CN114211517A - Quick change tool magazine of outdoor robot - Google Patents
Quick change tool magazine of outdoor robot Download PDFInfo
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- CN114211517A CN114211517A CN202111371377.4A CN202111371377A CN114211517A CN 114211517 A CN114211517 A CN 114211517A CN 202111371377 A CN202111371377 A CN 202111371377A CN 114211517 A CN114211517 A CN 114211517A
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Images
Classifications
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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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- 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
Abstract
The invention provides an outdoor robot quick-change tool library which comprises a tail end fixing quick-change seat, a tool fixing quick-change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element which are used for being in butt joint with the tool fixing quick-change seat during quick change are arranged on the tail end fixing quick-change seat; the upper end of the tool fixing quick-change seat is provided with a ferrous metal element which can be attracted with a magnetic element, and the outer side of the tool fixing quick-change seat is provided with a buckle mechanism which can ensure that the tool fixing quick-change seat is in butt joint with the tail end fixing quick-change seat for fixation; the tool fixing quick-change seat is arranged on the movable base, a guide pin which can be in butt joint with the tool fixing quick-change seat during quick change is arranged on the movable base, and flexible connection is formed between the guide pin and the fixed base through at least two space supporting parts or/and a flexible support. The robot has better flexibility, can bear larger external force impact, can provide multi-dimensional fault-tolerant capability in space, and effectively ensures the reliability and positioning accuracy when the robot is quickly replaced in outdoor operation or good environment operation.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an outdoor robot quick-change automatic tool magazine.
Background
The automated tool library has been widely used in the traditional machining industry, however, for non-industrial robots, such as outdoor operation robots, mobile robots, etc., due to the limitations of working scenes, available power sources, environmental conditions, and the requirements of the robots themselves for factors such as weight, the system derived based on the traditional solution is not ideal in practicability, and the solution for the non-industrial robot tool library in outdoor, etc. is also limited, and there are the following problems: (1) the traditional tool library system driven by electricity, gas, liquid or hybrid power has high system complexity, increases the weight of the tool library and increases the cost, and reduces the practicability of the robot in outdoor operation or operation in adverse environment; (2) different from indoor industrial robots, outdoor robots are often repeatedly carried, disassembled and assembled or transported for a long distance due to operation scenes, and inevitably affect the positioning precision of the tail ends of the robots, however, most tool libraries are rigid structures, cannot provide self-adaptive redundancy, and cause problems of butt joint failure and the like; (3) in order to simplify a tool library system for an outdoor operation robot, part of products adopt an independent motor driving mode, namely, the tool library is designed into a system with independent motor driving, such as a patent CN110640704B disclosed by the national intellectual property office, and the structure utilizes a plurality of groups of transmission structures to transmit motor power to different tool positions so as to carry out quick change of tools; although the complexity of the electrical appliance of the system is simplified, due to the introduction of the independent driving and transmission mechanism, the tool positions in one tool library cannot be flexibly disassembled and assembled as required, the size, the volume and the weight of the tool library cannot be further optimized, and once the motor has a problem, the whole system fails; (4) the existing robot has high requirement on the stability of a fixed base, which cannot be achieved by an outdoor movable robot, and the movement of the movable robot can influence the repeated positioning of the robot; (5) the existing tool magazine is of a structure for realizing quick tool replacement based on electromagnetic force, and the problem of disengagement is easy to occur when the existing tool magazine is subjected to external impact and large torque, so that the reliability in use is influenced.
Therefore, there is a need to address the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, provides a quick change tool magazine of an outdoor robot, can ensure the reliability and positioning accuracy of the robot during quick change in outdoor operation or operation in a bad environment, and has a simple structure.
The quick-change tool library for the outdoor robot comprises a tail end fixing quick-change seat, a tool fixing quick-change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element which are used for being in butt joint with the tool fixing quick-change seat during quick change are arranged on the tail end fixing quick-change seat; the upper end of the tool fixing quick-change seat is provided with a ferrous metal element which can be attracted with the magnetic element, and the outer side of the tool fixing quick-change seat is provided with a buckle mechanism which can ensure that the tool fixing quick-change seat is in butt joint with the tail end fixing quick-change seat for fixation; the tool fixing quick-change seat is arranged on the movable base, a guide pin which can be in butt joint with the tool fixing quick-change seat during quick change is arranged on the movable base, and flexible connection is formed between the guide pin and the fixed base through at least two space supporting parts or/and flexible supports.
Optionally, a limit pin is arranged on the fixed base, the limit pin is matched with a limit hole correspondingly arranged on the movable base, and a tolerance gap is formed between the limit pin and the limit hole.
Optionally, the flexible support is a flexible sleeve disposed between the moving base and the fixed base, and is fixed by a support fixing member.
Optionally, the space supporting component comprises a cardan shaft, a radial spherical plain bearing seat and an elastic supporting piece; the two radial spherical plain bearings are sleeved at two ends of the universal shaft, the elastic supporting piece is clamped between the two radial spherical plain bearings, and the outer ends of the two radial spherical plain bearings are supported and fixed by the radial spherical plain bearing seats respectively.
Optionally, an embedding hole is formed in the tail end fixing quick-change seat, a chute is formed in the movable base, the buckling mechanism comprises a hook and a hook rotating pin fixed on the tool fixing quick-change seat, the hook is hinged to the hook rotating pin, a clamping hook capable of being inserted into the embedding hole to be fixed is arranged at one end of the hook, and a wedge matched with the chute is arranged at the other end of the hook.
Furthermore, the buckle mechanism further comprises an elastic part, one end of the elastic part is fixed on the tool fixing quick-change seat, and the other end of the elastic part is connected with one end, provided with the inclined wedge, of the hook.
The invention can also comprise a self-locking mechanism, wherein the self-locking mechanism comprises a main body self-locking seat, a self-locking elastic tongue, a self-locking rotating pin, a self-locking limit pin and a spring, the main body self-locking seat is fixed on the movable base, the self-locking elastic tongue is positioned in a long groove which is formed in the main body self-locking seat and can enable the self-locking spring bolt to swing in the long groove, one end of the self-locking elastic tongue is hinged on the self-locking rotating pin which is arranged in the long groove, a through hole which the self-locking limit pin can pass through is further formed in the self-locking elastic tongue, the spring is arranged along the swinging direction of the self-locking elastic tongue, one end of the spring is fixed on the main body self-locking seat, and the other end of the spring abuts against the self-locking spring bolt.
The tool rod can be fixedly connected with the tool fixing quick-change seat through a tool rod fixing piece.
The invention has the following technical effects:
(1) according to the invention, the tool libraries with corresponding number can be flexibly installed according to the operation scene of the robot and the required number of the quick-change tools, the structure is greatly simplified, redundant weight and structure are removed, and the reliability is improved;
(2) the quick-change tool magazine structure does not need an additional power source or a driving system and a transmission system, greatly reduces the complexity of the system, is matched with the quick-change interface based on electromagnetism, realizes the butt joint between the tail end fixing quick-change seat and the tool fixing quick-change seat, and is reliable to use, more convenient and more efficient;
(3) the quick-change tool magazine structure adopts a modularized processing mode, and utilizes the characteristics of all modules to be respectively used or cooperatively matched, wherein the fixed base and the movable base form flexible connection through the space supporting part or/and the flexible support, so that the quick-change tool magazine structure has better tolerance; the relative displacement between the movable base and the fixed base can be further rigidly controlled by utilizing the limiting pin, so that multi-dimensional redundancy in space is provided for the tool library, the fault tolerance of the tool library is improved, the influence of the tool library on the tool library when the tool library is impacted by large external force is avoided to the maximum extent, the positioning precision during quick change is reduced, and the success rate of accurate butt joint during quick change of the outdoor robot is effectively ensured;
(4) the electromagnetic force is matched and used as the driving force, so that the reliability of the system can be improved, the mechanism can be greatly simplified, the light weight is realized, and the cost is reduced;
(5) the buckling mechanism designed by the invention is matched with electromagnetic force, so that the influence of external impact and large torque on the tool magazine can be better resisted, the accidental disengagement of the electromagnetic force caused by external impact can be prevented, the locking function of the tool magazine in the vertical direction is further enhanced through the self-locking structure, the influence of repeated carrying, dismounting or long-distance transportation of an outdoor robot on the positioning precision during quick change due to an operation scene can be avoided, and the reliability of the tool magazine is effectively ensured.
Drawings
FIG. 1 is a first view of the present invention;
FIG. 2 is a second schematic view of the structural assembly of the present invention;
FIG. 3 is a third schematic view of the structural assembly of the present invention;
FIG. 4 is a first schematic view of the relationship between the quick-change end fixing seat, the quick-change tool fixing seat and the movable base;
FIG. 5 is a schematic diagram of a second exemplary embodiment of the present invention showing the relationship between the quick-change tool holder and the movable base;
FIG. 6 is a schematic structural view of a mobile base and a fixed base according to the present invention;
FIG. 7 is a first schematic view of a mating structure of a mobile base and a fixed base according to the present invention;
FIG. 8 is a schematic view of a second mating structure of the mobile base and the fixed base according to the present invention;
FIGS. 9A-9B are schematic views of part A of the structure of FIG. 8;
fig. 10 is a schematic view of the assembly of the tool fixing quick-change seat, the movable base and the fixed base.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or intervening elements may also be present.
It should also be noted that the terms "upper end", "lower end", "outer side", "top", "bottom", "inward", "outward", "one end", "the other end" and the like as used in the embodiments of the present invention are only relative terms or reference to normal use conditions of the product, or reference to positions illustrated in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and therefore should not be considered as limiting.
Referring to fig. 1 to 3, the quick change tool magazine for an outdoor robot, provided by the present invention, is used for quick change of a terminal tool of an outdoor robot, and includes a terminal fixing quick change seat 2, a tool fixing quick change seat 1, a moving base 11 and a fixing base 9, where the terminal fixing quick change seat 2 may be a cylindrical component shown in the drawing or a rectangular component, a magnetic element 5 is disposed at a central position of the cylindrical component and fixed on the terminal fixing quick change seat 2 through a fixing member 51, the magnetic element 5 may be a cylinder or a rectangular component, a bottom plane of the magnetic element is flush with a plane of the terminal fixing quick change seat 2 or slightly exceeds the bottom plane of the terminal fixing quick change seat 2, and when the magnetic element 5 is a cylindrical component, a limit screw 52 is used to limit rotation of the magnetic element; the shape structure of the tool fixing quick-change seat 1 is the same as or similar to the shape of the tail end fixing quick-change seat 2, and can be a cylindrical component or a cuboid component, the upper end of the tool fixing quick-change seat 1 is correspondingly provided with a ferrous metal component which can be attracted with the magnetic component 5, so that the tail end fixing quick-change seat 2 is connected with the tool fixing quick-change seat 1 in a magnetic attraction way when being butted, the ferrous metal component can specifically adopt an iron block 7, the iron block 7 is positioned in a groove formed in the tool fixing quick-change seat 1 upwards, and is fixed by a fixing piece (not shown), the top plane of the iron block 7 is flush with or slightly higher than the top plane of the tool fixing quick-change seat 1, and the iron block is favorable for being tightly attached to the magnetic component 5 on the tail end fixing quick-change seat 2 when being attracted, so as to ensure the attraction effect when being quickly changed; the tool fixing quick-change seat 1 is connected with an actuator required by an outdoor robot. In order to ensure that the tail end fixing quick-change seat 2 and the tool fixing quick-change seat 1 are accurately aligned, at least two guide cones 3 are further arranged on the tail end fixing quick-change seat 2, three guide cones 3 are arranged in the embodiment of the invention shown in fig. 2, the guide cones are fixed on the tail end fixing quick-change seat 2 through guide cone fixing pieces 31, and the lower ends of the guide cones 3 extend out of the bottom plane of the tail end fixing quick-change seat 2; at least two positioning holes 102 capable of being correspondingly matched with the guide cone 3 are correspondingly arranged on the tool fixing quick-change seat 1, and the number of the positioning holes 102 is also three. When the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1 are in butt joint and fit, the guide cone 3 is correspondingly inserted into the positioning hole 102, so that not only can the quick alignment when the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1 are combined be ensured, but also the fit clearance between the guide cone 3 and the positioning hole 102 is very small, so that the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1 can bear larger torque, and the safety and the reliability during quick change are further improved. The outside of the fixed quick-change seat 1 of instrument still is equipped with buckle mechanism 6, and buckle mechanism 6 can provide mechanical locking when the fixed quick-change seat 1 of instrument and the fixed quick-change seat 2 actuation of terminal, makes both firmly connected, avoids the problem that the electromagnetism cohesion between the two produces the pine and takes off under external impact.
Referring to fig. 1 to 5, the tool fixing quick-change seat 1 is disposed on a moving base 11, at least two guide pins 10 are disposed on the moving base 11, and are fixed on the moving base 11 through guide pin fixing members 1001, guide holes 101 are correspondingly disposed on the tool fixing quick-change seat 1, the guide pins 10 are vertically disposed on the moving base 11, and the upper ends of the guide pins are conical, so that the guide pins 10 and the guide holes 101 are aligned and inserted in a butt joint manner, and the tool fixing quick-change seat 1 is quickly positioned and matched with the moving base 11. Referring to fig. 6-8 and fig. 9A and 9B, the fixed base 9 is disposed at the bottom of the movable base 11, and is flexibly connected to the movable base 11 through at least two space supporting components 8 or flexible supports 12, or the movable base 11 is flexibly connected to the fixed base 9 through at least two space supporting components 8 and flexible supports 12, and the space supporting components 8 or/and the flexible supports 12 can provide a moving space in three directions of XYZ between the fixed base 9 and the movable base 11, and when being impacted by an external force, the two cooperate with each other to compensate each other, so as to avoid the influence of the external force on the present invention, and the external force can be returned to the initial state after being removed.
According to the outdoor robot quick-change tool magazine, the magnetic element 5 can be controlled to be powered on or powered off to generate electromagnetic attraction force with the iron block 7, so that the tail end fixing quick-change seat 2 and the tool fixing quick-change seat 1 are in butt joint, and quick change of a tail end tool of an outdoor robot is controlled. The electromagnetic attraction mode is adopted, so that the magnetic separation device is quick and stable, the control mode is simple, the reliability is high, the device is not easily influenced by the outside, and the requirements on the manufacturing precision and the repeated positioning precision of the magnetic separation element 5 and the iron block 7 are low. Meanwhile, the fixed quick-change seat 2 at the tail end after being sucked and the fixed quick-change seat 1 for tools can be fixed into a whole through the buckle mechanism 6, so that the quick-change tool magazine can bear larger shearing force and impact force, and the reliability and the safety of the quick-change tool magazine are improved. Like this, need not traditional motor, hydraulic pressure and pneumatics alright realize the quick opening and shutting of the fixed quick change seat 2 of end and the fixed quick change seat 1 of instrument, overall structure is simple, convenient to use, and manufacturing and use cost are low. Furthermore, the space support part 8 or/and the flexible support 12 are/is adopted to enable the movable base 11 and the fixed base 9 to be flexibly connected, so that the multi-dimensional fault tolerance in space during quick change of the tool library can be provided, the fault tolerance of the tool library is improved, the problems that the quick change tool library is easy to disengage or break down when being subjected to external impact and the like are effectively solved, the influence of positioning precision on quick change of the outdoor robot is reduced, and the success rate of butt joint of all components and the practicability and reliability of the robot in outdoor operation or poor environment operation are effectively guaranteed.
Referring to fig. 6 and 7, in a specific structural design of the present invention, the flexible support 12 may be a flexible sleeve disposed between the moving base 11 and the fixed base 9, a stepped hole is formed in the center of the flexible support 12, and the support fixing member 121 is inserted into the stepped hole to connect and fix the moving base 11 and the fixed base 9. Specifically, the flexible support 12 is made of a soft elastic material, and the whole material of the flexible support has an isotropic characteristic, such as silica gel, rubber, and the like, and is fixed on the fixed base 9 through the support fixing member 121, and is embedded in a groove formed in the movable base 11. When the movable base 11 moves, the flexible support 12 is extruded and deformed, and when the external force is removed, the flexible support automatically recovers under the action of elasticity; when the mobile base 11 is not subjected to external force or is subjected to small external force, the flexible support 12 can keep an initial state at this time, that is, the mobile base 11 can keep an original initial position unchanged under the support of the flexible support 12, even if the mobile base 11 is subjected to external force, the position of the mobile base 11 cannot be changed greatly due to the tolerance of the flexible support 12, and the mobile base can be restored to the initial state quickly after the external force is removed, so that the positioning precision of the tail end of the robot is effectively ensured. Moreover, a flexible support 12 is arranged between the moving base 11 and the fixed base 9, and the elasticity of the flexible support 12 can also bear impact force during quick change, so that the rigid impact generated by external force on the moving base 11 and the fixed base 9 is reduced. It is understood that at least three flexible supports 12 may be provided.
Referring to fig. 6 and 7, in the specific structural design of the present invention, the space supporting component 8 is disposed between the moving base 11 and the fixed base 9, and includes a universal shaft 81, a radial spherical bearing 82, a radial spherical bearing seat 83 and an elastic supporting component 84; the two radial spherical plain bearings 82 are sleeved on the universal shaft 81, an elastic support member 84 is arranged between the two radial spherical plain bearings 82, the outer ends of the two radial spherical plain bearings 82 are respectively fixed by radial spherical plain bearing blocks 83, the two radial spherical plain bearing blocks 83 are respectively arranged in grooves correspondingly formed in the opposite directions of the moving base 11 and the fixed base 9, and are respectively fixed on the moving base 11 and the fixed base 9 through fasteners. The space support member 8 of the present invention adopts a combination design of an elastic support member 84, a universal shaft 81 and a radial spherical-joint bearing 82, wherein the elastic support member 84 can make a moving space in the vertical direction (Z direction) between the moving base 11 and the fixed base 9, and the radial spherical-joint bearing 82 can allow the moving base 11 and the fixed base 9 to have relative displacement in the horizontal direction (X, Y direction) by rotating around the universal shaft 81. In this way, the movable base 11 can be allowed to move in a certain spatial range, so that the movable base 11 and the fixed base 9 form a flexible connection, and the elastic support 84 can also enable the movable base 11 to have the capability of automatic resetting in the vertical direction.
As a further structural design of the quick-change tool magazine for the outdoor robot of the present invention, referring to fig. 8, 9A and 9B, the present invention further includes a limit pin 91 on the fixed base 9, the limit pin 91 is matched with a limit hole 112 correspondingly disposed on the movable base 11, and a certain tolerance gap is provided between the limit pin 91 and the limit hole 112. Referring to fig. 9B, a gap is left in the radial direction of the stopper pin 91, so that the movable base 11 can have a moving space in the X direction and the Y direction of the stopper pin 91, and a certain gap is also left in the axial direction of the stopper pin 91 and the movable base 11, that is, as shown in fig. 9A, the movable base 11 can move in the Z axis direction of the stopper pin 91, and the maximum moving and rotating space of the movable base 11 can be controlled by controlling the gap X, Y, Z between the stopper pin 91 and the movable base 11, that is, by controlling the value X, Y, Z. Thus, by arranging the limit pin 91, the spatial position of the movable base 11 can be adjusted and limited, and adaptive redundancy is provided between the movable base 11 and the fixed base 9, thereby further effectively avoiding possible butt joint failure. Specifically, the redundancy in the X, Y direction includes, but is not limited to, 0-4 mm; the Z direction is 0-5 mm. It can be understood that the number of the limit pins 91 can be at least three, and the limit pins are uniformly distributed on the fixed base 9.
It can be understood that, in the above invention, the space supporting component 8, the flexible support 12 and the limit pin 91 are adopted, the three components can form a modularization, the flexible support 12 and the space supporting component 8 can be used separately or cooperatively, when the flexible support 12 and the space supporting component 8 are used in combination, the risk that the elastic support 84 may fail when the quick change tool magazine is subjected to a large shearing force can be avoided, and the self-resetting capability of the moving base 11 is improved; the relative displacement of the movable base 11 can be further rigidly controlled by the stopper pin 91. Like this, through above three module, can restrict removal base 11 at spatial position, can realize again under the effect of receiving the external force, removal base 11 can be in the limited removal in enough flexible space, can also realize recovering to initial preset position by oneself after removing the external force, effectively solved current tool magazine and quick change system and can't provide the ascending redundancy in a plurality of directions, after outdoor long-time work, because of positioning accuracy causes the defect that the instrument was changed unsuccessfully, the reliability of outdoor robot tool magazine use has been guaranteed comprehensively.
Referring to fig. 4-5, in a specific embodiment of the present invention, an insertion hole 21 is formed on the distal fixing quick-change seat 2, an inner groove 211 is formed in the insertion hole 21, the moving base 11 is provided with an open slot 111, a lower end of the distal fixing quick-change seat 2 is placed in the open slot 111 (see fig. 5), and a periphery of the open slot 111 is an inclined surface 1101. The buckle mechanism 6 comprises a hook 61 and a hook rotating pin 62 fixed on the tool fixing quick-change seat 1, and the hook 61 is hinged on the hook rotating pin 62 and can rotate around the hook rotating pin 62. One end of the hook 61 is provided with a hook 611, the hook 611 can be correspondingly inserted into the inner groove 211 of the insertion hole 21 for fixation, and the other end of the hook 611 is provided with a wedge 612, and the wedge 612 can be inserted into the open groove 111 on the movable base 11 to be matched with the inclined plane 1101. It is understood that at least two snap mechanisms 6 may be provided.
With further reference to fig. 1-5, the locking mechanism 6 further comprises an elastic member 63, one end of the elastic member 63 is fixed on the quick tool holder 1, and the other end is connected to one end of the hook 61 having the wedge 612. When the tool fixing quick-change seat 1 is placed on the moving base 11, the wedge 612 at the lower end of the hook 61 is in contact with the inclined plane 1101 arranged on the opening groove 111 of the moving base 11, the hook 61 is driven to compress the elastic part 63 and rotate clockwise around the hook rotating pin 69 by utilizing the lateral force generated when the wedge 612 is matched with the inclined plane 1101 on the moving base 11, the hook 611 exits from the inner grooves 211 of the embedding holes 21 at the two sides of the terminal fixing quick-change seat 2, at the moment, the buckling mechanism 6 is in a completely released state, and the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1 can be attracted or released through controlling electromagnetism; if the magnetic element 5 on the quick-change end holder 2 is magnetically lost by the control system, so that no other force acts between the quick-change end holder 2 and the quick-change tool holder 1, the quick-change tool holder 1 can be separated from the quick-change end holder 2 (see fig. 2 and 5). When the fixed quick change seat 2 in end and the fixed quick change seat 1 in instrument are in the same place through the electromagnetic force actuation, and wholly shift out when moving base 11, couple 61 is under the effect of elastic component 63, around couple swivel pin 69 anticlockwise motion, trip 611 can correspond and insert in the inner groovy 211 of embedding hole 21, hook the inner groovy 211 of the fixed quick change seat 1 both sides in end, buckle mechanism 6 is locking state this moment, promptly firmly be fixed in an organic whole with the fixed quick change seat 1 in end with the fixed quick change seat 1 in instrument through buckle mechanism 6, provide mechanical protection for the electromagnetic force, can bear great shearing force and impact force after making the fixed quick change seat 2 in end be connected with the fixed quick change seat 1 in instrument. Like this, through buckle mechanism 6, need not traditional motor, hydraulic pressure and atmospheric pressure, also need not any other actuating mechanism, just realized the quick butt joint of the fixed quick change seat of instrument 1 with the fixed quick change seat 2 in terminal, locking and breaking away from, it is simple and convenient, solved the problem that the electromagnetic force loosens under the external impact easily, for the electromagnetic force provides mechanical protection, effectively resist external impact force and big moment to the fixed quick change seat 2 in terminal and the fixed quick change seat 1's of instrument influence.
Referring to fig. 6-8 and 10, the present invention further includes a self-locking mechanism 4, where the self-locking mechanism 4 includes a main body self-locking seat 41, a self-locking spring tongue 42, a self-locking rotating pin 45, a self-locking limit pin 44, and a spring 43, the main body self-locking seat 41 is located outside the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1 and fixed on the movable base 11, a long groove 47 is formed on a side surface of the main body self-locking seat 41 facing the terminal fixing quick-change seat 2 and the tool fixing quick-change seat 1, and the self-locking spring tongue 42 is located in the long groove 47 of the main body self-locking seat 41 and can swing in the long groove 46. A self-locking rotating pin 45 is arranged in the long groove 47, one end of the self-locking spring tongue 42 is hinged on the self-locking rotating pin 45, and the other end can swing freely. The self-locking spring tongue 42 is also provided with a through hole 46 through which a self-locking limit pin 45 can pass, and the self-locking rotating pin 45 can limit the swinging angle and the swinging distance of the self-locking spring tongue 42. The spring 43 is disposed in the elongated slot 46, and has one end fixed to the main body self-locking seat 41 and the other end abutting against the self-locking bolt 42 along the axial direction of the self-locking bolt 42. When the quick-change tool holder 1 is placed on the movable base 11, the quick-change tool holder 1 pushes the self-locking spring tongue 42 to swing toward the elongated slot 47 against the elastic force of the spring 43, and after the quick-change tool holder 1 is completely fixed on the movable base 11, the top of the quick-change tool holder 1 is lower than the bottom of the self-locking spring tongue 42, and the lower end of the self-locking spring tongue 42 swings toward the quick-change tool holder 1 around the self-locking rotating pin 45 under the action of the spring 43, so that the bottom of the self-locking spring tongue 42 is clamped against the top plane of the quick-change tool holder 1, the quick-change tool holder 1 is clamped on the movable base 11, and the quick-change tool holder 1, the movable base 11 and the fixed base 9 are locked into a whole (see fig. 10). Like this, through self-locking mechanism 4, fixed quick change seat 1 of instrument can firmly lock on moving base 11 and fixed baseplate 9, has effectively avoided outdoor robot often because of the operation scene reason, carries repeatedly, dismouting or long-distance transport, the influence that the positioning accuracy when terminal repetitive positioning of robot produced, and accuracy and the reliability of butt joint when further having improved the quick change.
In a specific embodiment of the present invention, the lower end of the quick tool holder 1 is connected and fixed to the tool rod 13 through a plurality of tool rod fasteners 131, and the tool rod fasteners 131 may be provided with a plurality of staggered connection points (see the fixing positions of the tool rod fasteners 131 shown in the drawings) to improve the stability of the connection between the tool rod 13 and the quick tool holder 1. The quick change seat 1 is fixed to instrument accessible tool bar 9 connects required executor, and the quick change seat 1 is fixed to instrument is placed on moving base 11, can form a complete set one or more moving base 11 on the outdoor robot arm, and the terminal fixed quick change seat of terminal that carries on of arm. When the mechanical arm is matched with a plurality of movable bases 11, the tail end fixing quick-change seat 1 is placed on the movable bases 11, the tail end fixing quick-change seat 1 is matched with the tool fixing quick-change seat 2, and the mechanical arm can be switched to use and fixed on an actuator of the tail end fixing quick-change seat 1.
The above-described embodiments of the present invention are merely exemplary and not intended to limit the present invention, and those skilled in the art may make various modifications, substitutions and improvements without departing from the spirit of the present invention.
Claims (8)
1. A quick change tool magazine of an outdoor robot is characterized by comprising a tail end fixing quick change seat, a tool fixing quick change seat, a movable base and a fixed base, wherein a guide cone and a magnetic element which are used for being in butt joint with the tool fixing quick change seat during quick change are arranged on the tail end fixing quick change seat; the upper end of the tool fixing quick-change seat is provided with a ferrous metal element which can be attracted with the magnetic element, and the outer side of the tool fixing quick-change seat is provided with a buckle mechanism which can ensure that the tool fixing quick-change seat is in butt joint with the tail end fixing quick-change seat for fixation; the tool fixing quick-change seat is arranged on the movable base, a guide pin which can be in butt joint with the tool fixing quick-change seat during quick change is arranged on the movable base, and flexible connection is formed between the guide pin and the fixed base through at least two space supporting parts or/and flexible supports.
2. The quick-change device for the end tool of the robot according to claim 1, wherein the fixing base is provided with a limiting pin, the limiting pin is matched with a corresponding limiting hole on the moving base, and a tolerance gap is formed between the limiting pin and the limiting hole.
3. The outdoor robot quick-change tool magazine of claim 1, wherein the flexible support is a flexible sleeve disposed between the moving base and the fixed base, and is fixed by a support fixing member.
4. Outdoor robot quick-change tool magazine according to any of the claims 1-3, characterized in that the spatial support means comprise a cardan shaft, a radial spherical bearing seat and a resilient support; the two radial spherical plain bearings are sleeved at two ends of the universal shaft, the elastic supporting piece is clamped between the two radial spherical plain bearings, and the outer ends of the two radial spherical plain bearings are supported and fixed by the radial spherical plain bearing seats respectively.
5. The outdoor robot quick-change tool magazine according to any one of claims 1 to 3, wherein an embedding hole is formed in the terminal fixing quick-change seat, a chute is formed in the movable base, the latch mechanism comprises a hook and a hook rotating pin fixed on the tool fixing quick-change seat, the hook is hinged on the hook rotating pin, a hook capable of being inserted into the embedding hole for fixing is arranged at one end of the hook, and a wedge matched with the chute is arranged at the other end of the hook.
6. The outdoor robot quick-change tool magazine of claim 5, wherein the snap mechanism further comprises an elastic member, one end of the elastic member is fixed on the tool fixing quick-change seat, and the other end of the elastic member is connected with one end of the hook, which is provided with the wedge.
7. The outdoor robot quick-change tool magazine according to any one of claims 1 to 3, further comprising a self-locking mechanism, wherein the self-locking mechanism comprises a main body self-locking seat, a self-locking spring tongue, a self-locking rotating pin, a self-locking limit pin and a spring, the main body self-locking seat is fixed on the movable base, the self-locking spring tongue is located in a long groove formed in the main body self-locking seat and allowing the self-locking spring tongue to swing in the long groove, one end of the self-locking spring tongue is hinged to the self-locking rotating pin arranged in the long groove, the self-locking spring tongue is further provided with a through hole allowing the self-locking limit pin to pass through, the spring is arranged along the swinging direction of the self-locking spring tongue, one end of the spring tongue is fixed on the main body self-locking seat, and the other end of the spring tongue abuts against the self-locking spring tongue.
8. The outdoor robot quick-change tool magazine of any one of claims 1-3, further comprising a tool bar, wherein the tool bar is fixedly connected with the tool fixing quick-change seat through a tool bar fixing piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111371377.4A CN114211517A (en) | 2021-11-19 | 2021-11-19 | Quick change tool magazine of outdoor robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111371377.4A CN114211517A (en) | 2021-11-19 | 2021-11-19 | Quick change tool magazine of outdoor robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114211517A true CN114211517A (en) | 2022-03-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111371377.4A Pending CN114211517A (en) | 2021-11-19 | 2021-11-19 | Quick change tool magazine of outdoor robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023221718A1 (en) * | 2022-05-16 | 2023-11-23 | 北京京东乾石科技有限公司 | Male connector, female connector, pickup device, quick-change mechanism, end effector, manipulator and robot |
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| JPH10277978A (en) * | 1996-11-08 | 1998-10-20 | Arinobu Miura | Attachment chucking device for robot |
| JPH11198078A (en) * | 1998-01-13 | 1999-07-27 | Furukawa Electric Co Ltd:The | Automatic tool changer |
| US20120091311A1 (en) * | 2010-10-13 | 2012-04-19 | Re2, Inc. | Compliant Tool Holder |
| CN203579671U (en) * | 2013-11-07 | 2014-05-07 | 上海通彩自动化设备有限公司 | Quick switching mechanism of manipulator assembly clamp |
| CN106272508A (en) * | 2015-06-11 | 2017-01-04 | 上银科技股份有限公司 | In order to change the mechanical type more changing device of end-effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10277978A (en) * | 1996-11-08 | 1998-10-20 | Arinobu Miura | Attachment chucking device for robot |
| JPH11198078A (en) * | 1998-01-13 | 1999-07-27 | Furukawa Electric Co Ltd:The | Automatic tool changer |
| US20120091311A1 (en) * | 2010-10-13 | 2012-04-19 | Re2, Inc. | Compliant Tool Holder |
| CN203579671U (en) * | 2013-11-07 | 2014-05-07 | 上海通彩自动化设备有限公司 | Quick switching mechanism of manipulator assembly clamp |
| CN106272508A (en) * | 2015-06-11 | 2017-01-04 | 上银科技股份有限公司 | In order to change the mechanical type more changing device of end-effector |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2023221718A1 (en) * | 2022-05-16 | 2023-11-23 | 北京京东乾石科技有限公司 | Male connector, female connector, pickup device, quick-change mechanism, end effector, manipulator and robot |
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