixed seat (207);
when the first connecting module (3) is close to the second connecting module (2), the electromagnet (202) in the second connecting module (2) is electrified and attracted by the magnetic attraction seat (304); the memory metal wire (209) wound on the small guide wheel (212) anticlockwise is electrified to contract, the cam (210) is pulled to rotate anticlockwise, the cam (210) is contacted with the hook claw (203), the hook claw (203) rotates around the pin shaft and is hooked into the hook seat (303) in the first connecting module (3), along with the contraction of the memory metal wire (209), the cam (210) rotates anticlockwise and stops when reaching the top dead center of the cam (210), the hook claw (203) tightly hooks the claw (303) in the first connecting module (3), meanwhile, the electrical connection contact (302) in the first connecting module (3) is contacted with the electrical connection spring contact (211) in the second connecting module (2), electrical synchronous connection is realized, and the connection of the two mechanical arms (1) is completed;
when the two mechanical arms (1) are to be separated, the memory metal wire (209) wound on the large guide wheel (206) clockwise is electrified and contracted, the cam (210) is pulled to rotate clockwise, the hook claw (203) rotates around the pin shaft due to the reset torsion spring (204), the claw (303) in the first connecting module (3) is loosened, the electromagnet (202) in the second connecting module (2) is powered off and separated from the magnetic suction seat (304), meanwhile, the electrical connection contact (302) in the first connecting module (3) is separated from the electrical connection spring contact (211) in the second connecting module (2), electrical synchronous disconnection is realized, and disconnection of the two mechanical arms (1) is completed.
3. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: three large guide wheels (206) and three small guide wheels (212) are alternately arranged on each upright post (208) in sequence.
4. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: two adjacent claws (303) are arranged at 90 degrees.
5. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: the two magnetic suction seats (304) are symmetrically arranged relative to the center of the first butt joint module body (301) and are respectively positioned between two adjacent claws (303).
6. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: two adjacent hook claws (203) are arranged at 90 degrees.
7. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: the two electromagnets (202) are symmetrically arranged relative to the center of the second butt-joint module body (201) and are respectively positioned between two adjacent hook claws (203).
8. The mechanical arm modular joint rapid electromechanical docking device according to claim 2, wherein: the four upright posts (208) are vertically and uniformly distributed and fixed between the second butt joint module body (201) and the fixed seat (207).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265073.5A CN112476399B (en) | 2020-11-12 | 2020-11-12 | Mechanical arm modular joint rapid electromechanical butt joint device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011265073.5A CN112476399B (en) | 2020-11-12 | 2020-11-12 | Mechanical arm modular joint rapid electromechanical butt joint device |
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| CN112476399A true CN112476399A (en) | 2021-03-12 |
| CN112476399B CN112476399B (en) | 2022-02-08 |
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| CN111571288A (en) * | 2020-05-26 | 2020-08-25 | 湖南广播电视大学（湖南网络工程职业学院） | Industrial robot with replaceable fixture |
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