CN114347084A - Standard quick-change device for manual and robot flexible interactive application - Google Patents
Standard quick-change device for manual and robot flexible interactive application Download PDFInfo
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- CN114347084A CN114347084A CN202210282551.6A CN202210282551A CN114347084A CN 114347084 A CN114347084 A CN 114347084A CN 202210282551 A CN202210282551 A CN 202210282551A CN 114347084 A CN114347084 A CN 114347084A
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Abstract
The invention discloses a standard quick-change device for manual and robot flexible interactive application, which comprises: the injection molding main body comprises a cavity and an insertion rod embedded into the cavity; the cavity at least comprises a containing cavity and an external end face which can be connected to the tail end of the robot or a handheld handle; the insertion rod has at least a first rod movably connected to the application tool. The invention has the advantages of compact structure, small volume, light weight, high precision, strong universality, strong human-computer interaction and exquisite and flexible design.
Description
Technical Field
The invention relates to the technical field of robots. More particularly, the invention relates to a quick change device for an application tool at the tail end of a robot, and further relates to a standard quick change device for manual and robot flexible interactive application.
Background
The international association of robots defines robots as follows: a robot is a machine that works semi-autonomously or fully autonomously. Among them, a service robot is used for a home or a direct service person. The application case of the automatic cruise AGV and the cooperative robot is widely verified in the industrial and service fields, but the popularization of the application robot in the family environment still has a plurality of difficulties which must be overcome:
firstly, the current household service robot is in the initiation stage, and the conflict between the longitude of the versatility of the service robot and the limitation of the function of the current service robot is large; secondly, the replacing device of the tool applied to the tail end of the existing robot mainly adopts a chuck type structure, consists of a main disc and a tool disc, adopts pneumatic or hydraulic transmission, has large volume and heavy weight, and cannot be suitable for family environment; thirdly, the household robot is also mainly a single-function robot, does not accord with the development mode of the service robot for continuously enabling and adding (scene enabling and tool enabling), does not accord with the requirement for sustainable development, and has diversity of tasks executed by the service robot, so that the service robot is required to have the properties of multi-scene compatibility, personalized customization, function expansibility, man-machine interaction and the like; fourthly, the product structure of the existing robot enterprise is unscientific and systematic, the development and research of a heavy intelligent front end and the development and research of a light end tool and a quick-change device thereof are realized.
In order to comply with the development mode of continuously enabling the service robot, effectively guide the consumption behavior of a consumer on the household robot, expand the product structure and the application field of a robot enterprise, combine the existing conditions of a household environment (abundant electric energy and no air pressure or hydraulic equipment), and the best solution is to equip the robot with an electric drive standard quick-change device and an open type end application tool library which are compact in structure, small in size, light in weight, high in precision, strong in universality, strong in man-machine interaction and exquisite and flexible, wherein the end application tool of the robot must become a carrier tool for continuously enabling the service robot, and further promote the group intelligence development innovation and the continuous expansion under a standard template, so that the robot can replace different end application tools according to the actual needs of work tasks, and realize the multifunctional, additional, and the household robot, The method has important significance for enhancing the adaptability of the household robot to different application scenes.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and to provide at least the advantages described later.
Still another object of the present invention is to provide a standard quick-change device for manual and robotic flexible interactive applications, which has a compact structure, a small volume, a light weight, a high precision, a strong versatility, a strong human-machine interactivity, and is exquisite and flexible.
To achieve these objects and other advantages in accordance with the purpose of the invention, there is provided a standard quick-change apparatus for manual, robotic flexible interactive applications, comprising:
the injection molding main body comprises a cavity and an insertion rod embedded into the cavity; the cavity at least comprises a containing cavity and an external end face which can be connected to the tail end of the robot or a handheld handle; the insertion rod has at least a first rod movably connected to the application tool.
Preferably, the insertion rod is provided with a bead ejecting hole and a bead ejecting hole which is arranged in the inner cavity of the insertion rod and can eject the bead ejecting hole and reset, so that the insertion rod can be movably connected with an application tool, and the application tool is provided with a connecting part matched with the bead ejecting hole.
Preferably, the cavity comprises a piston cavity, a driving cavity and a control cavity; the driving cavity and the control cavity are arranged side by side, the driving cavity and the piston cavity are communicated to form a cavity with an open top, and one outer end face of the control cavity is the external end face so as to be connected to the tail end of a robot or a handheld handle.
Preferably, the ejecting device further comprises a driving assembly, so that the ejecting bead can be automatically ejected or reset, wherein the driving assembly comprises a piston body and a driving body for driving the piston body; the piston body is arranged in the piston cavity and inserted into the insertion rod, and comprises a piston rod, a driven seat and a reset elastic element sleeved on the piston rod; the piston rod is arranged on the driven seat and can be inserted into the plug rod and eject out the ejecting bead, and the reset elastic element is limited between the driven seat and a limit baffle plate arranged in the piston cavity; the driving body is arranged in the driving cavity and the piston cavity and comprises a power source and a driving handle, and the power source drives the driving handle to move so that the piston rod can do reciprocating motion in the insertion rod to eject or reset the ejecting ball.
Preferably, a pair of embedded electrodes is arranged in the control cavity and on the external end face so as to realize the electric connection between the injection molding main body and the tail end of the robot or the handheld handle; and an embedded nut is further arranged on the outer end face to realize mechanical connection between the injection molding main body and the tail end of the robot or a handheld handle.
Preferably, the insertion rod, the cavity, the embedded electrode and the embedded nut are integrally formed by an embedded injection molding method, and the piston rod and the driven seat are also integrally formed by an embedded injection molding method.
Preferably, the edge of the top bead hole is a smooth combination of an arc shape and a cone shape; the free front end of the piston rod is provided with a smooth concave circle matched with the top bead hole; the smooth concave circle is an integral structure formed by smoothly combining an arc body and a conical body.
Preferably, the driving handle is at least provided with a conical end face and an inner cavity for the power source to insert, the driving handle is further provided with a first pin hole and a limiting dovetail key, and a dovetail groove matched with the dovetail key is arranged in the driving cavity to prevent the driving handle from rotating.
Preferably, the power source is a manual pressing type power source, which comprises a pressing piece and an elastic element sleeved on the pressing piece; the pressing piece penetrates through a fixed circular column fixed on the inner wall of the driving cavity and extends into the inner cavity of the driving handle, and the elastic element is positioned at the upper part of the fixed circular column; a second pin hole corresponding to the first pin hole is formed in the pressing piece, so that the driving handle can move telescopically along with the pressing piece; or the power source is an electric power source and comprises a direct current motor and a worm arranged on an output shaft of the direct current motor; the worm drives a turbine arranged in the inner cavity of the driving handle, and a third pin hole corresponding to the first pin hole is formed in the turbine so that the driving handle can do telescopic motion along with the motor shaft.
Preferably, the driven base includes a driven body and a balance support body integrally injection-molded with the driven body, the piston rod is provided on the driven body, and a plurality of support columns are provided at a bottom of the balance support body.
The invention at least comprises the following beneficial effects:
firstly, the standard quick-change device for manual and robot flexible interactive application solves the difficult problem of cooperative robot household application, adapts to the actual conditions that electric energy is abundant and air pressure or hydraulic equipment is not prepared in a household environment, changes the driving mode of the quick-change device for the application tool at the tail end of the existing robot, and realizes the quick interaction and replacement of the application tool in an electric driving mode;
the standard quick-change device for manual and robot flexible interactive application provided by the invention provides a basic module for anthropomorphic application demonstration, has strong universality, can be used as a standard module, provides a standardized platform for robot application development enthusiasts, and continuously expands and innovates according to the actual application field and expands the types of application tools at the tail end of the robot, thereby endowing the robot with wider functions and expanding the application field of the robot;
thirdly, the weight of the standard quick-change device for manual and robot flexible interactive application provided by the invention is only 20% of that of the conventional quick-change device, and the standard quick-change device is compact in structure, light in weight and suitable for application scenes in small space;
the standard quick-change device for manual and robot flexible interactive application changes the chuck structure of the conventional quick-change device, adopts a plug-in rod plug-in structure, has high human-computer interaction efficiency and high application tool replacement efficiency, and greatly improves the working efficiency of a robot;
the standard quick-change device for manual and robot flexible interaction application solves the problem that manual and robot flexible interaction cannot give consideration to systematicness, compatibility, expansibility and safety, is beneficial to promoting a service robot to continuously enable an added development mode, and meets the requirements of sustainable development and conservation-oriented social construction.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
FIG. 1 is a schematic structural view of the injection molded body according to one embodiment of the present invention;
fig. 2 is a schematic structural diagram of a standard quick-change device for manual and robot flexible interactive application according to another embodiment of the present invention;
fig. 3 is a schematic structural view of a manual pressing type standard quick-change device connected to a handheld handle according to another embodiment of the present invention;
fig. 4 is a schematic structural view of the piston body according to another embodiment of the present invention;
fig. 5 is a schematic cross-sectional view of the piston body and the insertion rod in an initial state according to another embodiment of the present invention;
fig. 6 is a schematic cross-sectional view illustrating a state in which the piston body is inserted into the insertion rod according to another embodiment of the present invention;
FIG. 7 is a schematic cross-sectional view of the insertion rod and the piston rod according to another embodiment of the present invention;
fig. 8 is a schematic cross-sectional view of a standard quick-change device for manual and robotic flexible interactive application according to another embodiment of the present invention;
FIG. 9 is a schematic view of the manual pressing type power source according to another embodiment of the present invention;
fig. 10 is a schematic structural diagram of a power source driven by the dc motor according to another embodiment of the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
As shown in fig. 1 and 2, the present invention provides a standard quick-change device for manual and robot flexible interactive application, comprising:
the injection molding main body comprises a cavity and an insertion rod 4 embedded into the cavity; the cavity at least comprises a containing cavity and an external end face which can be connected to the tail end of the robot or a handheld handle; the plug-in lever 4 has at least a first lever part which can be movably connected to an application tool.
In the technical scheme, the standard quick-change device for manual and robot flexible interactive application comprises a cavity and an insertion rod 4 embedded into the cavity, wherein the special inserted characteristic of the insertion rod 4 endows the quick-change device with a function of quickly replacing an application tool, and the insertion position of the insertion rod 4 can play a role in positioning so as to facilitate robot identification; the plug-in structure of the plug-in rod 4 realizes the standardization mode of the quick-change device, provides a standardization platform for robot application and development enthusiasts, continuously expands and innovates according to the actual application field, and expands the type of the application tool at the tail end of the robot, thereby endowing the robot with wider functions and expanding the application field of the robot; the insertion rod 4 can be arranged independently or in a plurality of combinations so as to facilitate multi-effect combined application of a plurality of application tools; the cavity is an injection molding body, the weight of the quick-change device is greatly reduced, components can be arranged inside the cavity to realize quick insertion between the insertion rod 4 and an application tool, in the figure 3, an embedded nut can be arranged on the external end face of the cavity to be mechanically connected to the handheld handle 11 or indirectly connected to a service robot through a robot adapter assembly, and paired embedded electrodes can be arranged on the cavity and the external end face to ensure the electrical connectivity of the cavity and the external end face. The external end face can be directly connected to a handheld handle or a robot end, and can also be indirectly connected to the robot end through a robot adapting component or other connecting components.
According to the invention, the cavity and the plug rod of the injection molding main body can be arranged in a split manner or can be integrally formed, the cavity is arranged as an injection molding body, the weight of the quick-change device can be greatly reduced, and for those skilled in the art, other implementation manners of the cavity and the plug rod are obvious without any creative labor, and include but not limited to die-casting molding, powder metallurgy injection and 3D printing.
As shown in fig. 1, 2, and 3, in one of the technical solutions, the insertion rod 4 is provided with a top bead hole 5 and a top bead arranged in an inner cavity of the insertion rod and capable of ejecting the top bead hole 5 and resetting to realize the movable connection between the insertion rod 4 and the application tool, the application tool has a connection part adapted to the top bead, the insertion rod 4 adopts an ejection and resetting top bead structure to realize the quick connection between the insertion rod and the application tool, and the connection structure is more beneficial for a robot to complete the work of identifying, inserting, and replacing the application tool compared with a threaded connection structure; it is more stable than the structure of inhaling magnetically. The inserting rod 4 adopts a top bead structure capable of ejecting and resetting to realize the quick connection with the application tool, and has the function of being convenient to manufacture into a standard module, and the standard application tool which is matched with the inserting rod in size and is provided with a position matched with the top bead can be connected with the inserting rod for use.
As shown in fig. 1 and 3, in one technical solution, the cavity includes a piston cavity 3, a driving cavity 1, and a control cavity 2; the driving cavity 1 and the control cavity 2 are arranged side by side, the driving cavity 1 and the piston cavity 3 are communicated to form a cavity with an open top, and one outer end face of the control cavity 2 is the external end face so as to be connected to the tail end of a robot or a handheld handle 11.
In the above technical solution, the cavity includes a piston cavity 3, a driving cavity 1, and a control cavity 2; the piston cavity 3, the piston cavity 3 and the driving cavity 1 are communicated and are respectively used for placing a driving assembly for ejecting and resetting the ejection beads; drive cavity 1 with control cavity 2 sets up side by side, can set up the division board, also can not set up the division board, control cavity 2 is used for device embedding electrode and wire, the embedding electrode can set up the multiunit, except that the indirect and robot electricity of adaptation subassembly through the robot is connected, can also realize being connected with the electricity of other components and parts, like ultraviolet sterilamp, dust catcher etc. when setting up electric drive element in drive cavity 1, drive cavity 1 with still be equipped with connecting wire between the control cavity 2. As shown in fig. 9, the driving cavity 1 and the control cavity 2 are further provided with a top cover 22, a control board extending into the control cavity 2 is arranged at a position where the top cover 22 faces the control cavity 2, so as to distinguish different power sources, and the top cover 22 also distinguishes hollow structures and non-hollow structures; an end cover of a dovetail insertion structure is also arranged on the piston cavity 3.
As shown in fig. 4 to 6, in one embodiment, the ejecting device further includes a driving assembly to automatically eject or reset the ejecting ball, wherein the driving assembly includes a piston body and a driving body for driving the piston body; the piston body is arranged in the piston cavity 3 and inserted into the insertion rod 4, and comprises a piston rod 12, a driven seat 14 and a reset elastic element 27 sleeved on the piston rod 12; the piston rod 12 is arranged on the driven seat 14 and can be inserted into the plug rod 4 and eject the ejecting ball, and the reset elastic element 27 is limited between the driven seat 14 and a limit baffle plate arranged in the piston cavity 3; the driving body is arranged in the driving cavity 1 and the piston cavity 3 and comprises a power source and a driving handle 17, and the power source drives the driving handle 17 to move so that the piston rod 12 does reciprocating motion in the insertion rod 4 to eject or reset the ejection ball.
In the above technical solution, the ejection and the reset of the ejection ball are realized by a retractable piston body and a driving body driving the piston body, fig. 5 shows a schematic cross-sectional view of an initial state of the piston body and the insertion rod, at this time, the ejection ball is ejected, when an application tool needs to be inserted into the ejection ball, the power source drives the driving handle 17 to move the piston rod 12 forward, the ejection ball enters a concave circle on the piston rod 12 and enters an insertion state as shown in fig. 6, at this time, the surface of the insertion rod 4 is free from obstacles, the application tool is inserted into a positioning position of the insertion rod 4, the piston rod 12 retracts, the ejection ball is ejected, and the application tool and the insertion rod 4 are fixed. The driving assembly is divided into the piston body and the driving body, so that the driving body for the robot and the manual work can be more conveniently arranged, when the robot is used in the manual work, a manual pressing type power driving body can be adopted, a direct-current motor power driving body can also be used, and when the robot is used, the direct-current motor power driving body is more convenient.
The piston rod 12 and the driven seat 14 of the piston body according to the present invention can be separately arranged or integrally formed, the piston body is arranged as an injection molded body, which can greatly reduce the weight of the quick-change device, and other implementation manners of the piston rod 12 and the driven seat 14, including but not limited to die-casting, powder metallurgy injection and 3D printing, are obvious to those skilled in the art and do not require any creative labor.
As shown in fig. 1, in one of the technical solutions, a pair of embedded electrodes, namely an embedded positive electrode 7 and an embedded negative electrode 8, are disposed on the inner and outer end surfaces of the control cavity 2, and are used for realizing indirect electrical connection between the injection molding main body and the tail end of the robot or direct electrical connection between the injection molding main body and a handheld handle 11; still be equipped with embedded nut 9 on the outer terminal surface in order to realize the main part of moulding plastics with the terminal indirect mechanical connection of robot or in the direct mechanical connection of handheld handle 11, be equipped with embedding electrode and embedded nut in pairs in the control cavity 2 and on the external terminal surface, make quick change device both can direct connection to handheld handle 11, supplies artifical the use, can indirect connection to the robot again terminal, supplies intelligent robot to use, has realized the flexibility interaction of manual work, robot.
In one technical scheme, the insertion rod 4, the cavity, the embedded electrode and the embedded nut 9 are integrally formed by an embedded injection molding method, the piston rod 12 and the driven seat 14 are also integrally formed by the embedded injection molding method, the weight of the quick-change device can be greatly reduced by adopting injection molding materials, the quick-change device is greatly increased from heavy to light, and the quick-change device is more convenient to use in small-space households.
As shown in fig. 7, in one of the technical solutions, the edge of the top bead hole 5 is an integrated structure smoothly combining a circular arc shape and a conical shape; the free front end of the piston rod 12 is provided with a smooth concave circle 28 matched with the ball ejecting hole; smooth concave circle is the integrative structure of the smooth synthesis of arc body and conical body, has increased the degree of freedom of top pearl motion, has reduced the damping of top pearl motion, for convex top pearl hole and concave circle, the technical scheme of this application can greatly prolong the life of top pearl.
In one embodiment, as shown in fig. 9 and 10, the driving handle 17 has at least one tapered end surface and an inner cavity for inserting the power source, the driving handle 17 is further provided with a first pin hole 19 and a limiting dovetail key 18, as shown in fig. 8, a dovetail groove 26 matched with the dovetail key 18 is arranged in the driving cavity 1 to prevent the driving handle 17 from rotating, the driving handle 17 is provided with a tapered end surface, the friction between the driving handle 17 and the driven seat 14 is smaller during the up-down movement, the first pin hole arranged on the driving handle 17 is convenient for fixing the driving handle and the end of the power source, and the matching of the limiting dovetail key 18 and the dovetail groove 26 can prevent the driving handle 17 from rotating.
As shown in fig. 9, in one embodiment, the power source is a manual pressing type power source, which includes a pressing member 10, and an elastic element 20 sleeved on the pressing member; the pressing piece 10 penetrates through a fixed circular column 21 fixed on the inner wall of the driving cavity 1 and extends into the inner cavity of the driving handle 17, and the elastic element 20 is positioned at the upper part of the fixed circular column 21; the pressing piece 10 is provided with a second pin hole corresponding to the first pin hole 19, so that the driving handle 17 can move telescopically along with the pressing piece, and the manual pressing type power source is convenient to use when the quick-change device is connected to a manual handheld handle. Alternatively, as shown in fig. 10, the power source is an electric power source including a dc motor 25 and a worm 23 provided on an output shaft of the dc motor; the worm 23 drives a worm wheel 24 arranged in the inner cavity of the driving handle, the worm wheel 24 is provided with a third pin hole corresponding to the first pin hole 19, so that the driving handle 17 makes telescopic motion along with the motor shaft, and a direct current motor power source can be used for connection with a manual hand-held handle or indirect connection with the tail end of the robot. The electric power source is a power system taking an electric energy device as a driver, wherein the electric energy device comprises but is not limited to a direct current motor, a stepping motor, a linear motor and an electromagnetic power device. The invention discloses a structure for realizing vertical movement of a driving handle by an electric energy device (direct current motor) for converting electric energy into rotary mechanical energy, and for a person skilled in the art, according to the invention, a structure for realizing vertical movement of the driving handle by other electric energy devices for converting electric energy into rotary mechanical energy is easy to think. The invention provides a method and a structure for realizing an electric drive mode of a quick-change device for the first time, and solves two major difficulties of a robot applied to a family environment compared with the existing hydraulic drive mode and air pressure drive mode: first, ordinary family can not generally be equipped with hydraulic equipment or pneumatic equipment, and the used fluid of second, hydraulic equipment is inevitable to bring because of the sealing member is ageing to reveal, very easily causes the pollution of family's environment, and pneumatic equipment also can not avoid revealing gas in a small quantity and cause the influence to the family's environment.
As shown in fig. 4, in one embodiment, the driven seat 14 includes a driven body and a balance support 13 integrally injection-molded with the driven body, the piston rod 13 is disposed on the driven body, and a plurality of support columns are disposed at the bottom of the balance support 13 to reduce friction of the driven seat 14 in the piston cavity 3.
In one technical scheme, the standard quick-change device applied to the manual and robot flexible switching is further provided with an RFID, identification information of the quick-change device is automatically acquired and recorded, and the tracing function of the quick-change device is realized, wherein the identification information includes but is not limited to fault maintenance information, use information (use time, use frequency, load information and the like) and remanufacturing information of the quick-change device.
In one of the technical solutions, the present invention provides a standard quick-change device for manual and robotic flexible exchange applications, which includes a cavity and a plug rod 4 embedded in the cavity. The inserting rod 4 is provided with a bead ejecting hole 5 and a bead ejecting hole 5 which is arranged in the inner cavity of the inserting rod and can eject the bead ejecting hole 5 and reset so as to realize the movable connection of the inserting rod 4 and an application tool, the bead ejecting hole 4 is provided with a function of quickly replacing the application tool by the quick-change device, and the inserting position of the inserting rod 4 can play a role in positioning so as to be convenient for a robot to recognize; the plug-in structure of the plug-in rod 4 realizes the standardization mode of the quick-change device, provides a standardization platform for robot application and development enthusiasts, continuously expands and innovates according to the actual application field, and expands the type of the application tool at the tail end of the robot, thereby endowing the robot with wider functions and expanding the application field of the robot; the insertion rod 4 can be arranged independently or in a plurality of combinations so as to facilitate multi-effect combined application of a plurality of application tools; the ejection and the reset of the ejection bead are realized by a driving assembly, and the driving assembly comprises a piston body and a driving body for driving the piston body; the piston body is arranged in the piston cavity 3 and inserted into the insertion rod 4, and comprises a piston rod 12, a driven seat 14 and a reset elastic element 27 sleeved on the piston rod 12; the piston rod 12 is arranged on the driven seat 14 and can be inserted into the plug rod 4 and eject the ejecting ball, and the reset elastic element 27 is limited between the driven seat 14 and a limit baffle plate arranged in the piston cavity 3; the driving body is arranged in the driving cavity 1 and the piston cavity 3 and comprises a power source and a driving handle 17, and the power source drives the driving handle 17 to move so that the piston rod 12 does reciprocating motion in the insertion rod 4 to eject or reset the ejection ball. The driven seat 14 comprises a driven body and a balance support body 13 integrally injection-molded with the driven body, the piston rod 13 is arranged on the driven body, and a plurality of support columns are arranged at the bottom of the balance support body 13 to reduce friction of the driven seat 14 in the piston cavity 3. The edge of the top bead hole 5 is a smooth combination of a circular arc shape and a conical shape; the free front end of the piston rod 12 is provided with a smooth concave circle 28 matched with the ball ejecting hole, the smooth concave circle is an integrated structure formed by smoothly combining an arc body and a conical body, the freedom degree of the movement of the ball ejecting is increased, and the damping of the movement of the ball ejecting is reduced. The driving handle 17 at least has a conical end face and an inner cavity for the power source to insert, the driving handle 17 is further provided with a first pin hole 19 and a limiting dovetail key 18, as shown in fig. 8, a dovetail groove 26 matched with the dovetail key 18 is arranged in the driving cavity 1 to prevent the driving handle 17 from rotating. The power source can be a manual pressing type power source which is convenient for the quick-change device to be connected to a manual handheld handle, or can be an electric power source which can be used by both the manual handheld handle and the tail end of a robot, and the manual pressing type power source comprises a pressing piece 10 and an elastic element 20 sleeved on the pressing piece; the pressing piece 10 penetrates through a fixed circular ring column 21 fixed on the inner wall of the driving cavity 1 and extends into the inner cavity of the driving handle 17, a screw hole 6 on the driving cavity 1 is used for fixing the fixed circular ring column 21 in the drawing, and the elastic element 20 is positioned at the upper part of the fixed circular ring column 21; the pressing piece 10 is provided with a second pin hole corresponding to the first pin hole 19, so that the driving handle 17 can move telescopically with the pressing piece. The electric power source comprises a direct current motor 25 and a worm 23 arranged on an output shaft of the direct current motor; the worm 23 drives a worm wheel 24 arranged in the inner cavity of the driving handle, a third pin hole corresponding to the first pin hole 19 is arranged on the worm wheel 24, so that the driving handle 17 makes telescopic motion along with the motor shaft, and in the electric driving source, a screw hole 6 on the driving cavity 1 is used for fixing a direct current motor 25. The plug-in rod 4, the injection molding body, the embedded electrode and the embedded nut 9 are integrally formed through an embedded injection molding method, the piston rod 12 and the driven seat 14 are also integrally formed through an embedded injection molding method, the weight of the quick-change device can be greatly reduced by adopting injection molding materials, the quick-change device is greatly increased from heavy to light, and the quick-change device is more convenient to use in small-space households. The cavity comprises a piston cavity 3, a driving cavity 1 and a control cavity 2, the driving cavity 1 and the control cavity 2 are arranged side by side, a partition plate can be arranged between the driving cavity 1 and the control cavity 2, or no partition plate is arranged, the driving cavity 1 and the piston cavity 3 are communicated to place a driving assembly, one outer end face of the control cavity 2 is an external end face, a pair of embedded electrodes, namely an embedded positive electrode 7 and an embedded negative electrode 8, are arranged in the control cavity 2 and on the external end face respectively, and are used for realizing the electric connection of the injection molding main body with the tail end of the robot or the hand-held handle 11; the embedded electrode can be provided with a plurality of groups, and can be electrically connected with other components such as ultraviolet disinfection lamps, dust collectors and the like besides being indirectly electrically connected with the robot through the robot adapting assembly. An embedded nut 9 is further arranged on the outer end face to realize mechanical connection of the injection molding main body and the tail end of the robot or a handheld handle 11. As shown in fig. 9, the driving cavity 1 and the control cavity 2 are further provided with a top cover 22, a control board extending into the control cavity 2 is arranged at a position where the top cover 22 faces the control cavity 2, so as to distinguish different power sources, and the top cover 22 also distinguishes hollow structures and non-hollow structures; an end cover of a dovetail insertion structure is also arranged on the piston cavity 3. It will be apparent to those skilled in the art that modifications to the shape and configuration of the cavity are possible to achieve the following functions: the drive assembly, the control board and the electric connection element are accommodated, other elements are connected (including mechanical connection and electric connection), and the fixed-point positioning function and the like are realized.
As shown in fig. 2 and 8, in order to make the standard quick-change device and the application tool better fixed and prevent the application tool from rotating on the plug rod 4, a key shaft 29 is further provided on the outer wall of the piston cavity 1 contacting the plug rod 4 to ensure the reliable connection of the application tool with a key groove matching with the key shaft 29.
The number of apparatuses and the scale of the process described herein are intended to simplify the description of the present invention. The application, modifications and variations of the standard quick-change means for manual, robotic flexible interactive application of the present invention will be apparent to those skilled in the art.
As described above, according to the present invention, at least the following advantageous effects are included:
firstly, the standard quick-change device for manual and flexible interactive application of the robot overcomes a plurality of difficulties of the cooperative robot household application for the first time, adapts to the actual conditions that electric energy is abundant and air pressure or hydraulic equipment cannot be generally equipped in a household environment, unprecedentedly proposes an implementation method and a structure of an electric drive mode of a quick-change device at the tail end of the robot, and adopts an electric drive mode to realize the quick interaction and replacement of an application tool, so that the device is quick and environment-friendly;
the standard quick-change device for manual and robot flexible interactive application can be used as a basic module for robot anthropomorphic application demonstration, has strong universality, can be used as a standard module, provides a standardized platform for robot application development enthusiasts, and continuously expands and innovates according to the actual application field and expands the types of application tools at the tail end of the robot, thereby endowing the robot with wider functions, expanding the application field of the robot and providing the standard module conforming to the continuous endowment and development mode of the robot in a leading manner;
thirdly, the injection molding technology is creatively applied to the manufacture of the quick-change device at the tail end of the robot for the first time, and on the basis of not damaging or even exceeding the performance of the existing quick-change device, the injection molding material can ensure that the weight of the standard quick-change device for manual and robot flexible interactive application is only 20 percent of that of the existing quick-change device, has compact structure and light weight, adapts to the application scene of small space, and lays a foundation for the family application of the cooperative robot;
the standard quick-change device for manual and robot flexible interactive application thoroughly changes the chuck structure of the conventional quick-change device, adopts a plug-in rod plug-in structure, has high human-computer interaction efficiency and high application tool replacement efficiency, greatly improves the working efficiency of the robot, and provides convenience for energizing the robot;
the standard quick-change device for manual and robot flexible interaction application solves the problem that manual and robot flexible interaction cannot give consideration to systematicness, compatibility, expansibility and safety, promotes a service robot to enable an added development mode continuously, and meets the requirements of sustainable development and conservation-oriented social construction.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (10)
1. Artifical, flexible interactive standard quick change device who uses of robot, its characterized in that includes:
the injection molding main body comprises a cavity and an insertion rod embedded into the cavity; the cavity at least comprises an accommodating cavity and an external end face which can be connected to the tail end of the robot or a handheld handle; the insertion rod has at least a first rod movably connected to the application tool.
2. The manual-robot flexible interactive application standard quick-change device as claimed in claim 1, wherein the insertion rod is provided with a ball ejecting hole and a ball ejecting hole which is arranged in the inner cavity of the insertion rod and can eject the ball ejecting hole and reset so as to realize the movable connection between the insertion rod and the application tool, and the application tool is provided with a connecting part matched with the ball ejecting hole.
3. The standard quick-change device for manual and robotic flexible interactive applications according to claim 2, wherein the cavities comprise a piston cavity, a drive cavity, a control cavity; the driving cavity and the control cavity are arranged side by side, the driving cavity and the piston cavity are communicated to form a cavity with an open top, and one outer end face of the control cavity is the external end face so as to be connected to the tail end of a robot or a handheld handle.
4. The standard quick-change device for manual and robotic flexible interactive applications according to claim 3, further comprising a driving assembly for enabling automatic ejection or resetting of said ejection bead, said driving assembly comprising a piston body and a driving body for driving said piston body; the piston body is arranged in the piston cavity and inserted into the insertion rod, and comprises a piston rod, a driven seat and a reset elastic element sleeved on the piston rod; the piston rod is arranged on the driven seat and can be inserted into the plug rod and eject out the ejecting bead, and the reset elastic element is limited between the driven seat and a limit baffle plate arranged in the piston cavity; the driving body is arranged in the driving cavity and the piston cavity and comprises a power source and a driving handle, and the power source drives the driving handle to move so that the piston rod can do reciprocating motion in the insertion rod to eject or reset the ejecting ball.
5. The manual-robot flexible interactive application standard quick-change device according to claim 4, wherein a pair of embedded electrodes are arranged in the control cavity and on the external end face so as to realize the electric connection between the injection-molded main body and the tail end of the robot or the hand-held handle; and an embedded nut is further arranged on the outer end face to realize mechanical connection between the injection molding main body and the tail end of the robot or a handheld handle.
6. The manual, robotic, flexible and interactive standard quick-change device of claim 5, wherein said insertion rod, said cavity, said embedded electrode, and said embedded nut are integrally formed by insert molding, and said piston rod and said driven base are also integrally formed by insert molding.
7. The standard quick-change device for manual and robotic flexible interactive applications according to claim 6, wherein the edge of the top bead hole is an integrated structure smoothly combining a circular arc shape and a conical shape; the free front end of the piston rod is provided with a smooth concave circle matched with the top bead hole; the smooth concave circle is an integral structure formed by smoothly combining an arc body and a conical body.
8. The manual, robotic, flexible interactive application standard quick-change device of claim 7, wherein said drive handle has at least one tapered end surface and an interior cavity into which said power source is inserted, said drive handle further having a first pin hole and a limiting dovetail key, said drive cavity having a dovetail slot therein for mating with said dovetail key to prevent rotation of said drive handle.
9. The standard quick-change device for manual and robotic flexible interactive applications as claimed in claim 8, wherein said power source is a manual pressing type power source comprising a pressing member, an elastic element sleeved on said pressing member; the pressing piece penetrates through a fixed circular column fixed on the inner wall of the driving cavity and extends into the inner cavity of the driving handle, and the elastic element is positioned at the upper part of the fixed circular column; a second pin hole corresponding to the first pin hole is formed in the pressing piece, so that the driving handle can move telescopically along with the pressing piece; or the power source is an electric power source and comprises a direct current motor and a worm arranged on an output shaft of the direct current motor; the worm drives a turbine arranged in the inner cavity of the driving handle, and a third pin hole corresponding to the first pin hole is formed in the turbine so that the driving handle can do telescopic motion along with the motor shaft.
10. The device as claimed in claim 9, wherein the driven base comprises a driven body and a balance support body integrally injection-molded with the driven body, the piston rod is disposed on the driven body, and a plurality of support pillars are disposed at the bottom of the balance support body.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210282551.6A CN114347084B (en) | 2022-03-22 | 2022-03-22 | Standard quick-change device for manual and robot flexible interactive application |
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| CN202210282551.6A CN114347084B (en) | 2022-03-22 | 2022-03-22 | Standard quick-change device for manual and robot flexible interactive application |
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| CN114347084B CN114347084B (en) | 2022-06-14 |
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| CN114347084B (en) | 2022-06-14 |
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