CN113400349B - Quick change device for manipulator of mechanical arm - Google Patents
Quick change device for manipulator of mechanical arm Download PDFInfo
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- CN113400349B CN113400349B CN202110612170.5A CN202110612170A CN113400349B CN 113400349 B CN113400349 B CN 113400349B CN 202110612170 A CN202110612170 A CN 202110612170A CN 113400349 B CN113400349 B CN 113400349B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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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Abstract
The invention provides a quick change device for a manipulator of a mechanical arm, which comprises a first connecting part and a second connecting part, wherein the first connecting part is used for connecting the tail end of the mechanical arm, the second connecting part is used for connecting the manipulator, a driving mechanism and a locking mechanism are arranged in a shell of the first connecting part, and a plugging mechanism is arranged on the second connecting part; the driving mechanism is in transmission connection with the locking mechanism and drives the locking mechanism to move between a first state and a second state along a first direction; in the first state, the plugging mechanism can be inserted into the locking mechanism from the opening of the shell along the first direction, and in the second state, the locking mechanism can lock the plugging mechanism in the locking mechanism. The invention utilizes the driving mechanism to drive the locking mechanism to lock or unlock the plugging mechanism, does not need a high-pressure air source, can be suitable for outdoor or household environment, improves the universality of the device, and has simpler and more compact structure and more convenient and faster replacement process.
Description
Technical Field
The invention relates to the technical field of electromechanics, in particular to a quick-change device for a manipulator actuator.
Background
In the modern production process, the mechanical arm is widely applied to an automatic production line, and an actuator at the tail end of the mechanical arm needs to be replaced frequently in order to adapt to different working scenes; most of actuators at the tail end of an existing mechanical arm are achieved through a high-pressure gas tensioning quick-change device, but because a high-pressure gas source cannot be obtained outdoors, at home and in other environments, the universality of the replacing device is poor, the overall size is large, and the replacing process is complex.
Disclosure of Invention
The invention aims to provide a quick-change device for a manipulator of a mechanical arm, which aims to solve the problems of poor universality, large volume, complex replacement process and the like of the conventional quick-change device using high-pressure gas as a power source.
In order to solve the above problems, the present invention firstly provides a quick change device for an actuator of a mechanical arm, comprising a first connecting part for connecting the end of the mechanical arm and a second connecting part for connecting the actuator, wherein the first connecting part comprises a housing, and a driving mechanism and a locking mechanism arranged in the housing, and one side of the second connecting part facing the first connecting part is provided with an inserting mechanism; the bottom wall of the shell is provided with an opening, the driving mechanism is in transmission connection with the locking mechanism, and the driving mechanism drives the locking mechanism to move between a first state and a second state along a first direction; the plug-in mechanism can be inserted into the locking mechanism from the opening along the first direction and can be in the second state, and the locking mechanism can lock the plug-in mechanism positioned in the locking mechanism.
Further, the driving mechanism comprises a driving motor and a screw rod transmission assembly; the driving motor comprises a stator and a rotor arranged outside the stator in a sleeved mode, the lead screw transmission assembly comprises a nut and a lead screw which are connected, the rotor is connected with the nut and rotates synchronously, and the lead screw is connected with the locking mechanism.
Furthermore, the stator is hollow, and the screw rod is positioned in the stator and is coaxially arranged with the stator.
Further, the locking mechanism comprises a first annular limiting wall, a second annular limiting wall, a ball mounting piece and a locking ball; the first annular limiting wall and the second annular limiting wall are sequentially arranged on the inner wall surface of the opening along the direction close to the second connecting part, and the radial size of the first annular limiting wall is smaller than that of the second annular limiting wall; the ball mounting piece is positioned in the opening and is connected with the output end of the driving mechanism, and a plurality of through holes are formed in the ball mounting piece along the circumferential direction of the ball mounting piece; the locking balls are arranged in the through holes in a one-to-one correspondence manner; when the locking ball is in the first state, the locking ball is in limited fit with the second annular limiting wall in a second direction, the second direction is perpendicular to the first direction, and the locking balls form an avoiding space for the insertion mechanism to insert; when the locking ball is in the second state, the locking ball is in limited fit with the first annular limiting wall in the second direction, and the plurality of locking balls lock the plugging mechanism.
Furthermore, a guide wall is arranged between the first annular limiting wall and the second annular limiting wall, and the radial size of the guide wall is gradually increased from the first annular limiting wall to the second annular limiting wall.
Furthermore, the inserting mechanism comprises an upright post, a limiting piece and a braking and releasing spring; the limiting piece is sleeved at the top of the upright post, and the limiting piece can be inserted into the locking mechanism and locked by the locking mechanism; the stopping spring is sleeved on the stand column, one end of the stopping spring is fixedly connected with the limiting part, the other end of the stopping spring is fixedly connected with the stand column or the second connecting part, and the stopping spring is in a compressed state after the limiting part is locked.
Furthermore, the outer wall of the limiting part is provided with a limiting flange in limiting fit with the locking mechanism, and the radial size of the outer wall of the limiting flange is gradually increased along the direction deviating from the braking and releasing spring.
Further, a first positioning boss is arranged at the bottom of the shell, and the opening is formed in the first positioning boss; the second connecting part is provided with a first positioning groove, the inserting mechanism is arranged in the first positioning groove, and the outer side wall of the first positioning boss is in positioning fit with the inner side wall of the first positioning groove.
Further, a pressure sensor is mounted on the first connecting part and/or the second connecting part, and the pressure sensor is used for detecting the pressure between the first connecting part and the second connecting part after butt joint; when the pressure value detected by the pressure sensor is lower than a preset threshold value, the driving mechanism drives the locking mechanism to move to the second state.
Furthermore, an identification code is arranged on the second connecting part, and the identification code contains gravity compensation and inertia compensation parameter information of the actuator.
According to the quick-change device for the mechanical arm actuator, which is provided by the invention, the device is different from a traditional high-pressure gas locking mode, the driving mechanism is used for driving the locking mechanism to lock or unlock the plugging mechanism, a high-pressure gas source is not required, the device can be suitable for outdoor or household environments, the universality of the device is improved, the structure is simple and compact, and the replacement process is more convenient.
Drawings
In order to more clearly illustrate the embodiments of the present invention 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 embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a quick change device for a manipulator actuator according to an embodiment of the present invention;
FIG. 2 isbase:Sub>A cross-sectional view A-A of FIG. 1;
fig. 3 is a sectional view B-B of fig. 2.
Description of reference numerals:
100-a first connecting member; 110-a housing; 111-a first positioning boss; 120-a drive mechanism; 121-a drive motor; 1211-stator; 1212-a rotor; 1213-ball spline sleeve; 1214-thin wall deep groove ball bearing; 122-a screw drive assembly; 1221-a nut; 1222-a lead screw; 130-a locking mechanism; 131-a first annular limiting wall; 132-a second annular retaining wall; 133-a ball mount; 134-locking balls; 135-a guide wall;
200-a second connecting member; 210-a plugging mechanism; 211-upright post; 212-a limiter; 2121-a limiting flange; 213-brake the spring; 220-a first positioning groove;
300-gas path interface;
400-a circuit interface;
500-pressure sensor.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1, the present embodiment provides a quick-change device for a manipulator actuator, which mainly includes a first connecting part 100 and a second connecting part 200, where the first connecting part 100 may also be referred to as a male part, the second connecting part 200 may be referred to as a female part, the first connecting part 100 is mounted at an end of a manipulator (not shown), the second connecting part 200 is used for connecting an actuator (not shown), and the first connecting part 100 and/or the second connecting part 200 is provided with an air channel interface 300, a circuit interface 400, and the like.
When a different function actuator is required, it is necessary to release the connection of the first coupling part 100 and the current second coupling part 200 and then quickly replace the second coupling part 200 having the other actuator, and therefore, it is necessary to quickly release the connection of both and to quickly enable the assembly of both.
Referring to fig. 2 and 3, different from the conventional high-pressure gas tensioning method, the first connection part 100 of this embodiment is connected and disconnected by the driving mechanism 120 and the locking mechanism 130, specifically, the first connection part 100 of this embodiment includes a housing 110, and the driving mechanism 120 and the locking mechanism 130 disposed in the housing 110, the driving mechanism 120 of this embodiment is in transmission connection with the locking mechanism 130, and correspondingly, the side of the second connection part 200 facing the first connection part 100 of this embodiment is provided with the plugging mechanism 210.
Furthermore, it is necessary that the bottom wall of the housing 110 of the first connecting component 100 of the present embodiment is opened, the driving mechanism 120 of the present embodiment is configured to reciprocate linearly along the first direction (vertical direction in the figure), and the locking mechanism 130 is driven by the linear reciprocating action of the driving mechanism 120 to move between the first state and the second state.
In the first state of the present embodiment, the plugging mechanism 210 of the present embodiment can be inserted into the locking mechanism 130 through the opening along the first direction, and in the second state of the present embodiment, the locking mechanism 130 of the present embodiment can lock the plugging mechanism 210 therein.
This kind of structural design, be different from traditional high-pressure gas locking mode, utilize actuating mechanism 120 to drive locking mechanism 130 and lock or relieve locking to grafting mechanism 210, need not high-pressure gas source, can be applicable to outdoor or house environment, improved the universality of device to the structure is comparatively simple compact, and the change process is more convenient.
Referring to fig. 2 and 3 again, the driving mechanism 120 of the present embodiment includes a driving motor 121 and a lead screw transmission assembly 122; the driving motor 121 comprises a stator 1211 and a rotor 1212 sheathed outside the stator 1211, the stator 1211 is fixedly mounted on the housing 110 of the first connecting part 100 through a ball spline sleeve 1213, and the ball elements contained in the ball spline sleeve 1213 realize rolling friction instead of sliding friction, so that the driving motor has the advantages of low friction coefficient, long service life and high precision, and the bending rigidity and the positioning precision of a central shaft system are improved by applying a certain preload; the rotor 1212 of the present embodiment is mounted on the housing 110 through two thin-walled deep groove ball bearings 1214, and is axially and radially supported by a constant-pressure pre-tightening manner.
The screw rod transmission assembly 122 of this embodiment is trapezoidal lead screw 1222 transmission structure, and it includes nut 1221 and lead screw 1222 that is connected, rotor 1212 and nut 1221 fixed connection and synchronous rotation, lead screw 1222 include the screw portion of upper end and be located screw portion below and with the body of rod of screw portion body coupling, the body of rod is connected with locking mechanism 130, screw portion and nut 1221 threaded connection, linear motion under nut 1221's rotation of lead screw 1222, and then drive the locking mechanism 130 of this embodiment to open or lock. Trapezoidal screw drive possesses reliable mechanical auto-lock characteristic, guarantees quick change device's reliability and security, and butt joint locking is accomplished and is bought and need not the torque motor to keep certain moment for a long time, effectively reduces quick change device's energy consumption, is favorable to improving quick change device's complete machine life, and the nut 1221 of this embodiment is inside to include the tight spring that rises and realizes that the axial clearance eliminates, has improved the running accuracy after lead screw 1222 and the long-time operation wearing and tearing of nut 1221.
In order to facilitate mounting of the screw 1222 and other structures of the present embodiment, and to achieve a compact and compact design of the device, the stator 1211 is designed to have a hollow interior, and the screw 1222 of the present embodiment is located inside the stator 1211 and is disposed coaxially with the stator 1211.
The locking mechanism 130 is electrically driven to act completely by the structural design, energy supply of external equipment such as a high-pressure air source is not needed, the size miniaturization and the structure compactness of the device can be realized, the adaptability of the motor structure is improved, and the structure is further optimized.
The locking structure of this embodiment has various structural forms, for example, the locking mechanism 130 includes a cam (not shown in this figure), the screw 1222 drives the cam to rotate to lock or unlock the plugging mechanism 210, and for example, the locking mechanism 130 includes a gear and a rack (not shown in this figure), the screw 1222 drives the gear to rotate, the gear drives the rack to move to lock or unlock the plugging mechanism 210, but all of the above structures need to occupy a larger installation space, and the locking process needs to generate sliding friction with the plugging mechanism 210, so that the locking force is reduced after long-term use.
Specifically, as shown in fig. 3, the locking mechanism 130 of the present embodiment includes a first annular limiting wall 131, a second annular limiting wall 132, a screw transmission assembly 133, a locking ball 134, and the like. The first annular stopper wall 131 and the second annular stopper wall 132 of the present embodiment are provided in order on the inner wall surface of the opening in a direction approaching the second connecting member 200, and the radial dimension of the first annular stopper wall 131 of the present embodiment is smaller than the radial dimension of the second annular stopper wall 132.
The screw driving assembly 133 of this embodiment is located in the opening, the screw driving assembly 133 is similar to a cylindrical structure, the screw driving assembly 133 is fixedly connected to the output end of the driving mechanism 120, i.e. the rod body of the screw 1222 of this embodiment, and the screw 1222 is guided and supported by the ball spline sleeve 1213.
The screw driving assembly 133 of the present embodiment is provided with a plurality of through holes (not labeled in the figure) along the circumferential direction thereof; the plurality of locking balls 134 are installed in the through holes in one-to-one correspondence, and are restricted in the first direction by the screw transmission assembly 133.
In the first state, the screw driving assembly 133 of this embodiment is positioned such that the locking balls 134 and the second annular limiting wall 132 are in limit fit in the second direction, and the second direction is perpendicular to the first direction, so that the plurality of locking balls 134 form an avoidance space for inserting the plugging mechanism 210, and then the plugging mechanism 210 of this embodiment can be inserted, and then the screw 1222 moves upward, so that the screw driving assembly 133 drives the locking balls 134 to move upward, and the locking balls 134 and the first annular limiting wall 131 are in limit fit, because the radial dimension of the first annular limiting wall 131 is smaller than that of the second annular limiting wall 132, and further the plurality of locking balls 134 of this embodiment roll inward, so that the avoidance space formed by the plurality of locking balls 134 is reduced, and finally the plugging mechanism 210 of this embodiment is surrounded and locked, and the first connecting part 100 and the second connecting part 200 are butted, when the butt joint of the first connecting part 100 and the second connecting part 200 needs to be released, the screw 1222 of the screw assembly is driven by the motor to move downward, and the locking balls to release the plugging mechanism 210.
In addition, in order to facilitate rolling of the balls between the first annular limiting wall 131 and the second annular limiting wall 132, an inclined guide wall 135 is provided between the first annular limiting wall 131 and the second annular limiting wall 132 in the present embodiment, as can be seen from fig. 3, the first annular limiting wall 131 and the second annular limiting wall 132 of the present embodiment are arranged along the first direction, and the guide wall 135 is arranged obliquely relative to the first direction, specifically, it can be understood that the radial dimension of the guide wall 135 of the present embodiment gradually increases in the direction (from top to bottom) from the first annular limiting wall 131 to the second annular limiting wall 132.
In order to achieve stable coupling and assembly positioning of the first and second coupling parts 100 and 200, the present embodiment is provided with a first positioning boss 111 at the bottom of the housing 110, and the opening of the present embodiment is provided at the first positioning boss 111 and has a certain height in the first direction.
Correspondingly, the second connecting part 200 of this embodiment is provided with the first positioning groove 220, the inserting mechanism 210 is disposed in the first positioning groove 220, the outer side wall of the first positioning boss 111 is in positioning fit with the inner side wall of the first positioning groove 220, and the first connecting part 100 and the second connecting part 200 are positioned and connected by the cooperation of the first positioning boss 111 and the first positioning groove 220 during assembly, so that the assembly is facilitated and the stability after assembly is improved.
The first positioning boss 111 and the first positioning groove 220 are both in a cone shape, so that the matching conical surfaces of the side walls of the first positioning boss 111 and the first positioning groove 220 bear bending loads and radial loads introduced by the tail end driver, and the ball locking mechanism 130 with small point contact bearing capacity only bears axial loads introduced by the tail end driver, so that the quick-change device has the advantages of high rigidity, high precision and strong bearing capacity compared with a traditional quick-change device using a high-pressure gas tensioning structure.
Moreover, when the plugging mechanism 210 is locked by the locking mechanism 130 of this embodiment, a preset interval is formed between the bottom wall of the first positioning boss 111 and the bottom wall of the first positioning groove 220, so as to avoid an excessive intermolecular force and a negative pressure generated between the first positioning boss 111 and the first positioning groove 220.
Certainly, in order to further facilitate the assembly and the connection, a plurality of second positioning bosses (not shown) may be further disposed at the bottom of the housing 110 of this embodiment, the second positioning bosses are distributed around the first positioning boss 111, and the second connection component 200 is disposed with a second positioning groove (not shown) adapted to the second positioning bosses.
Referring to fig. 3, the plugging mechanism includes a column 211, a limiting member 212, and a braking spring 213; the limiting member 212 is sleeved on the top of the upright post 211, and the limiting member 212 can be inserted into the locking mechanism 130 and locked by the locking mechanism 130; the stopping and releasing spring 213 is sleeved on the upright post 211, one end of the stopping and releasing spring 213 is fixedly connected with the limiting part 212, the other end of the stopping and releasing spring 213 is fixedly connected with the upright post 211 or the second connecting part 200, the stopping and releasing spring 213 is in a compressed state after the limiting part 212 is locked, the limiting part 212 can be conveniently separated from the locking ball 134 through the stopping and releasing spring 213, the separation of the first positioning boss 111 and the first positioning groove 220 is facilitated, the phenomena of intermolecular force, negative pressure, friction tension and the like generated by matching surfaces of the stopping and releasing spring can be prevented from influencing the separation of the first connecting part 100 and the second connecting part 200, the impact force borne by the female head part of the quick-change device during separation and release is reduced due to the addition of the stopping and releasing spring 213, and spatial interference is avoided during butt joint and locking.
Referring to fig. 2 and 3 again, in order to facilitate the engagement with the locking ball 134, the outer wall of the limiting member 212 of this embodiment is provided with a limiting flange 2121 engaged with the ball in a limiting manner, and the radial dimension of the outer wall of the limiting flange 2121 gradually increases along the direction away from the retraction spring 213, so that the lower side of the limiting flange 2121 forms an engaging surface adapted to the locking ball 134, so that the limiting flange 2121 is disengaged from the locking ball 134.
In addition, referring to fig. 2, in the present embodiment, a pressure sensor 500 is mounted on the first connecting component 100 and/or the second connecting component 200, specifically, on the bottom of the housing 110 of the first connecting component 100, and the pressure sensor 500 is used for detecting the pressure between the docked first connecting component 100 and the second connecting component 200, which is changed and maintained in a certain range due to the posture change, the speed change, and the external environment during the operation of the robot arm and the end effector; the rotor 1212 of the motor 121 is then driven to rotate by the microcomputer so that the lead screw 1222 moves upward, thereby preventing the first and second link assemblies 100 and 200 from being separated.
In addition, the inventor finds that the existing force control flexible mechanical arm needs to independently perform gravity compensation and inertia compensation aiming at end effectors with different models in order to ensure higher force control performance; in order to ensure that the gravity compensation and inertia compensation parameters are accurate when the force-controlled flexible mechanical arm uses different end effectors, an identification code (not shown in the figure) is arranged on the second connecting part 200 in the embodiment, the identification code may be a two-dimensional code formed by laser engraving on the end surface of the second connecting part 200, the two-dimensional code contains the gravity compensation and inertia compensation parameter information of the actuator, the two-dimensional code is scanned by a hand-eye camera arranged at the tail end of the force-controlled flexible mechanical arm before the first connecting part 100 and the second connecting part 200 are butted, and the force control performance index is ensured.
Although the present invention is disclosed above, the present invention is not limited thereto. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (5)
1. The quick change device for the manipulator actuator of the mechanical arm comprises a first connecting part (100) used for connecting the tail end of the mechanical arm and a second connecting part (200) used for connecting the actuator, and is characterized in that the first connecting part (100) comprises a shell (110), a driving mechanism (120) and a locking mechanism (130) which are arranged in the shell (110), and one side, facing the first connecting part (100), of the second connecting part (200) is provided with an inserting mechanism (210);
the bottom wall of the shell (110) is opened, the driving mechanism (120) is in transmission connection with the locking mechanism (130), and the driving mechanism (120) drives the locking mechanism (130) to move between a first state and a second state along a first direction;
in the first state, the plugging mechanism (210) can be inserted into the locking mechanism (130) from the opening along the first direction, and in the second state, the locking mechanism (130) can lock the plugging mechanism (210) positioned therein;
the plugging mechanism comprises a vertical column (211), a limiting piece (212) and a braking spring (213); the limiting piece (212) is sleeved at the top of the upright post (211), and the limiting piece (212) can be inserted into the locking mechanism (130) and locked by the locking mechanism (130);
the stopping and withdrawing spring (213) is sleeved on the upright post (211), one end of the stopping and withdrawing spring is fixedly connected with the limiting piece (212), the other end of the stopping and withdrawing spring is fixedly connected with the upright post (211) or the second connecting part (200), and the stopping and withdrawing spring (213) is in a compressed state after the limiting piece (212) is locked;
a first positioning boss (111) is arranged at the bottom of the shell (110), and the opening is formed in the first positioning boss (111);
the second connecting part (200) is provided with a first positioning groove (220), the plugging mechanism (210) is arranged in the first positioning groove (220), and the outer side wall of the first positioning boss (111) is in positioning fit with the inner side wall of the first positioning groove (220); the first positioning boss (111) and the first positioning groove (220) are both in a conical shape;
the locking mechanism (130) comprises a first annular limiting wall (131), a second annular limiting wall (132), a ball mounting piece (133) and a locking ball (134);
the first annular limiting wall (131) and the second annular limiting wall (132) are sequentially arranged on the inner wall surface of the opening along the direction close to the second connecting part (200), and the radial size of the first annular limiting wall (131) is smaller than that of the second annular limiting wall (132);
the ball mounting piece (133) is positioned in the opening and is connected with the output end of the driving mechanism (120), and the ball mounting piece (133) is provided with a plurality of through holes along the circumferential direction;
a plurality of locking balls (134) are correspondingly arranged in the through holes one by one;
when the plug-in mechanism is in the first state, the locking balls (134) are in limited fit with the second annular limiting wall (132) in a second direction, the second direction is perpendicular to the first direction, and a plurality of locking balls (134) form an avoiding space for the plug-in mechanism (210) to be inserted;
when the locking ball (134) is in the second state, the locking ball (134) is in limited fit with the first annular limiting wall (131) in the second direction, and the locking balls (134) are matched with each other to lock the plugging mechanism (210);
a guide wall (135) is arranged between the first annular limiting wall (131) and the second annular limiting wall (132), and the radial size of the guide wall (135) is gradually increased from the first annular limiting wall (131) to the second annular limiting wall (132);
the outer wall of the limiting part (212) is provided with a limiting flange (2121) in limiting fit with the locking mechanism (130), and the radial size of the outer wall of the limiting flange (2121) is gradually increased along the direction deviating from the braking and releasing spring (213).
2. The mechanical arm actuator quick-change device according to claim 1, wherein the driving mechanism (120) comprises a driving motor (121) and a lead screw transmission assembly (122);
the driving motor (121) comprises a stator (1211) and a rotor (1212) sleeved outside the stator (1211), the lead screw transmission assembly (122) comprises a nut (1221) and a lead screw (1222) which are connected, the rotor (1212) is connected with the nut (1221) and rotates synchronously, and the lead screw (1222) is connected with the locking mechanism (130).
3. The mechanical arm actuator quick-change device according to claim 2, characterized in that the stator (1211) is hollow inside, and the screw rod (1222) is positioned inside the stator (1211) and is arranged coaxially with the stator (1211).
4. The manipulator actuator quick-change according to any one of claims 1-3, wherein a pressure sensor (500) is mounted on the first coupling part (100) and/or the second coupling part (200), the pressure sensor (500) being adapted to detect a pressure between the first coupling part (100) and the second coupling part (200) after docking; when the pressure value detected by the pressure sensor (500) is lower than a preset threshold value, the driving mechanism (120) drives the locking mechanism (130) to move to the second state.
5. The quick change device for the manipulator of any one of claims 1 to 3, wherein the second coupling part (200) is provided with an identification code, and the identification code comprises information on parameters of gravity compensation and inertia compensation of the manipulator.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110612170.5A CN113400349B (en) | 2021-06-02 | 2021-06-02 | Quick change device for manipulator of mechanical arm |
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| CN202110612170.5A CN113400349B (en) | 2021-06-02 | 2021-06-02 | Quick change device for manipulator of mechanical arm |
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| CN113400349B true CN113400349B (en) | 2022-11-25 |
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| CN114290377B (en) * | 2022-01-07 | 2023-06-06 | 上海工程技术大学 | Mechanical arm tail end quick-changing device with bidirectional sealing function |
| CN114851236B (en) * | 2022-05-16 | 2024-01-12 | 北京京东乾石科技有限公司 | Connector, end effector device and sorting equipment |
| CN115122372B (en) * | 2022-07-19 | 2023-07-04 | 广州里工实业有限公司 | Mechanical arm quick-change device, installation method and robot |
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