CN113294413A

CN113294413A - Quick connecting mechanism and actuating equipment

Info

Publication number: CN113294413A
Application number: CN202110649282.8A
Authority: CN
Inventors: 任宁; 赵成成; 冯磊; 曾庆升; 高云峰
Original assignee: Han s Laser Technology Industry Group Co Ltd
Current assignee: Han s Laser Technology Industry Group Co Ltd
Priority date: 2021-06-08
Filing date: 2021-06-08
Publication date: 2021-08-24

Abstract

The application discloses a quick connection mechanism and execution equipment, wherein the quick connection mechanism comprises a first mounting seat, the first mounting seat comprises a seat body, a first connection part and a first alignment part, the first connection part and the first alignment part are respectively arranged at two ends of the seat body, and a first control channel is arranged on the first alignment part; the second mounting seat comprises a base, a first connecting piece and a second aligning piece, the first connecting piece and the second aligning piece are respectively arranged at two ends of the base, and a second control channel is arranged on the second aligning piece; the first connecting piece is rotatably connected with the first connecting portion, the first aligning piece is connected with the second aligning piece, and the first control channel is communicated with the second control channel. According to the technical scheme, the mechanical arm and the executing mechanism of the executing equipment can be automatically disassembled and installed by the quick connecting mechanism, and the operation is quick and effective.

Description

Quick connecting mechanism and actuating equipment

Technical Field

The application relates to the technical field of engineering machinery, in particular to a quick connecting mechanism and an executing device.

Background

In the field of construction machinery, it is often necessary to connect a robotic arm to various actuators in order to perform different work tasks with the different actuators. At present, the in-process of connecting different actuating mechanism arms needs the manual work to dismantle and install, not only causes manpower resources's waste, and efficiency is lower moreover. Under the condition of severe environment, the manual disassembly and assembly can bring potential safety hazards to the body of an operator.

Content of application

The application provides a quick-connect mechanism, utilize this quick-connect mechanism can be automatic dismantle and install the arm and the actuating mechanism to the actuating device, the operation is quick, effective.

The application provides a quick connect mechanism, quick connect mechanism includes:

the first mounting seat comprises a seat body, a first connecting part and a first aligning part, the first connecting part and the first aligning part are respectively arranged at two ends of the seat body, and a first control channel is arranged on the first aligning part; and

the second mounting seat comprises a base, a first connecting piece and a second aligning piece, the first connecting piece and the second aligning piece are respectively arranged at two ends of the base, and a second control channel is arranged on the second aligning piece;

the first connecting piece is rotatably connected with the first connecting portion, the first aligning piece is connected with the second aligning piece, and the first control channel is communicated with the second control channel.

Optionally, one of the first alignment member and the second alignment member is provided with a positioning hole, and the other of the first alignment member and the second alignment member is provided with a positioning member, and the positioning member is inserted into the positioning hole in a matching manner.

Optionally, one of the first aligning member and the second aligning member is provided with a guide hole, and the other of the first aligning member and the second aligning member is provided with a guide member, and the guide member is fittingly inserted into the guide hole.

Optionally, the first mounting seat further includes an elastic member, and the first alignment member is connected to the seat body through the elastic member; the first aligning member can be close to or far away from the seat body through the elastic member.

Optionally, the pedestal is equipped with the limiting plate, the limiting plate is equipped with spacing hole, first counterpoint piece is equipped with the locating part, the locating part is worn to locate spacing hole, first counterpoint piece is close to or keeps away from the pedestal in-process, the locating part can be followed the extending direction motion in spacing hole.

Optionally, the seat body is provided with two limiting plates, the two limiting plates are both provided with the limiting holes, the first aligning member is located between the two limiting plates, two ends of the first aligning member are both provided with one limiting member, and the two limiting members are respectively inserted into the two limiting holes;

the elastic piece is connected with the first aligning piece and the seat body between the two limiting plates.

Optionally, the seat body is provided with a guide sleeve protruding towards the first alignment member, one end of the elastic member is accommodated in the guide sleeve and connected with the guide sleeve or the seat body in the guide sleeve, and the other end of the elastic member extends out of the guide sleeve and is connected with the first alignment member.

Optionally, the base has a first mounting surface and a second mounting surface opposite to each other, the second mounting surface faces the first mounting seat, and the base is provided with mounting holes penetrating through the first mounting surface and the second mounting surface;

the second alignment piece is connected to the second mounting surface and at least partially covers the mounting hole, and the second control channel is exposed from the mounting hole.

Optionally, the first mounting seat is further provided with a second connecting portion, and the second connecting portion is located between the first connecting portion and the first alignment piece;

the second mounting seat is also provided with a second connecting piece which is movably connected with the first connecting piece;

the first connecting piece is connected to the first connecting portion from the second connecting portion to the first connecting portion in the direction, the second connecting piece moves to the abutting connection to the second connecting portion from the first connecting portion to the second connecting portion in the direction, and the first connecting piece and the second connecting piece are used for locking the first connecting portion and the second connecting portion respectively.

The application also provides an executing device, which comprises a mechanical arm, an executing mechanism and a quick connecting mechanism;

the quick-connect mechanism includes:

the first connecting piece is rotatably connected with the first connecting part, the first alignment piece is connected with the second alignment piece, and the first control channel is communicated with the second control channel;

the actuating mechanism is connected to the first mounting seat; the mechanical arm is connected to the second mounting seat.

According to the technical scheme, the first installation seat is connected with the second installation seat in the process, one ends of the seat body and the base are connected through the first connecting piece and the first connecting portion, and the other ends of the seat body and the base can be close to each other in the rotating process of the first connecting portion and the first connecting piece, so that the first aligning piece and the second aligning piece are connected in an aligning mode. The first alignment member and the second alignment member are connected such that the first control passage on the first alignment member communicates with the second control passage on the second alignment member.

When the execution device adopts the quick connection mechanism in the embodiment of the application, the first mounting seat can be mounted on the execution mechanism in advance. The method specifically comprises the following steps: and connecting the seat body of the first mounting seat with the actuating mechanism. And connecting the base of the second mounting seat with the mechanical arm. The external input control mechanism is communicated with the second control channel, and the control component of the actuating mechanism is communicated with the first control channel. And placing the actuating mechanism provided with the first mounting seat on the ground or a workbench.

The second mounting seat is moved to be close to the first mounting seat by operating the mechanical arm, and then the first connecting piece on the second mounting seat is connected to the first connecting part on the first mounting seat through the movement of the mechanical arm. The control mechanical arm drives the second mounting seat to rotate relative to the first mounting seat, the first connecting piece rotates relative to the first connecting portion, the first aligning piece is connected with the second aligning piece in an aligning mode, the first aligning piece is connected with the second aligning piece, the first control channel is communicated with the second control channel in the process, the external input control mechanism can be communicated with the control component of the control executing mechanism, and the control component is controlled. The connection process of the first mounting seat and the second mounting seat can be realized automatically, manual connection is not needed, and connection of the mechanical arm and the actuating mechanism can be completed quickly and effectively.

When it is desired to disassemble the robotic arm from the actuator, the robotic arm can be manipulated to move the actuator into contact with the floor or the table. The first connecting piece rotates relative to the first connecting portion by controlling the mechanical arm, the first aligning piece is far away from the second aligning piece, and then the mechanical arm is operated to separate the first connecting piece from the first connecting portion. The disassembly process of the first installation seat and the second installation seat can be automatically realized, manual disassembly is not needed, and the mechanical arm and the executing mechanism can be quickly and effectively disassembled.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of the quick connect mechanism of the present application with an actuator mounted thereon;

FIG. 2 is a schematic structural view of the quick connect mechanism of FIG. 1;

FIG. 3 is a schematic structural diagram of the first mounting base in FIG. 2;

FIG. 4 is a schematic structural view of the second mounting base in FIG. 2;

fig. 5 is a schematic structural view of the second mounting base in fig. 4 from another perspective.

FIG. 6 is a schematic view of the second mounting base of FIG. 4 from a further perspective;

FIG. 7 is an enlarged view taken at A in FIG. 6;

FIG. 8 is a schematic structural view of the second mounting base shown in FIG. 4 from another perspective;

fig. 9 is an enlarged view at B in fig. 8.

The reference numbers illustrate:

the implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, 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 application.

It should be noted that all the directional indications (such as up, down, left, right, front, and rear … …) in the embodiment of the present application are only used to explain the relative position relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indication is changed accordingly.

In addition, the descriptions referred to as "first", "second", etc. in this application are for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicit ly 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 application.

Referring to fig. 1, the present application provides a quick-connect mechanism 100, wherein the quick-connect mechanism 100 may be used to connect a robotic arm of an actuator device to an actuator 200 such that the removal and connection of the robotic arm to the actuator 200 may be automated.

Referring to fig. 2, in the embodiment of the present application, the quick connection mechanism 100 includes a first mounting seat 10 and a second mounting seat 30.

Referring to fig. 3, the first mounting base 10 includes a base 11, a first connecting portion 13 and a first alignment member 17, the first connecting portion 13 and the first alignment member 17 are respectively disposed at two ends of the base 11, and a first control channel 171 is disposed on the first alignment member 17;

referring to fig. 4, the second mounting base 30 includes a base 31, a first connecting member 33 and a second aligning member 37, the first connecting member 33 and the second aligning member 37 are respectively disposed at two ends of the base 31, and the second aligning member 37 is provided with a second control channel 371;

the first connecting member 33 is rotatably connected to the first connecting portion 13, the first aligning member 17 is connected to the second aligning member 37, and the first control passage 171 communicates with the second control passage 371.

In the technical solution of the present application, in the process of connecting the first mounting seat 10 with the second mounting seat 30, one end of the seat body 11 and one end of the base 31 are connected by the first connecting part 33 and the first connecting part 13, and in the process of rotating the first connecting part 13 and the first connecting part 33, the other end of the seat body 11 and the other end of the base 31 can be close to each other, so that the first alignment part 17 and the second alignment part 37 are connected in an aligned manner. The connection of the first and

second alignment members

17 and 37 allows the first control passage 171 of the first alignment member 17 to communicate with the second control passage 371 of the second alignment member 37.

When the actuator apparatus employs the quick-connect mechanism 100 in the embodiment of the present application, the first mounting seat 10 may be mounted to the actuator 200 in advance. The method specifically comprises the following steps: the seat body 11 of the first mounting seat 10 is connected with the actuator 200. The base 31 of the second mount 30 is connected to the robot arm. The external input control mechanism is communicated to the second control path 371 and the control components of the actuator 200 are communicated to the first control path 171. The actuator 200 with the first mounting socket 10 mounted thereon is placed on the ground or a work bench.

The second mount 30 is moved close to the first mount 10 by operating the robot arm, and the first link 33 on the second mount 30 is connected to the first connection portion 13 on the first mount 10 by the movement of the robot arm. The control mechanical arm drives the second installation base 30 to rotate relative to the first installation base 10, the first connecting piece 33 rotates relative to the first connecting portion 13, the first aligning piece 17 is connected with the second aligning piece 37 in an abutting mode, connection between the first aligning piece 17 and the second aligning piece 37 is achieved, the first control channel 171 is communicated with the second control channel 371 in the process, and therefore an external input control mechanism can be communicated with a control component of the control execution mechanism 200 and controls the control component. The connection process of the first mounting seat 10 and the second mounting seat 30 can be realized automatically, manual connection is not needed, and the connection between the mechanical arm and the actuating mechanism 200 can be completed quickly and effectively.

When it is desired to disassemble the robotic arm from the actuator 200, the robotic arm may be manipulated to move the actuator 200 into contact with the floor or a work surface. The first coupling member 33 is rotated relative to the first coupling portion 13 by controlling the robot arm to move the first aligning member 17 away from the second aligning member 37, and then the robot arm is manipulated to separate the first coupling member 33 from the first coupling portion 13. The disassembly process of the first mounting seat 10 and the second mounting seat 30 can be realized automatically, manual disassembly is not needed, and the mechanical arm and the actuating mechanism 200 can be disassembled quickly and effectively.

The embodiment of the application can realize the locking connection between the first installation seat 10 and the second installation seat 30 through the connection between the first aligning member 17 and the second aligning member 37, and can also realize the locking connection between the first installation seat 10 and the second installation seat 30 through other structures. When the first and second mounting

seats

10 and 30 are locked and connected by the connection of the first and second aligning

members

17 and 37, an electromagnet may be disposed on one of the first and second aligning

members

17 and 37, and a magnetic member capable of being attracted by the electromagnet may be disposed on the other of the first and second aligning members, and the electromagnet is electrically attracted by the electromagnet and is separated from the magnetic member by being powered off. The first aligning piece 17 and the second aligning piece 37 are locked and unlocked by arranging the electromagnet and the magnetic piece, so that the connection and the disassembly of the first mounting seat 10 and the second mounting seat 30 can be automatically realized.

Referring to fig. 3 and 4, in the embodiment of the present application, one of the first alignment member 17 and the second alignment member 37 is provided with a positioning hole 173, and the other one of the first alignment member and the second alignment member is provided with a positioning member 373, and the positioning member 373 is inserted into the positioning hole 173.

In the process of connecting the first alignment member 17 and the second alignment member 37, the positioning member 373 is inserted into the positioning hole 173, so that the connection position between the first alignment member 17 and the second alignment member 37 is more accurate, the alignment accuracy of the first control channel 171 and the second control channel 371 is ensured, and the quick connection mechanism 100 is safe and reliable in the application process.

The positioning member 373 can be a positioning pin, and the positioning pin is inserted into the positioning hole 173 to position the first alignment member 17 and the second alignment member 37. The positioning pin specifically comprises a cylinder, one end of the cylinder is connected with the second aligning piece 37, and the cylinder forms a clamping part along the circumferential groove; the positioning hole 173 is disposed on the first alignment member 17, and a plurality of bosses are formed on a hole wall of the positioning hole 173 along a circumferential direction, and the bosses may be hemispherical. When the end of the column body departing from the second alignment member 37 is inserted into the positioning hole 173, the plurality of bosses are clamped in the clamping part, so that the first alignment member 17 is connected with the second alignment member 37, and the first control channel 171 is communicated with the second control channel 371, and the sealing effect of the communication position is good.

In the embodiment of the present application, one of the first aligning member 17 and the second aligning member 37 is provided with a guide hole 175, and the other of the first aligning member and the second aligning member is provided with a guide member 375, and the guide member 375 is fittingly inserted into the guide hole 175.

During the alignment connection of the first alignment member 17 and the second alignment member 37, the guide 375 is inserted into the guide hole 175 and moves along the extending direction of the guide hole 175, which not only has the fool-proof function, but also ensures the connection position of the first alignment member 17 and the second alignment member 37 to be accurate.

Referring to the embodiment shown in fig. 4, in this embodiment, the second alignment member 37 is provided with a positioning member 373 and a guide member 375, the guide member 375 has a length greater than that of the positioning member 373, and the first alignment member 17 is provided with a positioning hole 173 and a guide hole 175. In the process of aligning and connecting the first aligning member 17 and the second aligning member 37, the guide member 375 is first engaged with the guide hole 175 to guide, and the positioning member 373 is then inserted into the positioning hole 173, so that the positioning of the positioning member 373 and the positioning hole 173 is more accurate due to the guide of the guide member 375 and the guide hole 175.

In this embodiment, there may be two guiding members 375, and the positioning member 373 may be located on a perpendicular bisector of a connecting line of the two guiding members 375, so that the two guiding members 375 are symmetrically distributed with respect to the positioning member 373, so that the first aligning member 17 and the second aligning member 37 move stably during the positioning connection process.

Referring to fig. 3, in the embodiment of the present application, the first mounting seat 10 may further include an elastic member 18, and the first alignment member 17 is connected to the seat body 11 through the elastic member 18; the first aligning member 17 can be close to or far from the seat body 11 by the elastic member 18.

The elastic member 18 is configured to provide a buffering effect for the connection of the first aligning member 17 and the second aligning member 37, so that the first aligning member 17 and the second aligning member 37 do not form a rigid contact during the connection process. The second aligning member 37 moves towards the first aligning member 17, and in the process of gradually increasing the pressure on the first aligning member 17, the second aligning member 37 pushes the first aligning member 17 to move towards the seat body 11, the elastic member 18 is compressed, the first aligning member 17 and the second aligning member 37 are connected under the action of the pressure, and the deformation of the elastic member 18 is recovered.

In this embodiment, the base 11 may further include a limiting plate 19, the limiting plate 19 includes a limiting hole (not marked), the first alignment element 17 includes a limiting element (not marked), the limiting element is disposed in the limiting hole, and the limiting element can move along the extending direction of the limiting hole when the first alignment element 17 is close to or away from the base 11.

The limiting plate 19 is arranged to guide the movement of the first alignment element 17, so that the movement of the first alignment element 17 is more stable in the process of compressing the elastic element 18 to approach the seat body 11 and in the process of moving the first alignment element 17 away from the seat body 11 under the resilience of the elastic element 18.

The limiting hole on the limiting plate 19 can be a strip-shaped or waist-shaped hole.

Referring to the embodiment shown in fig. 3, the seat body 11 is provided with two limiting plates 19, the two limiting plates 19 are both provided with limiting holes, the first aligning member 17 is located between the two limiting plates 19, and both ends of the first aligning member 17 are both provided with a limiting member, and the two limiting members are respectively inserted into the limiting holes of the two limiting plates 19;

the elastic element 18 connects the first alignment element 17 and the seat body 11 between the two limit plates 19.

First counterpoint piece 17 is located between two limiting plates 19, and two limiting plates 19 carry out the backstop to the both ends of first counterpoint piece 17, place first counterpoint piece 17 and appear rocking connecting the in-process of second counterpoint piece 37, guarantee the accuracy that first counterpoint piece 17 and second counterpoint piece 37 connect.

In the embodiment of the present application, the seat body 11 is convexly provided with the guiding sleeve 12 toward the first alignment member 17, one end of the elastic member 18 is accommodated in the guiding sleeve 12 and is connected to the guiding sleeve 12 or the seat body 11 in the guiding sleeve 12, and the other end of the elastic member extends out of the guiding sleeve 12 and is connected to the first alignment member 17.

The guide sleeve 12 in this embodiment limits the movement of the elastic member 18, preventing the elastic member 18 from being displaced during the compression process, so that the movement of the elastic member 18 is more reliable.

The elastic member 18 may be embodied as a spring.

When there are two elastic members 18, there may be two guide sleeves 12 disposed on the seat body 11, and the two elastic members 18 are guided by the two guide sleeves 12, respectively. The two elastic members 18 are symmetrically disposed on the first aligning member 17, so that the movement of the first aligning member 17 is more stable.

In the embodiment of the present application, the base 31 has a first mounting surface 311 and a second mounting surface 313 opposite to each other, the second mounting surface 313 faces the first mounting seat 10, and the base 31 is provided with a mounting hole 315 penetrating through the first mounting surface 311 and the second mounting surface 313;

the second alignment member 37 is connected to the second mounting surface 313 and at least partially covers the mounting hole 315, and the second control channel 371 is exposed from the mounting hole 315.

During the connection of the second alignment element 37 with the first alignment element 17, the base 31 gradually approaches toward the seat 11, that is, the second mounting surface 313 on the base 31 gradually approaches the seat 11. After the second alignment element 37 is connected to the first alignment element 17, the second mounting surface 313 faces the seat 11, and the first mounting surface 311 faces away from the seat 11. The second control path 371 is exposed from the mounting hole 315, which may facilitate connecting an external input control mechanism to the second control path 371 at the mounting hole 315.

With reference to fig. 4 and 5, in the embodiment of the present application, the second alignment element 37 is provided with an access connector 376 and a communication connector 377, and the access connector 376 and the communication connector 377 are respectively communicated with two ends of the second control channel 371; the access joint 376 is arranged in the mounting hole 315 in a penetrating manner, the communication joint 377 is located on one side of the second alignment piece 37, which is far away from the second mounting surface 313, and the communication joint 377 is communicated with the first control channel 171.

The external input control means is connected to the connection joint 376 so that the actuator 200 connected to the first mounting base 10 can be controlled by the external input control means after the first mounting base 10 and the second mounting base 30 are connected.

Referring to fig. 3, the first aligning member 17 may be provided with an outlet connector 176 and an aligning connector 177, and the outlet connector 176 and the aligning connector 177 communicate with both ends of the first control passage 171, respectively. The communication connector 377 is connected to the alignment connector 177, and the connection connector 176 is connected to a control member of the actuator 200.

The base 11 may have a first connection surface 111 and a second connection surface 113 opposite to each other, the second connection surface 113 faces the second mounting base 30, specifically, the second connection surface 113 faces the second mounting surface 313, and the first alignment element 17 is disposed on the second connection surface 113. Specifically, the two stopper plates 19 may be provided on the second connection surface 113 and extend toward the second mounting surface 313. The receiving connector 176 is located on a side of the first alignment member 17 facing the second connection surface 113, and the alignment connector 177 is located on a side of the first alignment member 17 facing away from the second connection surface 113 and facing the second mounting surface 313.

In the embodiment of the present application, the connection locking structure of the first mounting seat 10 and the second mounting seat 30 can be further implemented by the following structure:

with further reference to fig. 3, the first mounting seat 10 is further provided with a second connecting portion 15, the second connecting portion 15 being located between the first connecting portion 13 and the first alignment member 17;

with further reference to fig. 4, the second mounting base 30 is further provided with a second connecting member 35, and the second connecting member 35 is movably connected to the first connecting member 33;

the first connecting member 33 is connected to the first connecting portion 13 from the second connecting portion 15 to the first connecting portion 13, the second connecting member 35 is moved from the first connecting portion 13 to the second connecting portion 15 to abut against the second connecting portion 15, and the first connecting member 33 and the second connecting member 35 lock the first connecting portion 13 and the second connecting portion 15, respectively.

When the execution apparatus employs the above-described quick connection mechanism 100, the second mount 30 is moved close to the first mount 10 by manipulating the robot arm, and the first connection member 33 on the second mount 30 is connected to the first connection portion 13 on the first mount 10 by the movement of the robot arm. The mechanical arm drives the second mounting base 30 to rotate relative to the first mounting base 10, so that the first connecting part 33 rotates relative to the first connecting part 13, the first aligning part 17 is in butt joint with the second aligning part 37, and the first control channel 171 on the first aligning part 17 is communicated with the second control channel 371 on the second aligning part 37. Then, by controlling the second connecting member 35 on the second mounting seat 30 to move toward the second connecting portion 15, the first connecting member 33 abuts against and locks the first connecting portion 13, and the second connecting member 35 abuts against and locks the second connecting portion 15.

When it is desired to disassemble the robotic arm from the actuator 200, the robotic arm may be manipulated to move the actuator 200 into contact with the floor or a work surface. The second connecting piece 35 moves towards the first connecting part 13 by controlling the second connecting piece 35 on the second mounting seat 30, so that the first connecting piece 33 is unlocked with the first connecting part 13, the second connecting piece 35 is unlocked with the second connecting part 15, and then the mechanical arm is operated to drive the second mounting seat 30 to rotate relative to the first mounting seat 10, so that the first connecting piece 33 rotates relative to the first connecting part 13, and the first connecting piece 33 on the second mounting seat 30 is separated from the first connecting part 13 on the first mounting seat 10.

In the embodiment of the present application, the second connecting portion 15 is located between the first connecting portion 13 and the first alignment element 17, after the first connecting portion 33 is connected with the first connecting portion 13, and after the first alignment element 17 is connected with the second alignment element 37 in an aligned manner, it can be ensured that the relative position of the second connecting portion 15 and the second connecting portion 35 is accurate, and after the second connecting portion 35 moves relative to the first connecting portion 33, the second connecting portion 15 can be accurately abutted, and the locking of the second connecting portion 35 and the second connecting portion 15 can be effectively maintained.

In the embodiment of the present application, the first connecting element 33 has a hooking portion, and the first connecting element 33 is connected to the first connecting portion 13 through the hooking portion.

In this embodiment, the first connecting member 33 and the first connecting portion 13 are rotatably connected by hooking the hooking portion to the first connecting portion 13.

With reference to fig. 6 and 7, in the embodiment of the present application, the hooking portion may include an accommodating section 331 and an extending section 333, the accommodating section 331 is recessed toward the second connecting portion 15 to form a recess 3311, and the extending section 333 is formed by extending the accommodating section 331 on one side of the recess 3311;

the first connecting portion 13 moves along the extension 333 to be received in the recess 3311.

When the second mounting seat 30 is close to the first mounting seat 10 and completes the connection between the first connecting member 33 and the first connecting portion 13, the hooking portion of the first connecting member 33 is close to the first connecting portion 13, the extending section 333 of the hooking portion contacts the first connecting portion 13 first, the first connecting portion 13 moves to the accommodating section 331 along the extending section 333 and falls into the recess 3311 formed by the accommodating section 331, and the connection between the first connecting member 33 and the first connecting portion 13 is completed. The extension 333 can guide the connection between the first connecting member 33 and the first connecting portion 13 to ensure the smooth connection therebetween. The first connecting portion 13 can rotate at the recess 3311.

In the embodiment of the present application, the first connecting portion 13 and the second connecting portion 15 are connected to the seat 11. The extension section 333 extends from a portion of the receiving section 331 located between the first connecting portion 13 and the base 11.

The accommodating section 331 can stop the separation of the first connection portion 13 from the first connection member 33 at a portion between the first connection portion 13 and the seat 11, and the extending section 333 can further prevent the separation of the first connection portion 13 from the first connection member 33 and can guide the connection of the first connection portion 13 and the first connection member 33.

In the actuating device, the actuating mechanism 200 is connected to the seat body 11, and the first connecting portion 13 and the second connecting portion 15 are located on a side of the seat body 11 away from the actuating mechanism 200.

Referring to fig. 3, in the embodiment of the present application, the first mounting base 10 includes two mounting plates 16 disposed opposite to each other, and the first connecting portion 13 connects the two ends of the connecting rod to the two mounting plates 16 respectively; the extension section 333 is formed by extending the part of the accommodating section 331 between the connecting rod and the seat body 11.

The first connecting portion 13 of the above embodiment has a simple structure, and can be matched with the recess 3311 formed by the accommodating section 331, so as to realize the rotation of the first connecting portion 13 at the recess 3311.

The connecting rod of the first connecting portion 13 may be a cylindrical structure, and the recess 3311 formed by the receiving section 331 may also be an arc-shaped recess 3311, so that the connecting rod is matched with the recess 3311 in shape.

After the first connecting member 33 is connected to the first connecting portion 13, the two are rotated to align the second connecting member 35 with the second connecting portion 15, and to prepare for the connection of the two.

In the actuator, the two mounting plates 16 are located on a side of the seat 11 facing away from the actuator 200.

Referring to fig. 7, the receiving section 331 may include a first connecting wall and a second connecting wall disposed opposite to each other, and a third connecting wall connected to the first connecting wall and the second connecting wall, and the first connecting wall, the third connecting wall and the second connecting wall together enclose a recess 3311. The second connecting wall is located between the connecting rod and the seat body 11, and the extending section 333 is formed by extending the second connecting wall towards a direction away from the third connecting wall.

When the connecting rod forming the first connecting portion 13 is of a cylindrical structure, the third connecting wall may be an arc-shaped wall, and the first connecting wall and the second connecting wall each extend in a tangential direction of the third connecting wall.

Referring to fig. 4, in the embodiment of the present application, the second connecting member 35 includes a driving portion 351 and a movable portion 353 connected to each other, the driving portion 351 is connected to the first connecting member 33, and the movable portion 353 is driven to move from the first connecting portion 13 to the second connecting portion 15 until the movable portion 353 abuts against the second connecting portion 15.

After the first connecting member 33 is connected to the first connecting portion 13 and rotated, and the first aligning member 17 is aligned with the second aligning member 37, the second connecting member 35 may be located between the first connecting portion 13 and the second connecting portion 15, when the driving portion 351 of the second connecting member 35 drives the movable portion 353 to move toward the second connecting member 35, the movable portion 353 may be connected to and abut against the second connecting portion 15, and under the reaction force of the driving portion 351, the first connecting member 33 abuts against the first connecting portion 13, so that the connection between the first connecting member 33 and the first connecting portion 13, and the connection between the second connecting member 35 and the second connecting portion 15 are reliable.

The driving portion 351 may be an air cylinder or a hydraulic cylinder.

With reference to fig. 8 and 9, in the embodiment of the present application, the movable portion 353 is provided with a slope portion 3531 in a direction away from the driving portion 351, and the slope portion 3531 abuts against and locks the second connecting portion 15.

In the process that the movable portion 353 moves from the first connecting portion 13 toward the second connecting portion 15, the slope portion 3531 first contacts the second connecting portion 15, and further the second connecting portion 15 is locked under the action of the abutting force by the guiding of the slope portion 3531.

In the embodiment of the present application, the first connecting member 33 includes a connecting plate, one side of the connecting plate is connected to the base 31, one end of the connecting plate is connected to the first connecting portion 13, and the other end of the connecting plate and the slope portion 3531 jointly clamp the second connecting portion 15.

Referring to fig. 4, in this embodiment, one end of the connecting plate is connected to the first connecting portion 13, and specifically, a hooking portion may be disposed at one end of the connecting plate and connected to the first connecting portion 13 by using the hooking portion. After the mechanical arm is operated to complete the connection between the connecting plate and the first connecting portion 13, the mechanical arm can be continuously controlled to enable the other end of the connecting plate to be lapped on the second connecting portion 15, the second connecting portion 15 is limited, the second connecting portion 35 can be opposite to the second connecting portion 15, then the second connecting portion 35 is controlled to move relative to the first connecting portion 33, the movable portion 353 of the second connecting portion 35 abuts against the second connecting portion 15, and in the process, the slope section 3531 of the movable portion 353 and the connecting plate clamp the second connecting portion 15 together.

Referring to fig. 3, the structure of the second connecting portion 15 can also refer to the first connecting portion 13, that is, when the first mounting base 10 includes a base body 11 and a mounting plate 16 connected to the base body 11, the second connecting portion 15 can also include a connecting rod connected between the two mounting plates 16. The connecting rods of the first connecting portion 13 and the connecting rods of the second connecting portion 15 are arranged on the mounting plate 16 at intervals and are parallel to each other.

In the execution apparatus, the robot arm is connected to the base 31, and the first connecting member 33 and the second connecting member 35 are located on a side of the base 31 facing away from the robot arm.

After the slope section 3531 of the movable portion 353 of the second connecting member 35 abuts against the connecting rod of the second connecting portion 15, the portion of the slope section 3531 is located between the connecting rod and the seat body 11, and the portion can clamp the connecting rod of the second connecting portion 15 together with the connecting plate, and the guiding effect of the slope section 3531 can further guarantee the clamping force of the slope section 3531 on the connecting rod, and guarantee the connection effectiveness of the second connecting member 35.

In the embodiment of the present application, the first connecting element 33 may specifically include two connecting plates connected to the base 31, and the two connecting plates are symmetrically disposed. The same end of two connecting plates all is equipped with the portion of holding, and two portions of holding are connected first connecting portion 13 jointly, specifically do: the two hooking portions hook the connecting rod of the first connecting portion 13 together.

The end of the extension section 333 of the two hooking parts departing from the containing section 331 is provided with a chamfer, so that when the extension section 333 contacts the first connection part 13, the first connection part 13 can move along the extension section 333 without being supported by the extension section 333, and the movement process of the first connection part 13 is smooth and reliable.

In the embodiment of fig. 4, the recess 3311 of the connecting plate is away from the first connecting portion 13 to form a connecting platform 335, and the second connecting portion 15 is limited to the connecting platform 335. In this embodiment, the end of the connecting plate far from the first connecting portion 13 is recessed 3311 from the direction far from the base 31 to the direction near the base 31 to form the lapping table 335, and the lapping table 335 is used for limiting the second connecting portion 15, so that before the second connecting member 35 starts to move, the first mounting seat 10 and the second mounting seat 30 are aligned accurately, and the second connecting member 35 moves relative to the first connecting member 33 and can accurately abut against the second connecting portion 15, thereby ensuring the reliability of connection between the first mounting seat 10 and the second mounting seat 30.

The chamfer may be provided in all directions of the end of the extension 333 to ensure smooth guiding of the extension 333 to the first connection part 13.

Referring to the embodiment shown in fig. 2, and referring to fig. 7, the first mounting base 10 includes a base body 11 and a mounting plate 16 connected to the base body 11, the second mounting base 30 includes a base 31, and the first connecting member 33 includes two connecting plates connected to the base 31. When the first connecting member 33 is connected to the first connecting portion 13, the two connecting plates are located at the inner sides of the two mounting plates 16, and the chamfer of the extending section 333 may include a guiding inclined surface disposed at the outer side of the two extending portions, wherein the guiding inclined surface gradually reduces the thickness of the extending section 333 from the accommodating section 331 to a direction away from the accommodating section 331. The guiding slope is arranged so that the two connecting plates move to the inner sides of the two mounting plates 16 for guiding during the mounting process of the first mounting seat 10 and the second mounting seat 30.

The present application also proposes an actuation device comprising a robotic arm and actuator 200 and a quick-connect mechanism 100. The specific structure of the quick connection mechanism 100 refers to the above embodiments, and since the execution device adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here. The actuator 200 is connected to the first mounting base 10; the robot arm is attached to the second mount 30.

The implement may be a work machine or a robot, and the implement 200 may be a grapple, a bucket, a hydraulic hammer, a hydraulic shear, a hydraulic tong, a cutter, etc. The actuating device can realize the quick disassembly and assembly of the mechanical arm and the actuating mechanism 200 through the quick connecting mechanism 100, and can utilize the actuating mechanism 200 to carry out corresponding work through the operation of the mechanical arm.

The above description is only an alternative embodiment of the present application, and not intended to limit the scope of the present application, and all modifications and equivalents of the technical solutions that can be directly or indirectly applied to other related fields without departing from the spirit of the present application are intended to be included in the scope of the present application.

Claims

1. A quick connect mechanism, comprising:

2. The quick connect mechanism of claim 1, wherein one of said first alignment member and said second alignment member has a positioning hole, and the other of said first alignment member and said second alignment member has a positioning member, said positioning member being engaged with said positioning hole.

3. The quick connect mechanism of claim 2 wherein one of said first alignment member and said second alignment member is provided with a guide aperture and the other of said first alignment member and said second alignment member is provided with a guide member, said guide member matingly engaging said guide aperture.

4. The quick connect mechanism according to any one of claims 1 to 3, wherein said first mounting seat further comprises an elastic member, and said first alignment member is connected to said seat body through said elastic member; the first aligning member can be close to or far away from the seat body through the elastic member.

5. The quick connect mechanism according to claim 4, wherein the seat body has a limiting plate, the limiting plate has a limiting hole, the first alignment member has a limiting member, the limiting member is inserted into the limiting hole, and the limiting member can move along the extending direction of the limiting hole when the first alignment member is approaching to or departing from the seat body.

6. The quick connect mechanism according to claim 5, wherein said seat body has two position-limiting plates, both of said position-limiting plates have said position-limiting holes, said first alignment member is located between said two position-limiting plates, and both ends of said first alignment member have said position-limiting members, and both of said position-limiting members are respectively inserted into said two position-limiting holes;

7. The quick connect mechanism according to claim 4, wherein the seat body is provided with a guide sleeve protruding toward the first alignment member, one end of the elastic member is received in the guide sleeve and connected to the guide sleeve or the seat body in the guide sleeve, and the other end of the elastic member extends out of the guide sleeve and is connected to the first alignment member.

8. The quick connect mechanism of any one of claims 1 to 3, wherein said base has first and second opposing mounting surfaces, said second mounting surface facing said first mounting base, said base defining mounting holes extending through said first and second mounting surfaces;

9. The quick connect mechanism of any one of claims 1 to 3, wherein said first mount is further provided with a second connecting portion, said second connecting portion being located between said first connecting portion and said first alignment member;

10. An actuator apparatus, comprising a robotic arm and an actuator mechanism, and a quick-connect mechanism as claimed in any one of claims 1 to 9, the actuator mechanism being connected to the first mounting block; the mechanical arm is connected to the second mounting seat.