CN114932569A

CN114932569A - Quick change device for automatic switching of unmanned operation implementation tools

Info

Publication number: CN114932569A
Application number: CN202210635191.3A
Authority: CN
Inventors: 金纯�; 张健; 白路; 邱林宾
Original assignee: University of Science and Technology Beijing USTB
Current assignee: University of Science and Technology Beijing USTB
Priority date: 2022-06-07
Filing date: 2022-06-07
Publication date: 2022-08-23
Anticipated expiration: 2042-06-07
Also published as: CN114932569B

Abstract

The invention provides a quick-change device for automatically switching tools for unmanned operation, belonging to the technical field of unmanned instruments; including unable adjustment base, switching part, with arm output fixed connection's adapter, the arm passes through the adapter can with the switching part is connected, the unable adjustment base go up the slip cup joint with switching part fixed connection's spacing slider, be used for spacingly spacing slider's first spacing part and second spacing part. According to the invention, by arranging the baffle and the adapter part, the mechanical arm can have the capabilities of automatically disconnecting the tool and automatically butting the tool under the unmanned assistance condition, so that the mechanical arm can use various tools to operate, the rescue capability of the mechanical arm is increased, the purpose of freeing people from dangerous working environment is realized, the health and safety of workers are ensured, the casualties during rescue work are reduced, and the rescue efficiency is improved.

Description

Quick change device for automatic switching of unmanned operation implementation tools

Technical Field

The invention relates to the technical field of unmanned instruments, in particular to a quick-change device for automatically switching tools for unmanned operation.

Background

The vehicle-mounted operation mechanical arm is intelligent equipment which takes an autonomous traveling vehicle as a chassis and is provided with a mechanical arm working arm operation device, and can replace people to complete dangerous and injurious tasks, so that the vehicle-mounted operation mechanical arm has more and more applications in the fields of routing inspection, explosion elimination, emergency work, fire fighting, special work and the like. However, many tasks are complex in scene and cannot be effectively completed by a single working tool, so that the application effect and the field of the tasks cannot be further enhanced and expanded. For example, in a dangerous environment, the mechanical arm needs to detect the failure of equipment and also needs to be capable of replacing parts by using tools such as a wrench and a gripper like a person; when the rescue emergency mechanical arm is used for rescuing people trapped under a building, a series of tool capabilities such as cutting, punching, supporting and digging are required to be provided, and then the rescue task can be completed. Therefore, the quick-change device provided by the invention can realize that the multifunctional operation of the mechanical arm is becoming an important development direction of the mechanical arm by the working arm automatically and quickly switching among different operation tools.

The traditional manual and semi-automatic quick-change devices are widely applied, but still need manual operation for connecting pins and other operations, such as automatic clamping and switching tools of small-sized precise full-automatic electric-driven quick-change devices, that is, after a mechanical arm moves to a designated position, how to automatically connect the mechanical arm and use the tools for operation, and after one tool is used, how to automatically separate the tail end of the mechanical arm from the tool, so that the mechanical arm can have the capabilities of automatically separating the tool and automatically butting the tool under the condition of no assistance of people, and the mechanical arm can use various tools for operation, thereby achieving the purpose of releasing people from dangerous working environments.

Disclosure of Invention

The invention aims to solve the technical problem of providing a quick-change device for automatically switching tools for unmanned operation so as to solve the problems that the automatic clamping working tool and the switching working tool of the existing small-sized precise full-automatic electric-drive quick-change device automatically connect the tools and use the tools for operation after a mechanical arm moves to a specified position, and the tool at the tail end of the mechanical arm automatically separates after one tool is used.

In order to solve the technical problems, the invention provides the following technical scheme:

a quick-change device for automatically switching tools for unmanned operation comprises a fixed base, a switching part and an adapter fixedly connected with the output end of a mechanical arm, wherein the mechanical arm can be connected with the switching part through the adapter, a limiting slide block fixedly connected with the switching part, a first limiting part and a second limiting part for limiting the limiting slide block are sleeved on the fixed base in a sliding manner, the limiting slide block is limited through the first limiting part and the second limiting part, the switching part fixed on the limiting slide block is limited, so that the switching part is prevented from moving in the connection process of the switching part and the adapter, the adapter applies force to the second limiting part so that the second limiting part gradually releases the limitation on the limiting slide block, and after the switching part is connected with the adapter, the limit of the second limit part on the limit sliding block is released, and then the mechanical arm drives the limit sliding block to slide through the adapter and the switching part, so that the limit of the first limit part on the limit sliding block can be released; the fixed base is further fixedly connected with a baffle used for limiting the switching component, and the baffle, the first limiting component and the second limiting component limit the switching component, so that the adapter is disconnected with the switching component.

Preferably, the adapter part comprises an adapter base fixedly installed at the top of the limiting slide block, a first adapter sleeve is fixedly connected to one side of the adapter base, a first limiting ring is fixedly sleeved on the first adapter sleeve, a plurality of spherical hubs are sleeved on the first adapter sleeve in a surrounding array manner, a second adapter sleeve is slidably sleeved on the first adapter sleeve, a second limiting ring is fixedly sleeved on the inner side of the second adapter sleeve, a first limiting groove is formed in the inner side of the second limiting ring, the spherical hubs are located in the first limiting groove, a third limiting ring is fixedly sleeved on the second adapter sleeve, a first spring is sleeved on the first adapter sleeve, one end of the first spring, far away from the first limiting ring, is fixedly connected with the second limiting ring, a third adapter sleeve is connected to the inner side of the first adapter sleeve through threads, the joint groove has been seted up to the one end of third switching cover, the third switching is sheathe in the slip and is cup jointed the fourth switching cover, the fourth switching cover with first switching cover slides and cup joints, the outside of fourth switching cover with the spherical shaft hub is contradicted, one side fixedly connected with cover of third switching cover is established the second spring on the third switching cover, the second spring is kept away from the one end of third switching cover with fourth switching cover fixed connection.

Preferably, one end of the adapter is fixedly connected with a connecting pin matched with the third adapter sleeve, and a second limit groove matched with the spherical shaft hub is formed in the adapter.

Preferably, the baffle is matched with the second adapter sleeve, and a bent part of the baffle is fixedly connected with a reinforcing rib.

Preferably, the first limiting component comprises a limiting clamp fixedly mounted on the fixing base, a first limiting fixture block fixedly connected to the inner wall of each of two sides of the limiting clamp, a first elastic sheet fixedly connected to the inner wall of one side of the limiting clamp, the first elastic sheet is kept away from one side of the limiting clamp and abutted against one side of the limiting slider, a fourth limiting groove matched with the first limiting fixture block is formed in each of two sides of the limiting slider, a chamfer is formed in one side of the first limiting fixture block, and a chamfer is formed in the inner wall of one side of the fourth limiting groove.

Preferably, the second limiting part comprises a first connecting rod connected with the inner walls of two sides of the fixed base in a rotating mode, a first sliding groove is formed in the first connecting rod, the first connecting rod is connected with a connecting column through the first sliding groove in a sliding mode, a first supporting ring is fixedly connected to the connecting column, the bottom fixedly connected with of the first supporting ring penetrates through a second limiting clamping block of the fixed base, an inclined surface is formed in one side of the second limiting clamping block, a third spring is fixedly connected to the first supporting ring in a sleeved mode and located on the second limiting clamping block, one end of the first supporting ring is far away from the third spring, a third limiting groove matched with the second limiting clamping block is formed in the bottom of the limiting sliding block, and a limiting clamping sleeve is connected to one end of the first connecting rod in a rotating mode.

Preferably, a second elastic sheet is fixedly connected to the inner wall of one side of the limiting clamping sleeve, and one end, far away from the limiting clamping sleeve, of the second elastic sheet abuts against the first connecting rod.

Preferably, the first sliding groove is a waist-shaped groove, one end of the first connecting rod is provided with a convex block, and one side of the convex block is abutted against the inner wall of the second limiting clamping block.

Preferably, a movable groove is formed in the fixed base, and the first connecting rod penetrates through the movable groove.

Preferably, the inner wall of the bottom of the adapter is connected with a second limiting pin through threads, the second limiting pin penetrates through the adapter and is connected with the limiting sliding block through threads, and the second limiting pin is provided with a limiting clamp.

Compared with the prior art, the invention at least has the following beneficial effects:

among the above-mentioned scheme, through setting up the switching part for the arm only can realize carrying out the tool of independently docking under unmanned supplementary condition through inserting the action, realizes the purpose of liberating people from dangerous operational environment, has ensured staff's health safety, reduces the casualties of rescue during operation, improves rescue efficiency.

Through setting up baffle and switching part for the arm can be under unmanned supplementary condition, has the ability of independently breaking away the instrument, independently docking tool, thereby makes the arm can use multiple instrument to carry out the operation, increases the rescue ability of arm, realizes the purpose of liberating the people from dangerous operational environment, has ensured staff's health and safety, reduces the casualties of rescue during operation, improves rescue efficiency.

Through setting up first spacing part and the spacing part of second, realized the arm through the adapter installation after the working tool, spacing automatic the relieving of spacing slider, the simple operation, effectual improvement arm installation and the efficiency of changing the working tool have also ensured simultaneously that the arm passes through the adapter installation working tool in-process, spacing stability of spacing slider.

Drawings

The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the disclosure and, together with the description, further serve to explain the principles of the disclosure and to enable a person skilled in the pertinent art to make and use the disclosure.

Fig. 1 is a schematic view of a first perspective three-dimensional structure of a quick-change device for automatically switching unmanned operation implementation tools;

fig. 2 is a schematic view of a second perspective structure of the quick-change device for automatically switching the unmanned operation implementation tools;

fig. 3 is a schematic view of a partially cut-away three-dimensional structure of a quick-change device for automatically switching tools for unmanned operation;

FIG. 4 is an enlarged view of a portion of FIG. 3;

FIG. 5 is an enlarged view of the structure at A in FIG. 3;

FIG. 6 is an enlarged perspective view of the assembly of the fixing base, the first position-limiting member and the second position-limiting member;

fig. 7 is a schematic view of an assembly three-dimensional enlarged structure of the adapter and the limiting slide block.

[ reference numerals ]

1. A fixed base; 2. a limiting slide block; 3. an adapter component; 4. a transfer seat; 5. a first adaptor sleeve; 6. a first limit ring; 7. a spherical hub; 8. a second adaptor sleeve; 9. a second stop collar; 10. a first limit groove; 11. a third limit ring; 12. a first spring; 13. a third adapter sleeve; 14. a fourth adapter sleeve; 15. a second spring; 16. a baffle plate; 17. an adapter; 18. a connecting pin; 19. a second limit groove; 20. a first limit member; 21. a limiting clamp; 22. a first limiting clamping block; 23. a movable groove; 24. a second limiting part; 25. a first link; 26. a first chute; 27. connecting columns; 28. a first support ring; 29. a third spring; 30. a second limiting clamping block; 31. a limiting clamping sleeve; 32. a third limiting groove; 33. a fourth limit groove; 34. a second limit pin; 35. a first spring plate; 36. a second elastic sheet; 37. and (4) a bump.

As shown, specific structures and devices are labeled in the figures to clearly enable implementation of the structures of the embodiments of the invention, but this is only an illustration and is not intended to limit the invention to the specific structures, devices and environments, and according to specific needs, those skilled in the art can adjust or modify the devices and environments, and the adjusted or modified devices and environments are still included in the scope of the appended claims.

Detailed Description

The quick change device for automatically switching tools for unmanned operation according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. Meanwhile, it is described herein that the following embodiments are the best and preferred embodiments for the purpose of making the embodiments more detailed, and may be implemented in other alternative ways by those skilled in the art; also, the drawings are only for purposes of more particularly describing embodiments and are not intended to limit the invention in any way.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Further, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the relevant art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

In general, terms may be understood at least in part from the context in which they are used. For example, the term "one or more" as used herein may be used to describe any feature, structure, or characteristic in the singular or may be used to describe a combination of features, structures, or characteristics in the plural, depending at least in part on the context. Additionally, the term "based on" may be understood as not necessarily intended to convey an exclusive set of factors, but may instead allow for the presence of other factors not necessarily explicitly described, depending at least in part on the context.

As used herein, the term "nominal" refers to a desired or target value, and a range of values above and/or below the desired value, of a characteristic or parameter set during a design phase of a production or manufacturing process for a component or process operation. The range of values may be due to slight variations in manufacturing processes or tolerances. As used herein, the term "about" indicates a value of a given amount that may vary based on the particular technology node associated with the subject semiconductor device. The term "about" may indicate a given amount of a value that varies, for example, within 5% -15% of the value (e.g., ± 5%, ± 10% or ± 15% of the value), based on the particular technology node.

It will be understood that the meaning of "on … …", "above … …" and "above … …" in this disclosure should be read in the broadest manner such that "on … …" means not only "directly on" but also including the meaning of "on" something with intervening features or layers therebetween, and "on … …" or "above … …" means not only "on" or "above" something, but may also include the meaning of "on" or "above" something with no intervening features or layers therebetween.

Further, spatially relative terms such as "under …," "under …," "lower," "over …," "upper," and the like may be used herein for convenience of description to describe one element or feature's relationship to another element or feature or elements, as illustrated in the figures. Spatially relative terms are intended to encompass different orientations in use or operation of the device in addition to the orientation depicted in the figures. The device may be otherwise oriented and the spatially relative descriptors used herein interpreted accordingly.

As shown in fig. 1 and fig. 2, an embodiment of the present invention provides a quick change device for automatically switching tools for unmanned aerial work, which includes a fixed base 1, an adapter part 3, and an adapter 17 fixedly connected to an output end of a mechanical arm, where the fixed base 1 and the mechanical arm are both fixed on a top of a work platform truck, the mechanical arm and the work platform truck are both in the prior art, and the fixed base 1 and the adapter part 3 are provided with a plurality of same numbers, the specific numbers depend on the use requirements, one end of different adapter parts 3 is fixedly connected with different work tools, the mechanical arm can be connected to the adapter part 3 through the adapter 17, the mechanical arm can realize different functions after being fixedly connected to different adapter parts 3 through the adapter 17, the fixed base 1 is slidably sleeved with a limit slider 2 fixedly connected to the adapter part 3, a first limit part 20 for the limit slider 2, and a second limit part 24, the top of the fixed base 1 is provided with a sliding groove, the limiting slide block 2 is connected with the fixed base 1 in a sliding mode through the sliding groove, the limiting slide block 2 is limited through the first limiting part 20 and the second limiting part 24, and further the switching part 3 fixed on the limiting slide block 2 is limited so as to prevent the switching part 3 from moving in the connection process of the switching part 3 and the adapter 17, the adapter 17 applies force to the second limiting part 24, so that the second limiting part 24 gradually relieves the limitation on the limiting slide block 2, after the switching part 3 is connected with the adapter 17, the limitation on the limiting slide block 2 by the second limiting part 24 is relieved, and then the mechanical arm drives the limiting slide block 2 to slide through the adapter 17 and the switching part 3 so that the limitation on the limiting slide block 2 by the first limiting part 20 can be relieved; the fixed base 1 is also fixedly connected with a baffle 16 for limiting the adapter part 3, and the adapter part 3 is limited by the baffle 16, the first limiting part 20 and the second limiting part 24, so that the adapter 17 is disconnected from the adapter part 3.

As shown in fig. 3 and fig. 5, in this embodiment, the adapting part 3 includes an adapting base 4 fixedly installed on the top of the limiting slide block 2, one side of the adapting base 4 is fixedly connected with a first adapting sleeve 5, a first limiting ring 6 is fixedly sleeved on the first adapting sleeve 5, a plurality of spherical hubs 7 are sleeved on the first adapting sleeve 5 in a circumferential array manner, as an implementation manner of this embodiment, the spherical hubs 7 can be adapting bases 4, the use cost is reduced, a second adapting sleeve 8 is slidably sleeved on the first adapting sleeve 5, a second limiting ring 9 is fixedly sleeved on the inner side of the second adapting sleeve 8, a first limiting groove 10 is opened on the inner side of the second limiting ring 9, the spherical hubs 7 are located in the first limiting groove 10, a third limiting ring 11 is fixedly sleeved on the second adapting sleeve 8, a first spring 12 sleeved on the first adapting sleeve 5 is fixedly connected at one end of the first limiting ring 6, the first spring 12 is in a compressed state in a normal state, one end of the first spring 12, which is far away from the first limiting ring 6, is fixedly connected with the second limiting ring 9, the inner side of the first adapter sleeve 5 is connected with a third adapter sleeve 13 through threads, one end of the third adapter sleeve 13 is provided with a clamping groove, the third adapter sleeve 13 is sleeved with a fourth adapter sleeve 14 in a sliding manner, the fourth adapter sleeve 14 is sleeved with the first adapter sleeve 5 in a sliding manner, the outer side of the fourth adapter sleeve 14 is abutted against the spherical shaft hub 7, one side of the third adapter sleeve 13 is fixedly connected with a second spring 15 sleeved on the third adapter sleeve 13, and one end of the second spring 15, which is far away from the third adapter sleeve 13, is fixedly connected with the fourth adapter sleeve 14; one end of the adapter 17 is fixedly connected with a connecting pin 18 matched with the third adapter sleeve 13, and the adapter 17 is provided with a second limit groove 19 matched with the spherical shaft hub 7; baffle 16 and second adapter sleeve 8 looks adaptation, the department fixedly connected with strengthening rib of buckling of baffle 16 to improve the support intensity of baffle 16, ensure the life of baffle 16.

As shown in fig. 3, in this embodiment, the inner wall of the bottom of the adapter 4 is connected with a second limit pin 34 through a thread, the second limit pin 34 penetrates through the adapter 4 and is connected with the limit slider 2 through a thread, a limit card slot is formed in the second limit pin 34, and the limitation of a working tool can be realized through the clamping grooves at one ends of the adapter 4, the first adapter sleeve 5 and the third adapter sleeve 13 and the limit card slot on the second limit pin 34.

When the manipulator needs to be fixedly connected with any adapter part 3 through the adapter 17, the connecting pin 18 is inserted in a manner of aligning to the slot of the third adapter sleeve 13 in a state that the first limiting part 20 and the second limiting part 24 limit the limiting slide block 2, in the process, one end surface of the adapter 17 can abut against the fourth adapter sleeve 14 and drive the fourth adapter sleeve 14 to move, and simultaneously extrude the second spring 15 until the spherical shaft hub 7 is separated from the fourth adapter sleeve 14, the spherical shaft hub 7 without support falls into the second limiting groove 19 along the adapter 17, the spherical shaft hub 7 falling into the second limiting groove 19 is separated from the first limiting groove 10, the second adapter sleeve 8 slides along the outer surface of the first adapter sleeve 5 under the elastic support of the first spring 12 until the spherical shaft hub 7 abuts against through the second limiting ring 9, through the upper structural design, so that the manipulator can be realized without assistance of people only through the insertion action, the automatic butt joint tool is used for achieving the purpose of freeing people from dangerous working environments, the health and safety of workers are guaranteed, casualties during rescue work are reduced, and rescue efficiency is improved.

As shown in fig. 6 and 7, in the present embodiment, the first limiting component 20 includes a limiting clamp 21 fixedly mounted on the fixing base 1, the inner walls of both sides of the limiting clamp 21 are fixedly connected with a first limiting fixture block 22, the inner wall of one side of the limiting clamp 21 is fixedly connected with a first elastic sheet 35, one side of the first elastic sheet 35 away from the limiting clamp 21 is abutted against one side of the limiting slider 2, both sides of the limiting slider 2 are respectively provided with a fourth limiting groove 33 adapted to the first limiting fixture block 22, one side of the first limiting fixture block 22 is provided with a chamfer, the inner wall of one side of the fourth limiting groove 33 is provided with a chamfer, by providing the chamfer, the first limiting fixture block 22 is clamped with the fourth limiting groove 33, so as to improve the clamping efficiency between the first limiting fixture block 22 and the fourth limiting groove 33, and avoid corner collision during the clamping process between the first limiting fixture block 22 and the fourth limiting groove 33, the service life of the device is prolonged.

When the manipulator needs to replace another working tool, the manipulator places the limiting slide block 2 in the sliding groove on the fixed base 1, then drives the limiting slide block 2 to slide along the inner wall of the sliding groove, after sliding for a certain distance, the first limiting clamp block 22 is clamped with the fourth limiting groove 33 to limit the height of the limiting slide block 2, then the limiting slide block 2 which continues to slide is abutted with the first elastic sheet 35 and extrudes the first elastic sheet 35, in the process, the third limiting ring 11 is abutted with the baffle 16, so that the third limiting ring 11 is limited in the horizontal direction, and along with the continuous sliding of the limiting slide block 2, the second adapter sleeve 8 moves in the opposite direction relative to the first adapter sleeve 5, and extrudes the first spring 12 through the second limiting ring 9 until the spherical shape 7 falls into the first limiting groove 10 again, at the moment, under the elastic force of the second spring 15, the fourth adapter sleeve 14 is abutted with the end face of the adapter 17 of the second adapter sleeve, the third adapter sleeve 13 drives the first adapter sleeve 5 to move reversely through the elastic action of the second spring 15, so as to drive the spherical shaft hub 7 to be separated from the second limiting groove 19, further the limitation of the adapter joint 17 is relieved, the separation of the mechanical arm from a working tool is completed, then the installation of another working tool is completed through the installation steps of the mechanical arm and the working tool after the position of the mechanical arm is adjusted, simultaneously, after the mechanical arm is separated from the adapter joint 17, the limiting slide block 2 rebounds under the elastic action of the first elastic sheet 35 and carries out limitation through the second limiting part 24, so as to complete the limitation of the working tool after the separation, through the upper structure design, the mechanical arm can have the capabilities of automatically disconnecting and connecting tools under the condition of no assistance of people, thereby the mechanical arm can use a plurality of tools for operation, the rescue capability of the mechanical arm is increased, the purpose of freeing people from dangerous working environment is realized, the health and safety of workers are guaranteed, casualties during rescue work are reduced, and rescue efficiency is improved.

As shown in fig. 4 and 7, in this embodiment, the second limiting component 24 includes a first connecting rod 25 rotatably connected to inner walls of two sides of the fixed base 1, a first sliding slot 26 is formed on the first connecting rod 25, the first connecting rod 25 is slidably connected to a connecting column 27 through the first sliding slot 26, a first supporting ring 28 is fixedly connected to the connecting column 27, a second limiting block 30 penetrating through the fixed base 1 is fixedly connected to a bottom of the first supporting ring 28, an inclined surface is formed on one side of the second limiting block 30, a third spring 29 sleeved on the second limiting block 30 is fixedly connected to the first supporting ring 28, one end of the third spring 29, which is far away from the first supporting ring 28, is fixedly connected to the fixed base 1, a third limiting groove 32 adapted to the second limiting block 30 is formed in a bottom of the limiting slider 2, and one end of the first connecting rod sleeve 25 is rotatably connected to a limiting 31; a second elastic sheet 36 is fixedly connected to the inner wall of one side of the limiting clamping sleeve 31, and one end, far away from the limiting clamping sleeve 31, of the second elastic sheet 36 is abutted against the first connecting rod 25; the first sliding groove 26 is a waist-shaped groove, one end of the first connecting rod 25 is provided with a convex block 37, and one side of the convex block 37 is abutted against the inner wall of the second limiting clamping block 30; the fixed base 1 is provided with a movable groove 23, and the first connecting rod 25 penetrates through the movable groove 23.

The arm passes through the concrete process that the spacing of the spacing part 24 of adapter 17 installation work instrument in-process second was relieved: after one end surface of the adapter 17 is contacted with the fourth adapter sleeve 14, the edge of the adapter 17 is contacted with one side of the limiting clamp sleeve 31, the limiting clamp sleeve 31 is extruded, the limiting clamp sleeve 31 drives the first connecting rod 25 to rotate under the action of extrusion force, the rotating first connecting rod 25 moves downwards through the first sliding groove 26, the connecting column 27, the first supporting ring 28 and the second limiting clamp block 30, the limitation on the third limiting groove 32 is relieved, meanwhile, the third spring 29 is stretched, when the adapter 17 which moves continuously drives the limiting slide block 2 to move, so that the first limiting clamp block 22 is separated from the fourth limiting groove 33, the limiting slide block 2 is relieved from limiting, the mechanical arm can drive a working tool to work, the mechanical arm can drive the working tool to work, after the mechanical arm installs the working tool through the adapter 17, the limitation of the limiting slide block 2 is relieved automatically through the upper structural design, the operation is convenient, and fast, and the mechanical arm is ensured to install the working tool through the adapter 17, the limiting of the limiting slide block 2 is stable.

In the process that the mechanical arm is separated from the working tool, the specific process that the second limiting part 24 limits the limiting slide block 2 is as follows: after the first limiting clamping block 22 is clamped with the fourth limiting groove 33, the limiting sliding block 2 continues to move to extrude the second limiting clamping block 30 through the inclined surface of the second limiting clamping block 30, the second limiting clamping block 30 drives the first connecting rod 25 to rotate through the first supporting ring 28 and the connecting post 27, meanwhile, in order to prevent the first connecting rod 25 from rotating, the limiting clamping sleeve 31 blocks the adapter 17 in the moving process, after the adapter 17 is abutted against the limiting clamping sleeve 31, the adapter 17 which continues to move can enable the limiting clamping sleeve 31 to rotate, the second elastic sheet 36 is stressed and deformed until the moving adapter 17 is completely separated from the limiting clamping sleeve 31, the limiting clamping sleeve 31 is reset under the elastic support of the second elastic sheet 36, so that the situation that the adapter 17 cannot continuously complete the separation from the third adapter sleeve 13 due to the fact that the limiting clamping sleeve 31 is driven to move by the first connecting rod 25 after the second limiting clamping block 30 is stressed is avoided, after adapter 17 and third switching cover 13 break away from, through the elastic force effect of first shell fragment 35 and the spacing surperficial slip that makes limiting slide block 2 along the spout of first limiting fixture block 22, when third limiting groove 32 slides to the top of the spacing fixture block 30 of second, under the elastic force effect of third spring 29, the spacing fixture block 30 upward movement of second, and with third limiting groove 32 joint, and then accomplish limiting slide block 2's spacing completely, thereby realize the spacing with the tool after the manipulator breaks away from, convenient operation is swift, tool's the efficiency that breaks away from has further been improved.

According to the technical scheme provided by the invention, through arranging the adapter parts, when the manipulator needs to be fixedly connected with any adapter part through the adapter, the connecting pin is inserted by aligning to the slot of the third adapter sleeve under the state that the first limiting part and the second limiting part limit the limiting slide block, in the process, one end surface of the adapter can be abutted against the fourth adapter sleeve and drive the fourth adapter sleeve to move, and simultaneously, the second spring is extruded until the spherical shaft hub is disengaged from the fourth adapter sleeve, the spherical shaft hub which loses support falls into the second limiting groove along the adapter, the spherical shaft hub which falls into the second limiting groove is disengaged from the first limiting groove, under the elastic support of the first spring, the second adapter sleeve slides along the outer surface of the first adapter sleeve until the spherical shaft hub is abutted by the second limiting ring, through the upper structural design, the manipulator can be realized under the condition of no assistance by people only through the insertion action, the automatic butt joint tool is used for achieving the purpose of freeing people from dangerous working environments, the health and safety of workers are guaranteed, casualties during rescue work are reduced, and rescue efficiency is improved.

Through the arrangement of the baffle plate, when the manipulator needs to replace another working tool, the manipulator places the limiting slide block in the chute on the fixed base, then drives the limiting slide block to slide along the inner wall of the chute, after sliding for a certain distance, the first limiting clamp block is clamped with the fourth limiting groove to limit the height of the limiting slide block, then the limiting slide block which continuously slides is abutted with the first elastic sheet and extrudes the first elastic sheet, in the process, the third limiting ring is abutted with the baffle plate, so that the third limiting ring is limited in the horizontal direction, and along with the continuous sliding of the limiting slide block, the second adapter sleeve moves in the opposite direction relative to the first adapter sleeve, and extrudes the first spring through the second limiting ring until the spherical shaft hub falls into the first limiting groove again, at the moment, under the elastic action of the second spring, the fourth adapter sleeve is supported by the end face of the adapter which is abutted against the fourth adapter sleeve, and drives the first adapter sleeve to move in the opposite direction through the elastic action of the second spring, and then drive the spherical shaft hub to break away from the second spacing groove, and then relieve the spacing of the adapter, finish the separation of manipulator and working tool, finish the installation of another working tool through the installation step of manipulator and working tool after adjusting the position of manipulator subsequently, break away from the adapter at the same time, the spacing slider rebounds under the elastic force of the first shell fragment, and carry on spacing through the second spacing part, in order to finish the spacing of the working tool after breaking away from, through the above structural design, make the arm can have the ability of disconnecting the tool independently, docking the tool independently under the circumstances that nobody assists, thus make the arm can use many kinds of tools to carry on the operation, increase the rescue ability of the arm, realize the goal of freeing people from the dangerous working environment, has ensured the health safety of the staff, reduce the casualties while rescuing, the rescue efficiency is improved.

Through setting up first spacing part and second spacing part, the arm is through the concrete process that the spacing of adapter installation working tool in-process second spacing part was relieved: after one end surface of the adapter is contacted with the fourth adapter sleeve, the edge of the adapter is contacted with one side of the limiting clamp sleeve, the limiting clamp sleeve is extruded, the first connecting rod is driven by the limiting clamp sleeve to rotate under the action of extrusion force, the rotating first connecting rod moves downwards through the first sliding groove, the connecting column, the first supporting ring and the second limiting fixture block, the limiting on the third limiting groove is relieved, the third spring is stretched, when the adapter which moves continuously drives the limiting slide block to move, so that the first limiting fixture block is separated from the fourth limiting groove, the limiting slide block is relieved from limiting, the mechanical arm can drive the working tool to work, after the mechanical arm installs the working tool through the adapter, the limiting of the limiting slide block is automatically relieved through the upper structural design, the operation is convenient, the efficiency of installing and replacing the working tool by the mechanical arm is effectively improved, and the process of installing the working tool by the mechanical arm through the adapter is also ensured, the limiting of the limiting sliding block is stable.

Through setting up first spacing part and second spacing part, arm and working tool break away from the in-process, and the spacing concrete process of second spacing part to spacing slider is: when the first limiting clamping block is clamped with the fourth limiting groove, the limiting sliding block continues to move to extrude the second limiting clamping block through the inclined surface of the second limiting clamping block, the second limiting clamping block drives the first connecting rod to rotate through the first supporting ring and the connecting column, meanwhile, in order to prevent the first connecting rod from rotating, the limiting clamping sleeve blocks the adapter in the moving process, when the adapter is abutted against the limiting clamping sleeve, the adapter which continues to move can enable the limiting clamping sleeve to rotate, the second elastic sheet is deformed under stress, and after the moving adapter is completely separated from the limiting clamping sleeve, the limiting clamping sleeve is reset under the elastic support of the second elastic sheet, so that the situation that the adapter cannot continue to be separated from the third adapter sleeve due to the fact that the limiting clamping sleeve moves through the first connecting rod after the second limiting clamping block is stressed and further the adapter cannot be separated from the third adapter sleeve is avoided, and when the adapter is separated from the third adapter sleeve, the limiting sliding block slides along the surface of the sliding groove due to the elastic action of the first elastic sheet and the limiting clamping block, when the third spacing groove slides to the top of the second spacing fixture block, under the elastic action of the third spring, the second spacing fixture block moves upwards and is clamped with the third spacing groove, so that complete spacing of the spacing slide block is completed, spacing of a working tool separated from the manipulator is achieved, operation is convenient and fast, and separation efficiency of the working tool is further improved.

The invention is intended to cover alternatives, modifications, equivalents, and alternatives that may be included within the spirit and scope of the invention. In the following description of the preferred embodiments of the present invention, specific details are set forth in order to provide a thorough understanding of the present invention, and it will be apparent to those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, and circuits have not been described in detail as not to unnecessarily obscure aspects of the present invention.

Those skilled in the art will appreciate that all or part of the steps in the method for implementing the above embodiments may be implemented by relevant hardware instructed by a program, and the program may be stored in a computer readable storage medium, such as: ROM/RAM, magnetic disk, optical disk, etc.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and amendments can be made without departing from the principle of the present invention, and these modifications and amendments should also be considered as the protection scope of the present invention.

Claims

1. A quick change device for automatic tool switching for unmanned aerial vehicle operation, comprising: the mechanical arm can be connected with the switching part through the adapter, the fixed base is sleeved with a limiting slide block fixedly connected with the switching part, a first limiting part and a second limiting part for limiting the limiting slide block in a sliding mode, the first limiting part and the second limiting part limit the limiting slide block through the first limiting part and the second limiting part, so that the switching part fixed on the limiting slide block is limited, the switching part is prevented from moving in the connection process of the switching part and the adapter, the adapter applies force to the second limiting part in the connection process of the switching part and the adapter, the second limiting part gradually relieves the limit of the limiting slide block, and after the switching part is connected with the adapter, the limit of the second limiting part to the limiting slide block is relieved, then the mechanical arm drives the limiting sliding block to slide through the adapter and the switching part, so that the limiting of the first limiting part on the limiting sliding block can be released;

the fixed base is further fixedly connected with a baffle for limiting the switching component, and the switching component is limited by the baffle, the first limiting component and the second limiting component, so that the adapter is disconnected from the switching component.

2. The quick-change device for automatically switching the unmanned operation implementation tools according to claim 1, wherein the adapter part comprises an adapter fixedly mounted on the top of the limiting slide block, one side of the adapter is fixedly connected with a first adapter sleeve, a first limiting ring is fixedly sleeved on the first adapter sleeve, a plurality of spherical shaft hubs are sleeved on the first adapter sleeve in a circumferential array manner, a second adapter sleeve is slidably sleeved on the first adapter sleeve, a second limiting ring is fixedly sleeved on the inner side of the second adapter sleeve, a first limiting groove is formed on the inner side of the second limiting ring, the spherical shaft hubs are positioned in the first limiting groove, a third limiting ring is fixedly sleeved on the second adapter sleeve, one end of the first limiting ring is fixedly connected with a first spring sleeved on the first adapter sleeve, one end of the first spring, which is far away from the first limiting ring, is fixedly connected with the second limiting ring, the inboard of first switching cover has the third switching cover through threaded connection, and the joint groove has been seted up to the one end of third switching cover, the fourth switching cover has been cup jointed in the slip on the third switching cover, the fourth switching cover with first switching cover slides and cup joints, the outside of fourth switching cover with spherical shaft hub is contradicted, one side fixedly connected with cover of third switching cover is established the second spring on the third switching cover, the second spring is kept away from the one end of third switching cover with fourth switching cover fixed connection.

3. The quick-change device for automatically switching the unmanned aerial vehicle according to claim 2, wherein a connecting pin adapted to the third adapter sleeve is fixedly connected to one end of the adapter, and a second limiting groove adapted to the spherical hub is formed in the adapter.

4. The quick-change device for automatically switching the unmanned operation implementation tool according to claim 2, wherein the baffle is matched with the second adapter sleeve, and a reinforcing rib is fixedly connected to the bent part of the baffle.

5. The quick-change device for automatic tool switching for unmanned aerial vehicles according to claim 1, wherein the first limiting component comprises a limiting clamp fixedly mounted on the fixing base, the inner walls of two sides of the limiting clamp are fixedly connected with a first limiting fixture block, the inner wall of one side of the limiting clamp is fixedly connected with a first elastic sheet, one side of the first elastic sheet, which is far away from the limiting clamp, is abutted against one side of the limiting slider, the two sides of the limiting slider are respectively provided with a fourth limiting groove adapted to the first limiting fixture block, one side of the first limiting fixture block is provided with a chamfer, and the inner wall of one side of the fourth limiting groove is provided with a chamfer.

6. The quick-change device for automatically switching the tools for unmanned aerial vehicles according to claim 1, wherein the second limiting member comprises a first connecting rod rotatably connected to the inner walls of the two sides of the fixing base, the first connecting rod is provided with a first sliding groove, the first connecting rod is slidably connected to a connecting column through the first sliding groove, the connecting column is fixedly connected to a first supporting ring, the bottom of the first supporting ring is fixedly connected to a second limiting fixture block penetrating through the fixing base, one side of the second limiting fixture block is provided with an inclined surface, the first supporting ring is fixedly connected to a third spring sleeved on the second limiting fixture block, one end of the third spring away from the first supporting ring is fixedly connected to the fixing base, the bottom of the limiting slider is provided with a third limiting groove matched with the second limiting fixture block, one end of the first connecting rod is rotatably connected with a limiting clamping sleeve.

7. The quick-change device for automatically switching the unmanned aerial vehicle implementation tools according to claim 6, wherein a second elastic sheet is fixedly connected to the inner wall of one side of the limiting clamping sleeve, and one end, far away from the limiting clamping sleeve, of the second elastic sheet abuts against the first connecting rod.

8. The device as claimed in claim 6, wherein the first sliding groove is a kidney-shaped groove, a protrusion is disposed at one end of the first link, and one side of the protrusion abuts against an inner wall of the second limiting block.

9. The quick-change device for automatically switching the unmanned aerial vehicle according to claim 6, wherein a movable groove is formed in the fixed base, and the first connecting rod penetrates through the movable groove.

10. The quick-change device for automatically switching unmanned aerial vehicle tools according to claim 2, wherein a second limit pin is connected to the inner wall of the bottom of the adapter through a thread, the second limit pin penetrates through the adapter and is connected with the limit slider through a thread, and a limit clamping groove is formed in the second limit pin.