CN114083560A - Quick joint changing device for tail end of robot arm and application method thereof - Google Patents
Quick joint changing device for tail end of robot arm and application method thereof Download PDFInfo
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- CN114083560A CN114083560A CN202111369982.8A CN202111369982A CN114083560A CN 114083560 A CN114083560 A CN 114083560A CN 202111369982 A CN202111369982 A CN 202111369982A CN 114083560 A CN114083560 A CN 114083560A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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Abstract
The invention discloses a quick joint changing device for the tail end of a robot arm and an application method thereof, wherein the device comprises an external connection seat, a tool end female head and an arm end male head; the operation tool is connected to the lower section of the tool end female head, the upper section of the tool end female head is connected with the outer coupling seat in an inserting mode and limited downwards, the upper end of the outer coupling seat is connected with the track ring and the corner flange, the upper limit of the tool end female head is achieved through the corner flange, when the arm end male head connected with the tail end of the robot arm is inserted into the tool end female head, the upper limit of the tool end female head can be released through the corner flange, then the arm end male head and the tool end female head are connected into a whole in a clamping mode, the robot arm is pulled out of the outer coupling seat to be used, and after the application is completed, the arm of the robot works reversely, and the operation tool is sent back to the outer coupling seat again to be fixed. The replacing process of the whole operating tool is automatically realized, repeatability and reliability are achieved, and the robot body is fixed with the plurality of externally-connected seats, so that different operating tools of the robot arm can be automatically and quickly replaced to perform different types of operation.
Description
Technical Field
The invention belongs to the field of power transmission line maintenance robots, and particularly relates to a quick joint changing device for a tail end of a robot arm and an application method thereof.
Background
When the robot is applied to high-altitude operation, various operation objects, complex operation flow and the like are faced, and a plurality of tools are needed, however, the replacement process of different tools at the tail end of the robot is complicated, a large amount of time needs to be consumed, and the operation efficiency is seriously influenced.
Disclosure of Invention
The invention aims to provide a quick change joint device for a robot tail end and an application method thereof.
The invention provides a quick joint changing device for the tail end of an arm of a robot, which comprises an external connection seat, a tool end female head and an arm end male head; the upper section of the tool end female head is inserted and the lower limit is positioned in the outer connecting seat, the inserting structure of the upper section and the lower section is a square outer wall and a square hole, the lower section is used for connecting an operating tool, the outer connecting seat is a square body with an opening at the upper end and an opening at one side, and the outer connecting seat is vertically fixed on a machine body of the robot with the side surface of the opening facing outwards; the outer side of the upper end of the outer connecting seat is fixedly connected with a track ring with an outer square and an inner circle, the inner side of the track ring is sleeved with a corner flange, the corner flange is a C-shaped body with an outer circle and an inner square and corresponds to the periphery of the insertion section of the tool end female head, and the corner flange can rotate for 45 degrees and return along the track ring so as to realize upper limit and upper limit releasing of the tool end female head; the arm end male head comprises a female head inserting section, a corner flange driving section and an arm connecting flange which are sequentially arranged, an inserting structure between the female head inserting section and an upper connecting section of the tool end female head is a concentric circular hole and a cylinder, a direction spring bayonet lock which can be inserted into and separated from a clamping groove in the tool end female head is embedded in the bottom of the female head inserting section, and the corner flange driving section is a square section matched with the inner edge of the corner flange.
In one embodiment of the above technical solution, the upper section of the tool end female head is a square column section with a central circular hole, and the lower section is a cylinder section with a diameter smaller than the planar size of the upper section; the bottom surface of the upper connecting section is provided with a sealing plate, and the length of the lower section is greater than the height of the external connecting seat.
In an embodiment of the above technical scheme, a pair of side walls of the upper section of the terminal female head of the tool are symmetrically provided with an inverted U-shaped groove, the transverse depth of the inverted U-shaped groove is smaller than the thickness of the side wall, and the middle of the notch of the side wall corresponding to the inverted U-shaped groove is provided with the clamping groove.
In an embodiment of the above technical scheme, the inner wall of the external connection seat is provided with a convex strip matched with the vertical insertion groove, and the convex strip is slidably inserted into the vertical insertion groove.
In an embodiment of the above technical solution, the bottom surface of the corner flange is symmetrically provided with two hemispherical grooves with respect to the center plane of the opening width thereof.
In one embodiment of the above technical scheme, a vertical spring is embedded in a position, corresponding to one of the hemispherical grooves, on the upper portion of the side wall of the outer coupling seat, and a steel ball is fixed at the upper end of the vertical spring and extends out of the upper end surface of the outer coupling seat to be embedded in the hemispherical groove.
In one embodiment of the above technical solution, the female plug insertion section of the male head at the end of the arm includes a straight column section and a plug section; the bottom section of the straight column section is a solid section, the upper section of the straight column section is provided with an axial central circular hole, and the outer side of the bottom surface of the bottom section is provided with an embedded groove of a direction spring bayonet lock; the plug section is a solid section and is connected to the lower end of the straight column section through a fastener; the corner flange driving section of the male head at the tail end of the arm is a square column section matched with the shape of the inner edge of the corner flange.
In one embodiment of the above technical solution, the directional spring bayonet comprises a pair of horizontal T-shaped pins and a spring, the two T-shaped pins are arranged opposite to each other with end plates, and the spring is connected between the two end plates; the tail end of the T-shaped pin is provided with a guide surface which is convenient for the T-shaped pin to enter and exit the clamping groove of the female head at the tail end of the tool.
In an embodiment of the above technical solution, the side wall of the clamping groove on the tool end female head is provided with two sides corresponding to the opening of the track ring.
The invention provides a method for quickly replacing an operating tool by the robot through the joint device, which comprises the following steps:
(1) fixing the male head at the tail end of the arm of the robot through a fastener;
(2) the action of the mechanical arm enables the male head at the tail end of the arm to move to the position above a specified external connection seat fixed on the robot base body;
(3) the mechanical arm works to enable the male head at the tail end of the arm to be inserted into the female head of the tool end, and when the bottom of the square column section of the male head of the arm end enters the inner side of the corner flange, the mechanical arm rotates for 45 degrees again to drive the corner flange to rotate for 45 degrees to remove the upper limit of the female head of the tool end;
(4) the mechanical arm works to enable the male head at the arm end to be continuously inserted into the female head at the tool end until the spring bayonet lock in the direction above the male head is inserted into the bayonet lock in the female head of the tool section;
(5) the mechanical arm works to enable the arm end male head to pull out the tool end female head upwards from the external connection seat until the insertion section of the tool end female head leaves the external connection seat;
(6) the mechanical arm works, the tool end female head is horizontally pulled out from the opening side of the external connection seat, the replacement and the installation of the operating tool are finished, and the mechanical arm can carry out designated operation with the operating tool;
(7) after the operation tool is used, the reverse operation is carried out according to the steps, and the tool end female head is fixed through the external connection seat again.
The invention connects the operation tool to the lower section of the tool end female head, the upper section of the tool end female head and the external coupling seat are inserted and limited downwards, the upper end of the external coupling seat is connected with the track ring and the corner flange, the upper limit of the tool end female head is realized through the corner flange, when the arm end male head connected with the tail end of the robot arm is inserted into the tool end female head, the corner flange can release the upper limit of the tool end female head, then the arm end male head and the tool end female head are connected into a whole in a clamping way, the operation tool is pulled out from the external coupling seat, and the operation tool is sent back to the external coupling seat again for fixing after the application of the arm of the robot works reversely. The whole replacing process of the operating tool is automatically realized, and the robot body is fixed with the external connection seats according to repeatability and reliability, so that different operating tools of the robot arm can be automatically and quickly replaced to perform different types of operation.
Drawings
Fig. 1 is a schematic axial side structure of an embodiment of the present invention.
Fig. 2 is an enlarged schematic view of the female end of the tool shown in fig. 1.
Fig. 3 is an enlarged structural schematic view of the external connection seat in fig. 1.
Fig. 4 is an enlarged structural schematic diagram of the track ring in fig. 1.
Fig. 5 is a schematic top enlarged view of the corner flange of fig. 1.
Fig. 6 is a schematic bottom enlarged view of the corner flange of fig. 1.
Fig. 7 is an enlarged schematic structural view of the arm end male head in fig. 1.
Fig. 8 is an enlarged schematic view of fig. 7 with the plug section and spring fingers removed.
Detailed Description
As shown in fig. 1, the robot arm end quick-change connector device disclosed in this embodiment includes a tool end female head 1, an external coupling seat 2, a track ring 3, a corner flange 4, and an arm end male head 5.
As can be seen from fig. 1 and 2, the tool end female head 1 includes a cylindrical section and a square column section at the upper end thereof, and the diameter of the cylindrical section is smaller than the planar size of the square section. The cylinder section has a central circular hole, the square section has a central circular hole, and the bottom surface has a shrouding.
A pair of side walls of the square column section are symmetrically provided with vertical sliding grooves 11, the transverse depth of each vertical sliding groove is smaller than the thickness of the side wall, and the middle parts of the notches of the side walls, corresponding to the vertical sliding grooves, are provided with square holes 12 as clamping grooves for connecting arm end male heads.
The upper end of the central round hole of the square column section is provided with an outer horn mouth as a guide section.
As can be seen from the combination of fig. 1 and fig. 3, the outer connecting seat 2 is a square body with an upper end opening, a lower end opening and one side opening, the inner wall of the outer connecting seat is square from top to bottom, the bottom of the inner wall horizontally extends out to form a supporting plate 21, the center of the supporting plate is an arc groove, and a pair of side walls of the inner wall are symmetrically provided with convex strips 22 matched with vertical sliding grooves on the tool tail end female head 1.
It can be seen from combining fig. 1 to 3 that tool end female head 1 and outer when alliing oneself with seat 2 assembly, tool end female head is from last to down insert outer and allies oneself with the seat with the cylinder section, and the square column section is arranged in outer and allies oneself with the seat and spacing down through layer board 21, and the vertical spout of square column section and the sand grip on the outer seat of alliing oneself with slide assembly.
In order to position the tool end socket 1 in the outer socket 2, a track ring 3 and a corner flange 4 are connected to the upper end of the outer socket, as shown in fig. 1.
As can be seen from fig. 1 and 4, the track ring 3 is shaped as an outer square and inner circular ring plate, the width of the track ring is smaller than the wall thickness of the outer connecting seat, and the inner side of the bottom surface of the track ring is provided with an arc-shaped upper groove.
The track ring 3 is fixed on the outer side of the upper end of the outer connecting seat 2 through bolts.
As can be seen from fig. 1 and 4 to 6, the corner flange 4 is a C-shaped plate with an outer circle and an inner square, and a lower groove is formed on the outer side of the top surface.
The corner flange 4 is used for limiting the tool end female head 1 after being assembled in the external coupling seat 2, and relieving the upper limit of the tool end female head when the arm end male head 5 is assembled with the tool end female head 1 in an inserting manner.
Therefore, the corner flange 4 can rotate 45 degrees and can be positioned when the tool end female head 1 is limited, and when the arm end male head 5 is inserted into the tool end female head 1, the arm end male head can rotate 45 degrees along with the arm end male head in the reverse direction to keep the same direction with the square column section of the tool end female head, so that the upper limit of the tool end female head is released.
In order to realize the above function of the corner flange 4, hemispherical recesses 41 are symmetrically formed on both sides of the center plane in the width direction of the notch of the corner flange, as shown in fig. 5. The opposite side of the opening side of the outer connecting seat corresponds to one of the hemispherical grooves, a vertical spring is embedded, a steel ball is fixed at the upper end of the vertical spring, and only an embedded hole 23 of the vertical spring is shown in fig. 4.
When the corner flange 4 is assembled with the track ring 3 and the outer connecting seat 2, the side wall of a groove below the corner flange 4 is sleeved on the inner edge of the track ring 3, the arc-shaped raised strip 42 outside the lower groove is inserted into the upper groove of the track ring for assembly, so that the corner flange 4 can rotate along the track ring 3, the steel ball at the upper end of the vertical spring is embedded into the hemispherical groove on the corner flange right above the vertical spring, at the moment, the inner side of the corner flange is in the same direction with the square column section of the female head at the end of the component, and then the corner flange is rotated for 45 degrees, so that the steel ball at the upper end of the vertical spring is embedded into the other hemispherical groove at the bottom surface of the corner flange for positioning. At this point, the corner flange 4 blocks the upper end surface of the tool end female head 1 to limit the upper end surface.
The assembly of female head 1 of instrument end and outer seat 2 and spacing back from top to bottom, the operation instrument is connected to the cylinder section of the female head 1 of instrument end, and outer seat 2 of ally oneself with is used the opening side outwards vertical to be fixed in on the organism of robot to the public head 5 of arm end is connected to stand-by robot arm.
In order to avoid interference between the operating tool and the external coupling seat when the tool end female head is pulled out of the external coupling seat, the length of the cylindrical section of the tool end female head needs to be larger than the height of the external coupling seat.
As can be seen from fig. 1, 7 and 8, the arm end male head 5 includes a female head insertion section, a corner flange driving section and an arm connecting flange which are sequentially arranged.
Female first grafting section includes straight post section and end cap section, and the bottom section of straight post section is solid section, and the upper portion section has axial center round hole, and the bottom surface outside of bottom section is provided with the inlay groove of direction spring bayonet lock, and the end cap section is solid section, and after direction spring bayonet lock assembly, the end cap section passes through bolted connection in the lower extreme of straight post section.
The driving section of the corner flange is a square column section matched with the inner edge of the corner flange in shape, and the length of the square column section is greater than the thickness of the corner flange.
The directional spring detent comprises a pair of horizontal T-pins 51 arranged opposite end plates and a spring connected between the end plates. The end of the T-shaped pin is provided with a guide surface for facilitating the T-shaped pin to enter and exit the slot of the female head at the end of the tool, as shown in fig. 7.
The arm end male head 5 is connected with the tool end female head 1 through a T-shaped pin inserted into the clamping groove during assembly.
The specific process that the terminal of robot arm takes off the female head of tool end 1 and the operation instrument of connecting from outer antithetical couplet seat 2 after passing through bolted connection arm end public head 5 is as follows:
the mechanical arm works to enable the arm end male head 5 to move to the position above the appointed external connection seat 2 fixed on the robot body;
the mechanical arm works to enable the male head 5 at the tail end of the arm to be inserted into the tool end female head 1, when the bottom of the square column section of the arm end male head enters the inner side of the corner flange 4, the mechanical arm rotates 45 degrees to drive the corner flange to rotate 45 degrees to remove the upper limit of the tool end female head 1, and the mechanical arm returns to the position in the same direction as the square column section of the tool end female head 1;
the mechanical arm works to enable the arm end male head 5 to be continuously inserted into the tool end female head 1 until the direction spring bayonet lock on the arm end male head is inserted into the bayonet lock on the tool section female head;
(5) the mechanical arm works, so that the arm end male head 5 pulls the tool end female head 1 upwards out of the external connection seat 2 until the square column section of the tool end female head 1 leaves the external connection seat 2.
(6) The mechanical arm works, the tool end female head 5 is horizontally pulled out from the opening side of the outer connecting seat 2, the replacement and the installation of the operating tool are finished, and the mechanical arm can carry the operating tool to perform designated operation;
(7) after the operation tool is used, the reverse operation is carried out according to the steps, and the tool end female head is fixed through the external connection seat again.
Claims (10)
1. The utility model provides a terminal quick change outfit piecing devices of robot arm which characterized in that: the device comprises an external connection seat, a tool end female head and an arm end male head;
the upper section of the tool end female head is inserted and the lower limit is positioned in the outer connecting seat, the inserting structure of the upper section and the lower section is a square outer wall and a square hole, the lower section is used for connecting an operating tool, the outer connecting seat is a square body with an opening at the upper end and an opening at one side, and the outer connecting seat is vertically fixed on a machine body of the robot with the side surface of the opening facing outwards;
the outer side of the upper end of the outer connecting seat is fixedly connected with a track ring with an outer square and an inner circle, the inner side of the track ring is sleeved with a corner flange, the corner flange is a C-shaped body with an outer circle and an inner square and corresponds to the periphery of the insertion section of the tool end female head, and the corner flange can rotate for 45 degrees and return along the track ring so as to realize upper limit and upper limit releasing of the tool end female head;
the arm end male head comprises a female head inserting section, a corner flange driving section and an arm connecting flange which are sequentially arranged, an inserting structure between the female head inserting section and an upper connecting section of the tool end female head is a concentric round hole and a cylinder, a direction spring bayonet lock capable of being inserted into and separated from a clamping groove in the tool end female head is embedded in the bottom of the female head inserting section, and the corner flange driving section is a square section matched with the inner edge of the corner flange.
2. The quick change coupler device at the end of a robot arm as claimed in claim 1, wherein: the upper section of the tool tail end female head is a square column section with a central circular hole, and the lower section of the tool tail end female head is a cylindrical section with the diameter smaller than the plane size of the upper section; the bottom surface of the upper connecting section is provided with a sealing plate, and the length of the lower section is greater than the height of the external connecting seat.
3. The quick change coupler device at the end of a robot arm as claimed in claim 2, wherein: a pair of lateral walls symmetry of the upper portion section of the terminal female head of instrument is provided with the type groove of falling U, and the horizontal degree of depth in the type groove of falling U is less than side wall thickness, and the notch middle part that the lateral wall corresponds the type groove of falling U sets up the draw-in groove.
4. The quick change coupler device at the end of a robot arm as claimed in claim 3, wherein: the inner wall of the outer connecting seat is provided with a convex strip matched with the vertical insertion groove, and the convex strip is inserted into the vertical insertion groove in a sliding manner.
5. The quick change coupler device at the end of a robot arm as claimed in claim 1, wherein: the bottom surface of the corner flange is symmetrically provided with two hemispherical grooves relative to the opening width central plane.
6. The quick change coupler apparatus of the end of a robot arm as claimed in claim 5, wherein: the upper part of the side wall of the outer connecting seat is embedded with a vertical spring corresponding to one of the hemispherical grooves, the upper end of the vertical spring is fixed with a steel ball, and the steel ball extends out of the upper end surface of the outer connecting seat and is embedded into the hemispherical groove.
7. The robot arm end quick change coupling device of claim 1, wherein: the female head inserting section of the male head at the tail end of the arm comprises a straight column section and a plug section; the bottom section of the straight column section is a solid section, the upper section of the straight column section is provided with an axial central circular hole, and the outer side of the bottom surface of the bottom section is provided with an embedded groove of a direction spring bayonet lock; the plug section is a solid section and is connected to the lower end of the straight column section through a fastener; the corner flange driving section of the male head at the tail end of the arm is a square column section matched with the shape of the inner edge of the corner flange.
8. The robot arm end quick change coupler apparatus of claim 7, further comprising: the direction spring bayonet lock comprises a pair of horizontal T-shaped pins and a spring, the two T-shaped pins are oppositely arranged by end plates, and the spring is connected between the two end plates; the tail end of the T-shaped pin is provided with a guide surface which is convenient for the T-shaped pin to enter and exit the clamping groove of the female head at the tail end of the tool.
9. The quick change coupler device at the end of a robot arm as claimed in claim 1, wherein: the clamping groove on the tool end female head is provided with side walls corresponding to two sides of the opening of the track ring.
10. A method for a robot to rapidly change operating tools by means of a joint arrangement according to claim 1, comprising the steps of:
(1) fixing the male head at the tail end of the arm to the tail end of the arm of the robot through a fastener;
(2) the action of the mechanical arm enables the male head at the tail end of the arm to move to the position above a specified external connection seat fixed on the robot base body;
(3) the mechanical arm works to enable the male head at the tail end of the arm to be inserted into the female head at the tool end, when the bottom of the square column section of the male head at the arm end enters the inner side of the corner flange, the mechanical arm rotates for 45 degrees again to drive the corner flange to rotate for 45 degrees to remove the upper limit of the female head at the tool end;
(4) the mechanical arm works to enable the male head at the arm end to be continuously inserted into the female head at the tool end until the spring bayonet lock in the direction above the male head is inserted into the bayonet lock in the female head of the tool section;
(5) the mechanical arm works to enable the arm end male head to pull out the tool end female head upwards from the external connection seat until the insertion section of the tool end female head leaves the external connection seat;
(6) the mechanical arm works, the tool end female head is horizontally pulled out from the opening side of the external connection seat, the operation tool is replaced, and the mechanical arm can carry the operation tool to perform designated operation;
(7) after the operation tool is used, the reverse operation is carried out according to the steps, and the tool end female head is fixed through the external connection seat again.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111369982.8A CN114083560B (en) | 2021-11-18 | 2021-11-18 | Quick joint changing device for tail end of robot arm and application method thereof |
| JP2022001739U JP3238484U (en) | 2021-11-18 | 2022-05-26 | Quick change joint device at the tip of a robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111369982.8A CN114083560B (en) | 2021-11-18 | 2021-11-18 | Quick joint changing device for tail end of robot arm and application method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114083560A true CN114083560A (en) | 2022-02-25 |
| CN114083560B CN114083560B (en) | 2023-03-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111369982.8A Active CN114083560B (en) | 2021-11-18 | 2021-11-18 | Quick joint changing device for tail end of robot arm and application method thereof |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP3238484U (en) |
| CN (1) | CN114083560B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115158648A (en) * | 2022-07-19 | 2022-10-11 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116038740A (en) * | 2022-12-16 | 2023-05-02 | 广州市微眸医疗器械有限公司 | Quick-change interface of mechanical arm |
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| CN112248020A (en) * | 2020-10-10 | 2021-01-22 | 安徽工业大学 | Quick automatic interface device of end execution device of mechanical arm |
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- 2022-05-26 JP JP2022001739U patent/JP3238484U/en active Active
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|---|---|---|---|---|
| US4611377A (en) * | 1984-06-04 | 1986-09-16 | Eoa Systems, Inc. | Interchangeable robot end-of-arm tooling system |
| JPH07243572A (en) * | 1994-03-08 | 1995-09-19 | Power Reactor & Nuclear Fuel Dev Corp | Remotely handled connector |
| CN206296936U (en) * | 2016-12-29 | 2017-07-04 | 西南科技大学 | A kind of robot end's instrument fast replacing device |
| CN207359097U (en) * | 2017-09-22 | 2018-05-15 | 中国东方电气集团有限公司 | A kind of mechanical arm tail end instrument automatic quick changing device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115158648A (en) * | 2022-07-19 | 2022-10-11 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
| CN115158648B (en) * | 2022-07-19 | 2023-04-18 | 哈尔滨工业大学 | Coaxial double-rotor unmanned aerial vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114083560B (en) | 2023-03-14 |
| JP3238484U (en) | 2022-07-29 |
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