CN114939882B

CN114939882B - End instrument docking mechanism of arm

Info

Publication number: CN114939882B
Application number: CN202210878180.8A
Authority: CN
Inventors: 吴海腾; 姜晓勇; 耿晓棠; 花聪聪; 于波; 熊发春; 崔华锋; 沈彪
Original assignee: Hangzhou Shenhao Technology Co Ltd
Current assignee: Hangzhou Shenhao Technology Co Ltd
Priority date: 2022-07-25
Filing date: 2022-07-25
Publication date: 2022-11-04
Anticipated expiration: 2042-07-25
Also published as: CN114939882A

Abstract

The application relates to live working robot technical field especially relates to a terminal instrument docking mechanism of arm, includes: the butt joint structure comprises a fixing part, a pressing rod and a moving part, the fixing part is fixedly arranged on the butt joint disc, one end of the pressing rod is hinged with the fixing part, and the other end of the pressing rod is connected with the moving part and is exposed out of the other end of the butt joint disc; the butt joint seat comprises a butt joint which can be matched and clamped with the pressure rod and an arc-shaped stroke groove which is arranged around the butt joint and one end of which deflects towards the butt joint; during matching, the moving part rotates along with the tail end assembly in the stroke groove, and the moving part is close to the circle center direction of the butt joint seat along the stroke groove, so that the pressing rod is driven to swing to clamp the butt joint. The technical problems that the structure is complex, the butt joint difficulty is high, the butt joint success rate is low and the like in the prior art are effectively solved.

Description

End instrument docking mechanism of arm

Technical Field

The application relates to the technical field of live working robots, in particular to a mechanical arm end tool docking mechanism.

Background

At present, the field of live-wire work in the power industry is mainly manual operation, and operators use insulating rods or insulating gloves to complete operations such as live-wire disconnection and live-wire connection, so that the difficulty of the manual operation is high under the condition that the working environment is high altitude and high voltage, risks such as electric shock and dropping exist, and the demand of the field of live-wire work on live-wire work robots is increasing in recent years.

At present, the tail end docking tool of the mechanical arm in the market mainly uses an electric mode, an air pressure mode or a hydraulic mode to unlock and lock the tool, wherein the air pressure mode and the hydraulic mode can cause the whole size to be large and heavy, and the robot body and a live wire need to be insulated, so the electric mode is not suitable for live working scenes.

Disclosure of Invention

The application provides a terminal instrument docking mechanism of arm to at least, solve prior art and lack a simple structure, use mechanical conduction and need not external power, realize the problem of the device of instrument butt joint, locking, unblock through the arm action.

In order to achieve the above object, the present application provides an end-of-arm-tool docking mechanism, including: the end component comprises a butt joint disc and a butt joint structure arranged in the butt joint disc, the tool end component comprises a butt joint seat which is connected with the end tool of the mechanical arm and is matched with the end component, the butt joint structure comprises a fixed part, a pressure lever and a movable part, the fixed part is integrally or detachably fixedly arranged on the butt joint disc, one end of the pressure lever is hinged with the fixed part, and the other end of the pressure lever is connected with the movable part and is exposed out of the other end of the butt joint disc; the butt joint seat comprises a butt joint head which is arranged in the center of the butt joint seat and extends towards the direction of the butt joint disk and can be matched and clamped with the pressure rod, and an arc-shaped travel groove which is arranged around the butt joint head, wherein one end of the travel groove is arranged in a bent structure gradually deflecting towards the direction of the butt joint head; when the tool end assembly is matched with the tail end assembly, the movable member is located in the stroke groove, along with the rotation of the tail end assembly relative to the tool end assembly, the movable member gradually approaches to the circle center direction of the butt joint base along the stroke groove, and therefore the pressing rod is driven to swing to clamp the butt joint.

In some embodiments, the pressing rod is provided with a pressing hook which is matched and clamped with the butt joint, and the butt joint is provided with a clamping part matched with the pressing hook.

In some of these embodiments, the press hook is provided with an arcuate abutment surface to facilitate engagement with the abutment.

In some embodiments, the clamping part comprises a clamping end which is arranged at the upper end of the butt joint along the circumferential direction and is provided with a chamfer, and the clamping end is matched and clamped with the press hook; and/or, the joint part comprises a pressing groove arranged on the side wall of the butt joint along the circumferential direction of the butt joint.

In some embodiments, the terminal assembly includes a connecting disc connected to the mechanical arm, the connecting disc is fixedly disposed at an end of the docking disc away from the tool end assembly, a limiting groove engaged with the clamping end of the docking head is disposed in a middle portion of a side of the connecting disc close to the docking seat, and the limiting groove radially limits the tool end assembly engaged with the terminal assembly.

In some embodiments, a one-way locking structure is arranged between the docking tray and the docking seat.

In some of these embodiments, the one-way locking structure comprises a ratchet fixedly disposed on an outside of the docking tray; the pawl is hinged to the butt joint seat and matched with the ratchet, and an elastic component is arranged between the pawl and the butt joint seat; the butt joint disc and/or the butt joint seat are/is provided with a limiting piece for limiting the movable range of the pawl.

In some embodiments, the tool end assembly further comprises a tool table for placing the tool end assembly, and the tool table is fixedly provided with an unlocking mechanism for unlocking the one-way locking structure.

In some of the embodiments, the unlocking mechanism includes an unlocking block provided on the tool table for separating the pawl from the ratchet, and a side of the unlocking block abutting against the pawl is provided with a slope for separating the pawl from the ratchet.

In some of these embodiments, the tool station is provided with a locating pin for locating the tool end assembly, and the docking cradle is provided with a locating pin hole for mating with the locating pin.

According to the content, the beneficial effects of the application are as follows:

the rotary motion through the arm makes the moving part slide in the arc stroke groove, drives the depression bar and compresses tightly tool end subassembly and end subassembly, and simple structure adopts the locking mode of ratchet, reduces the influence of machining error to the butt joint, has reduced the butt joint degree of difficulty, has improved the success rate of butt joint.

Drawings

The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 2 is a schematic view of a terminal assembly according to an embodiment of the present application;

FIG. 3 is an exploded view of a tip assembly according to an embodiment of the present application;

FIG. 4 is a schematic view of a docking station according to an embodiment of the present application;

FIG. 5 is a schematic view of a docking station according to an embodiment of the present application;

FIG. 6 is a schematic view of the internal structure of a terminal assembly according to an embodiment of the present application;

FIG. 7 is a schematic diagram of the overall structure of an embodiment of the present application;

FIG. 8 is a cross-sectional view of an unlocking block and pawl combination of an embodiment of the present application;

FIG. 9 is a schematic view of a compression bar according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of a tool table according to an embodiment of the present application.

Description of reference numerals: 1. an insulating rod; 2. a tip assembly; 21. a connecting disc; 22. a docking tray; 23. a butt joint structure; 231. a fixed part; 232. a pressure lever; 2321. pressing a hook; 2322. an arc-shaped abutting surface; 233. a commutation block; 234. a roller; 235. a first cylindrical pin; 236. a second cylindrical pin; 24. a ratchet; 3. a tool end assembly; 31. a docking station; 311. a clamping end; 312. a stroke slot; 313. a compaction groove; 314. guiding and chamfering; 315. a positioning pin hole; 316. a butt joint; 32. a pawl; 33. a third cylindrical pin; 34. a torsion spring; 35. a set screw; 4. a tool table; 41. positioning pins; 42. and (4) unlocking the block.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments provided in the present application without any inventive step are within the scope of protection of the present application. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.

Reference in the specification to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the specification. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of ordinary skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments without conflict.

Unless defined otherwise, technical or scientific terms referred to herein shall have the ordinary meaning as understood by those of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a single reference) are to be construed in a non-limiting sense as indicating either the singular or the plural. The use of the terms "including," "comprising," "having," and any variations thereof herein, is meant to cover a non-exclusive inclusion; for example, a process, method, system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to only those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. Reference to "connected," "coupled," and the like in this application is not intended to be limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference herein to "a plurality" means greater than or equal to two. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. Reference herein to the terms "first," "second," "third," and the like, are merely to distinguish similar objects and do not denote a particular ordering for the objects.

The application provides terminal instrument docking mechanism of arm, includes: the end component comprises a butt joint disc and a butt joint structure arranged in the butt joint disc, the tool end component comprises a butt joint seat which is connected with the end tool of the mechanical arm and is matched with the end component, the butt joint structure comprises a fixed part, a pressure lever and a movable part, the fixed part is integrally or detachably fixedly arranged on the butt joint disc, one end of the pressure lever is hinged with the fixed part, and the other end of the pressure lever is connected with the movable part and is exposed out of the other end of the butt joint disc; the butt joint seat comprises a butt joint head which is arranged in the center of the butt joint seat and extends towards the direction of the butt joint disk and can be matched and clamped with the pressure rod, and an arc-shaped travel groove which is arranged around the butt joint head, wherein one end of the travel groove is arranged in a bent structure gradually deflecting towards the direction of the butt joint head; when the tool end assembly is matched with the tail end assembly, the movable part is located in the stroke groove, and along with the rotation of the tail end assembly relative to the tool end assembly, the movable part gradually approaches to the direction of the circle center of the butt joint seat along the stroke groove, so that the pressing rod is driven to swing to clamp the butt joint.

For example, as shown in fig. 1 to 10, an end tool docking mechanism of a robot arm includes: a tip assembly 2, a tool end assembly 3, and a tool station 4.

The terminal assembly 2 includes a connecting disc 21, an abutting disc 22, an abutting structure 23 and a ratchet 24, wherein the abutting structure 23 includes a fixing portion 231, a pressing rod 232, a reversing block 233, a movable member (in this embodiment, a roller 234), a first cylindrical pin 235 and a second cylindrical pin 236. The tool end assembly 3 includes an abutment 31, a pawl 32, a third cylindrical pin 33, an elastic member (in this embodiment, a torsion spring 34) and a limiting member (in this embodiment, a fixing screw 35).

The insulating rod 1 is fixedly sleeved in the connecting disc 21, the connecting disc 21 is embedded into one side, away from the tool end assembly 33, of the butt joint disc 22 and is fixedly connected with the butt joint disc 22, the end face of the connecting disc 21 is matched with a step on the inner side of the butt joint disc 22, and the butt joint structure 23 is arranged in the butt joint disc 22. The fixing portion 231 is integrally or separately fixedly connected to the side portion of the docking tray 22, one end of the pressing rod 232 is rotatably connected to the fixing portion 231 through a first cylindrical pin 235, the other end of the pressing rod 232 is rotatably connected to the reversing block 233 through a second cylindrical pin 236, and the roller 234 penetrates through a kidney-shaped groove extending towards the center direction of the docking tray 22 at the bottom of the docking tray 22 and is fixedly connected to the reversing block 233. A one-way locking structure is arranged between the butt joint disc 22 and the butt joint seat 31, the one-way locking structure comprises a ratchet 24 fixedly arranged on the outer side wall of the butt joint disc 22 and exposed out of the outer side wall of the butt joint disc 22 and a pawl 32 arranged on the butt joint seat 31, the pawl 32 and the ratchet 24 are matched to form one-way locking, a torsion spring 34 is arranged between the pawl 32 and the butt joint seat 31, and a fixing screw 35 for limiting the moving range of the pawl 32 is arranged on the butt joint disc 22 and/or the butt joint seat 31.

Furthermore, a third cylindrical pin 33 is fixedly arranged on the butt joint seat 31, the pawl 32 is hinged on the butt joint seat 31 through the third cylindrical pin 33, a torsion spring 34 is arranged in a groove of the pawl 32, the pawl 32 and the torsion spring 34 penetrate through the third cylindrical pin 33 to be rotatably connected with the third cylindrical pin, one end of the torsion spring 34 abuts against the pawl 32, the other end of the torsion spring abuts against a fixing screw 35 fixedly connected with the butt joint seat 31, the pawl 32 is pressed to the ratchet 24, and the fixing screw 35 is matched with the torsion spring 34 to limit the moving range of the pawl 32.

Further, one end of the docking socket 31 is connected to the end tool of the robot arm and the other end is engaged with the end assembly 2, and a docking head 316 engaged with the docking structure 23 is extended from the center of the docking socket 31 toward the end assembly 2. The pressing rod 232 is provided with a pressing hook 2321 which extends towards the connecting disc 21, and the pressing hook 2321 is connected with the pressing rod 232 through an arc abutting surface 2322 which is conveniently clamped with the butt joint 316. The docking head 316 is provided with a clamping portion which is matched with the pressing hook 2321, the clamping portion comprises a clamping end 311 which is arranged at the upper end of the docking head 316 along the circumferential direction and is provided with a chamfer and a pressing groove 313 which is arranged at the side wall of the docking head 316 along the circumferential direction of the docking head 316, and the pressing hook 2321 is matched with the clamping end 311 and the pressing groove 313 to realize the clamping of the docking head 316.

A limiting groove (not shown) matched with the clamping end 311 of the butt joint 316 is arranged in the middle of one side of the connecting disc 21 close to the butt joint seat 31, and the limiting groove limits the tool end assembly 3 matched with the tail end assembly 2 in the radial direction. The outer edge of the docking seat 31 near one side of the docking tray 22 is provided with a guide chamfer 314 for being matched with the docking tray 22, and one end of the docking tray 22 near the docking seat 31 is provided with an inner chamfer matched with the guide chamfer 314.

A circular arc-shaped travel groove 312 is arranged on the butt joint disc 31 around the butt joint 316, and one end of the travel groove 312 is gradually deflected towards the butt joint 316; when the tool end assembly 3 is engaged with the tip assembly 2, the roller 234 is located in the travel groove 312, and as the tip assembly 2 rotates relative to the tool end assembly 3, the roller 234 gradually approaches the center of the docking seat 31 along the travel groove 312, so as to drive the pressing rod 232 to swing to clamp the docking head 316.

Further, the tool post 4 is used for placing the tool end assembly 3, and includes a positioning pin 41 and an unlocking mechanism (an unlocking block 42 in this embodiment) for unlocking the one-way locking structure. The tool platform 4 is provided with a clamping groove with an opening at one side for placing a tool at the tail end of the mechanical arm, and the positioning pins 41 are arranged at two sides of the clamping groove.

The unlocking block 42 is fixedly provided on the tool table 4 for separating the pawl 32 from the ratchet 24, and a slope for separating the pawl 32 from the ratchet 24 is provided on a side where the unlocking block 42 abuts against the pawl 32.

When the tool end assembly 3 is placed on the tool table 4, the positioning pins 41 fixed on the tool table 4 pass through the positioning pin holes 315 at the two ends of the butt joint seat 31, so that the tool end assembly 3 is positioned on the tool table 4, the inclined surface on the unlocking block 42 is matched with the inclined surface on the inner side of the pawl 32, the pawl 32 twists the torsion spring 34, and the pawl 32 is in an unlocking state.

The working principle is as follows:

when in butt joint, the mechanical arm drives the tail end assembly 2 to descend to a proper height, so that the roller 234 enters the stroke slot 312, if the roller 234 is not positioned on the outermost side of the waist-shaped slot of the butt joint disc 22 before the butt joint, and when the tail end assembly 2 descends, the chamfer of the clamping end 311 pushes the arc-shaped abutting surface 2322 at the lower end of the pressing rod 232, so that the roller 234 slides to the outermost side of the waist-shaped slot of the butt joint disc 22, when the roller 234 is positioned in the stroke slot 312, the mechanical arm drives the tail end assembly 2 to rotate, so that the roller 234 rolls to the end point of the stroke slot 312 along the stroke slot 312, in the process, the reversing block 233 gradually moves towards the center of the butt joint disc 22, the reversing block 233 drives the pressing rod 232 to rotate around the first cylindrical pin 235, so that the pressing hook 2321 on the pressing rod 232 rotates around the first cylindrical pin 235, after the pressing hook 2321 contacts with the pressing slot 313 on the butt joint 316, the pressing hook 2321 continues to rotate around the first cylindrical pin 235, the pressing hook 2321 drives the upper end of the pressing slot 313 to move upwards, so that the clamping end 311 contacts with the limiting slot in the connecting disc 21, the tail end of the mechanical arm continues to rotate, so that the upper end 311 of the clamping end is matched with the limiting slot of the limiting slot 21, and the limiting slot 314, and the lower end of the roller 22 completely rolls in the radial direction of the limiting disc 22, and the chamfer of the relay disc 22, and the reversing disc 22.

After the butt joint is completed, the mechanical arm drives the end assembly 2 and the tool end assembly 3 to be separated from the tool table 4 together, at this time, the pawl 32 is separated from the locking block 42, the torsion spring 34 drives the pawl 32 to rotate around the third cylindrical pin 33, so that the pawl 32 is clamped into teeth on the ratchet 24, thereby completing circumferential limiting, and if the roller 234 cannot reach the tail end of the stroke groove 312 due to machining and other reasons, the pawl 32 can also automatically adjust the meshing position, thereby completing the limiting action.

It should be understood by those skilled in the art that various features of the above-described embodiments can be combined in any combination, and for the sake of brevity, all possible combinations of features in the above-described embodiments are not described in detail, but rather, all combinations of features which are not inconsistent with each other should be construed as being within the scope of the present disclosure.

The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. An end of arm instrument docking mechanism, comprising:

the end component comprises a butt joint disc and a butt joint structure arranged in the butt joint disc, the tool end component comprises a butt joint seat which is connected with the end tool of the mechanical arm and is matched with the end component, the butt joint structure comprises a fixed part, a pressure lever and a movable part, the fixed part is integrally or detachably fixedly arranged on the butt joint disc, one end of the pressure lever is hinged with the fixed part, and the other end of the pressure lever is connected with the movable part and is exposed out of the other end of the butt joint disc;

the butt joint seat comprises a butt joint head which is arranged in the center of the butt joint seat and extends towards the direction of the butt joint disk and can be matched and clamped with the pressure rod, and an arc-shaped travel groove which is arranged around the butt joint head, wherein one end of the travel groove is arranged in a bent structure gradually deflecting towards the direction of the butt joint head;

when the tool end assembly is matched with the tail end assembly, the movable member is positioned in the stroke groove, and along with the rotation of the tail end assembly relative to the tool end assembly, the movable member gradually approaches to the direction of the circle center of the butt joint seat along the stroke groove, so that the compression rod is driven to swing to clamp the butt joint;

the pressing rod is provided with a pressing hook which is matched and clamped with the butt joint, the pressing hook is provided with an arc-shaped abutting surface which is conveniently clamped with the butt joint, the butt joint is provided with a clamping part which is matched with the pressing hook, the clamping part comprises a clamping end which is arranged at the upper end of the butt joint along the circumferential direction and is provided with a chamfer, and the clamping end is matched and clamped with the pressing hook; and/or, the joint part comprises a pressing groove arranged on the side wall of the butt joint along the circumferential direction of the butt joint.

2. The end-of-arm-tool docking mechanism of claim 1, wherein: the terminal subassembly include with the connection pad that the arm is connected, the connection pad is fixed to be set up the butt joint dish is kept away from the one end of tool end subassembly, the connection pad is close to the middle part of butt joint seat one side be provided with the butt joint the joint end complex spacing groove, the spacing groove to with behind the terminal subassembly cooperation the tool end subassembly is spacing in the footpath.

3. The end-of-arm-tool docking mechanism of claim 1, wherein: and a one-way locking structure is arranged between the butt joint disc and the butt joint seat.

4. The end-of-arm-tool docking mechanism of claim 3, wherein: the one-way locking structure comprises a ratchet fixedly arranged on the outer side of the butt joint disc; the pawl is hinged to the butt joint seat and matched with the ratchet, and an elastic component is arranged between the pawl and the butt joint seat;

the butt joint disc and/or the butt joint seat are/is provided with a limiting piece for limiting the movable range of the pawl.

5. The end-of-arm-tool docking mechanism of claim 4, wherein: the tool table is used for placing the tool end assembly, and an unlocking mechanism for unlocking the one-way locking structure is fixedly arranged on the tool table.

6. The end-of-arm-tool docking mechanism of claim 5, wherein: the unlocking mechanism comprises an unlocking block which is arranged on the tool table and used for separating the pawl from the ratchet, and an inclined plane which is convenient for separating the pawl from the ratchet is arranged on one side of the unlocking block abutted against the pawl.

7. The end-of-arm-tool docking mechanism of claim 5, wherein: the tool table is provided with a positioning pin for positioning the tool end assembly, and the butt joint seat is provided with a positioning pin hole matched with the positioning pin.