CN115319786B - Quick change device for end tool of live working robot - Google Patents
Quick change device for end tool of live working robot Download PDFInfo
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- CN115319786B CN115319786B CN202211237710.7A CN202211237710A CN115319786B CN 115319786 B CN115319786 B CN 115319786B CN 202211237710 A CN202211237710 A CN 202211237710A CN 115319786 B CN115319786 B CN 115319786B
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- connecting structure
- elastic
- change device
- quick
- transmission rod
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
Abstract
A quick change device for an end tool of a live working robot relates to the technical field of tools. The quick-change device comprises a first connecting structure and a second connecting structure, wherein the first connecting structure is used for being mounted on a mechanical arm, the second connecting structure is used for being mounted on a terminal tool, an opening is formed in one side, away from the terminal tool, of the second connecting structure, one side, away from the mechanical arm, of the first connecting structure can extend into the second connecting structure through the opening, a connecting piece is arranged on the side wall of the first connecting structure, a connecting hole is formed in the side wall of the second connecting structure, and the connecting piece can be contained in the connecting hole in a limiting mode so that the first connecting structure and the second connecting structure can be mounted in a limiting mode; the quick-change device also comprises an operating mechanism in transmission connection with the connecting piece, and the driving operating mechanism can drive the connecting piece to extend out of the first connecting structure in a sliding mode or retract into the first connecting structure in a sliding mode so as to lock or unlock the first connecting structure and the second connecting structure. The quick change device can simplify the structure, is convenient to operate, and improves the reliability and the safety.
Description
Technical Field
The invention relates to the technical field of tools, in particular to a quick change device for a terminal tool of a live working robot.
Background
The terminal tools of the hot-line work robot are mainly divided into a wire stripping tool, a wire clamp mounting tool, an insulating cover mounting tool, a wire breaking tool, a grounding ring mounting tool and the like, and the hot-line work robot is provided with different terminal tools according to the operation types and the flow needs, so that different terminal tools can be replaced safely, stably and conveniently.
At present, the replacement mode can be divided into manual replacement and automatic replacement, manual replacement adopts manual and manual dismouting, and automatic replacement need not artifical the participation. Traditional manual change mode needs to carry out manual work at the high altitude, and the security does not guarantee, consumes a large amount of physical power, and the installation accuracy is not high, perhaps falls to ground with the robot earlier, rises to the air again after artifical manual change, and it is longer to consume time, and degree of automation is low. The existing automatic quick-change device needs to align and plug a plurality of connecting holes and a plurality of plug connectors, has high requirement on position precision, and causes the process of automatically replacing a terminal tool to be unstable and has lower reliability.
Disclosure of Invention
The invention aims to provide a quick change device for a terminal tool of a live working robot, which can simplify the structure, is convenient to operate and improves the reliability and the safety.
The embodiment of the invention is realized by the following steps:
the embodiment of the invention provides a quick change device for an end tool of a live working robot, which comprises a first connecting structure and a second connecting structure, wherein the first connecting structure is used for being installed on a mechanical arm, the second connecting structure is used for being installed on the end tool, an opening is formed in one side, away from the end tool, of the second connecting structure, one side, away from the mechanical arm, of the first connecting structure can extend into the second connecting structure through the opening, a connecting piece is arranged on the side wall of the first connecting structure, a connecting hole is formed in the side wall of the second connecting structure, and the connecting piece can be contained in the connecting hole in a limiting mode so that the first connecting structure and the second connecting structure can be installed in a limiting mode; an elastic component is arranged on one side, away from the opening, of the second connecting structure, the connecting hole comprises a leading-in section, a limiting section and an accommodating section which are sequentially communicated, one end, away from the limiting section, of the leading-in section is communicated with the opening to drive the first connecting structure to move towards one side close to the second connecting structure, the connecting piece can slide into the limiting section through the movement of the leading-in section and extrude the elastic component to store energy, the first connecting structure is driven to rotate relative to the second connecting structure, the connecting piece can slide into the accommodating section through the rotation of the limiting section, and the elastic component releases energy to force the first connecting structure to move towards one side, away from the second connecting structure; the quick-change device also comprises an operating mechanism in transmission connection with the connecting piece, and the operating mechanism is driven to drive the connecting piece to extend out of the first connecting structure in a sliding mode or retract into the first connecting structure in a sliding mode so that the first connecting structure and the second connecting structure can be locked or unlocked. This live working robot end instrument quick change device can simplify the structure, and the operation of being convenient for improves reliability and security.
Optionally, the elastic assembly includes two elastic cushions and at least one first elastic element disposed between the two elastic cushions, the elastic cushion departing from the opening is fixedly connected to a side of the second connecting structure departing from the opening, the elastic cushion close to the opening can abut against the first connecting structure to contact, and an outer diameter of the elastic cushion is smaller than or equal to an inner diameter of the second connecting structure.
Optionally, a magnetic material is disposed on a side of the second connecting structure away from the opening, and the magnetic material and the elastic pad are magnetically attracted to each other.
Optionally, the operating mechanism includes a transmission rod slidably disposed in the first connecting structure, the transmission rod extends along a connecting line direction of the first connecting structure and the second connecting structure, one end of the transmission rod close to the connecting piece is provided with a supporting surface for supporting the first end of the connecting piece, and the transmission rod is driven to slide in the first connecting structure so as to drive the second end of the connecting piece to slidably extend out of the first connecting structure or slidably retract into the first connecting structure through the supporting surface.
Optionally, an interval between one side of the abutting surface close to the connecting piece and the side wall of the first connecting structure is larger than an interval between one side of the abutting surface away from the connecting piece and the side wall of the first connecting structure.
Optionally, the operating mechanism further includes a second elastic member accommodated in the first connecting structure, two ends of the second elastic member are respectively and fixedly connected to the connecting member and the first connecting structure, and the second elastic member is configured to provide a restoring force for the movement of the connecting member relative to the first connecting structure.
Optionally, the connecting piece with the second elastic component all includes two, the connecting piece with the second elastic component is the one-to-one setting, two the connecting piece is along the transfer line is axial symmetry and distributes.
Optionally, operating device still including slide set up in operating lever in the first connection structure, the operating lever is along the perpendicular to the direction of transfer line extends, the transfer line is close to the one end of operating lever is provided with the spout, the operating lever is close to the one end of transfer line is provided with the mounting hole and wears to locate transmission shaft in the mounting hole, the transmission shaft slide set up in the spout, so that the operating lever with the transfer line transmission is connected.
Optionally, a limiting block is fixedly arranged on the side wall of the first connecting structure, one end of the operating rod, which deviates from the transmission rod, is slidably arranged in the limiting block, one side of the limiting block, which deviates from the first connecting structure, is provided with a locking surface and an unlocking surface, one end of the operating rod, which deviates from the transmission rod, is provided with an operating handle, and the operating handle can be respectively abutted against the locking surface and the unlocking surface.
Optionally, the operating mechanism further includes a third elastic element accommodated in the first connecting structure, two ends of the third elastic element are respectively and fixedly connected to the operating rod and the first connecting structure, and the third elastic element is configured to provide a restoring force for the operating rod to move relative to the first connecting structure.
The embodiment of the invention has the beneficial effects that:
the quick-change device comprises a first connecting structure and a second connecting structure, wherein the first connecting structure is used for being installed on a mechanical arm, the second connecting structure is used for being installed on a terminal tool, an opening is formed in one side, away from the terminal tool, of the second connecting structure, the first connecting structure can extend into the second connecting structure through the opening, a connecting piece is arranged on the side wall of the first connecting structure, a connecting hole is formed in the side wall of the second connecting structure, the connecting piece can be contained in the connecting hole in a limiting mode, the first connecting structure and the second connecting structure are installed in a limiting mode, the electric working robot can take the terminal tool from a tool table through the mechanical arm to use, when the tool needs to be changed, the first connecting structure and the second connecting structure can be uninstalled only by detaching the connecting piece from the connecting hole and detaching the first shell from the second shell, and the electric working robot can replace the terminal tool on the tool table through the mechanical arm. Compare in the manual change mode among the prior art, what this application provided carries out the automatic change mode through live working robot, need not artifical the participation, can improve the security, compare the automatic change mode among the prior art, what this application provided carries out the automatic change mode through live working robot, only need align grafting and the spacing holding of connecting piece in the connecting hole with first connection structure and second connection structure, simple structure has, be convenient for operate has a bit, and simultaneously, the requirement of traditional quick detach instrument to position accuracy has still been reduced, can improve the reliability.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic diagram illustrating a ready assembly of a quick-change device according to an embodiment of the present invention;
fig. 2 is a schematic diagram illustrating the assembly of the quick-change device according to the embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first coupling structure and an operating mechanism according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of FIG. 3;
fig. 5 is a schematic structural diagram of a second connection structure according to an embodiment of the present invention;
FIG. 6 is a cross-sectional view of FIG. 5;
fig. 7 is one of schematic structural diagrams of a quick-change device according to an embodiment of the present invention in a locked state;
fig. 8 is a second schematic structural view of the quick-change device according to the embodiment of the present invention in a locked state;
fig. 9 is a third schematic structural diagram of the quick-change device according to the embodiment of the present invention, in a locked state;
fig. 10 is one of schematic structural diagrams of a quick-change device according to an embodiment of the present invention in an unlocked state;
fig. 11 is a second schematic structural view of the quick-change device according to the embodiment of the present invention in an unlocked state;
fig. 12 is a third schematic structural diagram of the quick-change device according to the embodiment of the present invention, in an unlocked state;
fig. 13 is an exploded view of the operating mechanism according to the embodiment of the present invention.
Icon: 100-quick change device; 10-a first connecting structure; 11-a first housing; 12-a connector; 13-a first screw hole; 14-a slider; 20-a second connecting structure; 21-a second housing; 22-an opening; 23-a connection hole; 231-a lead-in section; 232-a limiting section; 233-a containment section; 24-a resilient component; 241-an elastic pad; 242-a first resilient member; 25-a second screw hole; 26-positioning holes; 30-an operating mechanism; 31-a transmission rod; 311-a holding surface; 312-a chute; 32-a second elastic member; 33-an operating lever; 331-mounting holes; 332-a drive shaft; 34-a limiting block; 341-locking surface; 342-an unlocking face; 35-operating handle; 36-third elastic member.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; either directly or indirectly through intervening media, or may be internal to both elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 6, an embodiment of the present application provides a quick change device 100 for an end tool of a live working robot, including a first connecting structure 10 installed on a robot arm and a second connecting structure 20 installed on the end tool, an opening 22 is disposed on a side of the second connecting structure 20 away from the end tool, a side of the first connecting structure 10 away from the robot arm may extend into the second connecting structure 20 through the opening 22, a connecting member 12 is disposed on a side wall of the first connecting structure 10, a connecting hole 23 is disposed on a side wall of the second connecting structure 20, and the connecting member 12 may be limitedly accommodated in the connecting hole 23, so that the first connecting structure 10 and the second connecting structure 20 are limitedly installed. The quick change device 100 for the end tool of the live working robot can simplify the structure, is convenient to operate and improves the reliability and the safety.
It should be noted that, as shown in fig. 1 and fig. 2, the quick-change device 100 includes a first connecting structure 10 and a second connecting structure 20, wherein the first connecting structure 10 is configured to be mounted on a robot arm, the second connecting structure 20 is configured to be mounted on an end tool, the robot arm is mounted in a limited manner with the second connecting structure 20 through the first connecting structure 10 so as to be assembled with the end tool, and the robot arm is dismounted from the end tool through the first connecting structure 10 and the second connecting structure 20 so as to be disassembled from the end tool, so that the electric working robot can pick and place different end tools from a tool table according to the type and flow of work.
Specifically, as shown in fig. 1 to 3, the first connecting structure 10 may include a first housing 11, a side of the first housing 11 close to the robot arm may be provided with a first screw hole 13, so that the first connecting structure 10 may be fixedly connected to the robot arm, and similarly, the second connecting structure 20 may include a second housing 21, a side of the second housing 21 close to the end tool may be provided with a second screw hole 25, so that the second connecting structure 20 may be fixedly connected to the end tool, and besides, a side of the second housing 21 close to the end tool may be provided with a positioning hole 26, and the positioning hole 26 is matched with a positioning column on the tool table, so that when the end tool is replaced on the tool table by the electric working robot, the end tool can be accurately taken from and placed on the tool table.
As shown in fig. 1 and fig. 2, in the present embodiment, an insertion space is provided in the second housing 21, an opening 22 communicating with the insertion space is provided on a side of the second housing 21 away from the end tool, a side of the first housing 11 away from the robot arm may partially (or entirely) extend into the second housing 21 (i.e., into the insertion space) through the opening 22, a connecting member 12 is provided on a side wall of the first housing 11, a connecting hole 23 is provided on a side wall of the second housing 21, the connecting member 12 may be received in the connecting hole 23 in a limited manner, so that the first connecting structure 10 and the second connecting structure 20 are mounted in a limited manner, so that the live working robot can take the end tool from the tool table through the robot arm for use, and when the tool needs to be replaced, the first connecting structure 10 and the second connecting structure 20 can be detached only by detaching the connecting member 12 from the connecting hole 23 and detaching the first housing 11 from the second housing 21, so that the live working robot can replace the end tool on the tool table again through the robot arm.
Compare in the manual change mode among the prior art, the utility model provides a carry out the automatic change mode through live working robot, need not artifical the participation, can improve the security, compare in the automatic change mode among the prior art, the utility model provides a carry out the automatic change mode through live working robot, only need to align grafting and connecting piece 12 spacing holding in connecting hole 23 with first connection structure 10 and second connection structure 20, simple structure has, be convenient for operate has a bit, and simultaneously, the requirement of traditional quick detach instrument to position accuracy has still been reduced, can improve the reliability.
Illustratively, as shown in fig. 5 and fig. 6, in the present embodiment, a side of the second connecting structure 20 away from the opening 22 is provided with an elastic component 24, the connecting hole 23 includes an introduction section 231, a limiting section 232 and an accommodating section 233 which are sequentially communicated, an end of the introduction section 231 away from the limiting section 232 communicates with the opening 22, the first connecting structure 10 is driven to move toward a side close to the second connecting structure 20, the connecting element 12 can move through the introduction section 231 and slide into the limiting section 232 and press the elastic component 24 to store energy, the first connecting structure 10 is driven to rotate relative to the second connecting structure 20, the connecting element 12 can rotate through the limiting section 232 and slide into the accommodating section 233, and the elastic component 24 releases energy to force the first connecting structure 10 to move toward a side away from the second connecting structure 20.
It should be noted that, an elastic component 24 is disposed in the second housing 21, and the elastic component 24 is disposed on a side of the second housing 21 away from the opening 22, so that when the first connecting structure 10 and the second connecting structure 20 are aligned and plugged, when a side of the first housing 11 away from the mechanical arm extends into the second housing 21 through the opening 22, the elastic component 24 can be abutted and contacted. The connecting hole 23 includes a guiding section 231, a limiting section 232 and an accommodating section 233 which are sequentially communicated, so that the connecting member 12 can move through the guiding section 231 and slide into the limiting section 232 in the process of aligning and plugging the first connecting structure 10 and the second connecting structure 20, and one end of the guiding section 231, which is away from the limiting section 232, is communicated with the opening 22, so as to avoid interference of the side wall of the second housing 21 to the connecting member 12 which moves through the guiding section 231 and slides into the limiting section 232.
Thus, in the process of aligning and inserting the first connection structure 10 and the second connection structure 20, firstly, the mechanical arm drives the first connection structure 10 to move towards the side close to the second connection structure 20, when the side of the first housing 11 away from the mechanical arm gradually extends into the second housing 21 through the opening 22, the connection piece 12 can synchronously move and slide into the introduction section 231 through the communication part of the introduction section 231 and the opening 22 until the side of the first housing 11 away from the mechanical arm is in abutting contact with the elastic component 24, the mechanical arm additionally applies pressing force to drive the side of the first housing 11 away from the mechanical arm to continuously extend into the second housing 21 and extrude the elastic component 24 for energy storage, the connection piece 12 can synchronously move and slide into the limiting section 232 through the introduction section 231 until the side of the first housing 11 away from the mechanical arm cannot continuously extend into the second housing 21, and at this time, the elastic component 24 is compressed to the limiting state; then, the mechanical arm additionally applies a rotational force to drive the first connecting structure 10 to rotate relative to the second connecting structure 20 (the rotational direction is based on the fact that the connecting piece 12 can rotate through the limiting section 232 and slide into the accommodating section 233), the connecting piece 12 can synchronously rotate and rotate through the limiting section 232 and slide into the accommodating section 233, so that the rotational force additionally applied by the mechanical arm can be removed, at this time, the elastic component 24 releases energy to force the first connecting structure 10 to move towards one side away from the second connecting structure 20, and through the limiting effect of the accommodating section 233 on the connecting piece 12 and the limiting section 232 on the connecting piece 12, the first connecting structure 10 and the second connecting structure 20 cannot be separated under the condition that external force is not input, so that the live working robot can use an end tool to perform live working.
It should be understood that the process of uninstalling the first connecting structure 10 and the second connecting structure 20 only needs to reverse the above steps, and will not be described herein again. In the prior art, in the live working process of the live working robot, the tail end tool may be suddenly shut down, the electric quantity is too low or exhausted, the tool is out of control and the like, so that the hidden danger that the continuous working condition cannot be met is generated, the intervention and the escaping can be performed only by means of manpower, in the application, the steps are only required to be reversely operated, and the escaping of the tail end tool in any scene can be realized through the mechanical arm. For greater conspicuity, the end of the coupling member 12 may be provided with a color indication to facilitate a user to remotely observe the actual condition of the quick-change device 100.
For example, as shown in fig. 6, in the present embodiment, the elastic component 24 includes two elastic pads 241 and at least one first elastic element 242 disposed between the two elastic pads 241, the elastic pad 241 away from the opening 22 is fixedly connected to a side of the second connecting structure 20 away from the opening 22, the elastic pad 241 near the opening 22 can be in contact with the first connecting structure 10, and an outer diameter of the elastic pad 241 is smaller than or equal to an inner diameter of the second connecting structure 20, so that an elastic force acting on the first connecting structure 10 is more uniform. The elastic pad 241 may be made of a material of the elastic pad 241 itself, and may also be made of an elastic material of the first elastic member 242, which is not limited herein. Illustratively, the elastic pad 241 is made of iron, and the elasticity of the elastic element 24 depends on the elasticity of the first elastic member 242. Regarding the fixing manner of the elastic component 24 and the second connecting structure 20, optionally, a magnetic material is disposed on a side of the second connecting structure 20 away from the opening 22, and the magnetic material and the elastic pad 241 are magnetically attracted to each other, so that not only is the connection between the elastic component 24 and the second connecting structure 20 reliable and stable ensured, but also the dismounting and the replacement of the elastic component 24 and the second connecting structure 20 are facilitated.
As shown in fig. 1 to 13, on the basis of the automatic replacement mode, the quick-change device 100 provided by the present application can also replace the end tool through a manual replacement mode, specifically, in this embodiment, the quick-change device 100 further includes an operating mechanism 30 in transmission connection with the connecting element 12, and the driving operating mechanism 30 can drive the connecting element 12 to slidably extend out of the first connecting structure 10 or slidably retract into the first connecting structure 10, so as to lock or unlock the first connecting structure 10 and the second connecting structure 20.
As shown in fig. 7 to 13, the operating mechanism 30 includes a transmission rod 31 slidably disposed in the first connecting structure 10, the transmission rod 31 extends along a connecting line direction between the first connecting structure 10 and the second connecting structure 20, one end of the transmission rod 31 close to the connecting member 12 is provided with a supporting surface 311 for supporting a first end of the connecting member 12, and the transmission rod 31 is driven to slide in the first connecting structure 10, so as to drive a second end of the connecting member 12 to slidably extend out of the first connecting structure 10 or slidably retract into the first connecting structure 10 through the supporting surface 311.
It should be noted that the operating mechanism 30 includes a transmission rod 31, the transmission rod 31 extends along a connecting line of the first connecting structure 10 and the second connecting structure 20, and an abutting surface 311 is disposed at an end of the transmission rod 31 close to the connecting element 12, so that the abutting surface 311 can always be in abutting contact with the first end of the connecting element 12 no matter whether the quick-change device 100 is in the locked state or the unlocked state. In the actual use process, when the external force drives the transmission rod 31 to slide in the first connection structure 10, the abutting surface 311 drives the second end of the connection member 12 to slide and extend out of the first connection structure 10, so that the first connection structure 10 and the second connection structure 20 are locked, and the abutting surface 311 drives the second end of the connection member 12 to slide and retract into the first connection structure 10, so that the first connection structure 10 and the second connection structure 20 are unlocked, and thus the end tool can be released under manual intervention.
Alternatively, as shown in fig. 7 and 10, a distance between a side of the abutting surface 311 close to the connecting member 12 (or a side of the abutting surface 311 facing away from the robot arm) and a side wall of the first connecting structure 10 is greater than a distance between a side of the abutting surface 311 facing away from the connecting member 12 (or a side of the abutting surface 311 close to the robot arm) and a side wall of the first connecting structure 10, so that when the transmission rod 31 slides towards the side facing away from the robot arm (simply when the transmission rod 31 is lifted), the abutting surface 311 can drive the second end of the connecting member 12 to slide and extend out of the first connecting structure 10, so that the first connecting structure 10 and the second connecting structure 20 are locked, and when the transmission rod 31 slides towards the side close to the robot arm (simply when the transmission rod 31 descends), the abutting surface 311 can drive the second end of the connecting member 12 to slide and retract into the first connecting structure 10, so that the first connecting structure 10 and the second connecting structure 20 are unlocked.
As shown in fig. 7 to 13, in the present embodiment, the operating mechanism 30 further includes a second elastic member 32 accommodated in the first connecting structure 10, two ends of the second elastic member 32 are respectively fixedly connected to the connecting member 12 and the first connecting structure 10, and the second elastic member 32 is used for providing a restoring force for the movement of the connecting member 12 relative to the first connecting structure 10. The second elastic element 32 can be sleeved on the connecting element 12, so that the movement of the second elastic element 32 is guided and limited by the connecting element 12.
Thus, when the transmission rod 31 slides towards the side away from the mechanical arm (in short, when the transmission rod 31 is lifted up), the abutting surface 311 can drive the second end of the connecting member 12 to slide and extend out of the first connecting structure 10, in this process, the second elastic member 32 is subjected to a squeezing action to store energy, when the transmission rod 31 slides towards the side close to the mechanical arm (in short, when the transmission rod 31 descends), the squeezing action exerted on the connecting member 12 by the abutting surface 311 is gradually reduced, and the second elastic member 32 releases energy to force the second end of the connecting member 12 to slide and retract into the first connecting structure 10.
Illustratively, as shown in fig. 13, a slide way is disposed on a side wall of the first housing 11, the slide way penetrates along a connecting direction of the side wall of the first housing 11 and an axis of the transmission rod 31 (or a sliding cavity for sliding the transmission rod 31 in the first connecting structure 10), and the connecting element 12 is slidably disposed in the slide way. Sliding block 14 may be fixedly disposed on the inner wall of first housing 11, sliding block 14 is located in the slide, and second end of connecting element 12 is slidably disposed through sliding block 14, so that second end of connecting element 12 can extend out of first connecting structure 10 or retract back into first connecting structure 10 through sliding block 14, and connection of second elastic element 32 may be facilitated by disposing sliding block 14. The first end of connecting piece 12 can be fixed and be provided with the fixed block, the fixed block slides and sets up in the slide, one side that the fixed block deviates from sliding block 14 can slide and stretch out outside the slide or slide and retract back to the slide in, or, the diameter of the first end of connecting piece 12 can be greater than the diameter of the second end of connecting piece 12, one side that the first end of connecting piece 12 deviates from sliding block 14 can slide and stretch out outside the slide or slide and retract back to the slide in, so as to ensure that the first end of connecting piece 12 can support with supporting the face 311 all the time and hold, can also increase the first end of connecting piece 12 and support the area of contact between the face 311, and simultaneously, can also make things convenient for the connection of second elastic component 32. It should be noted that the diameter of the fixing block (or the diameter of the first end of the connecting element 12) should be smaller than or equal to the inner diameter of the slideway to ensure that the connecting element 12 can slide smoothly in the slideway.
As shown in fig. 7, 9, 10, 12 and 13, optionally, the number of the connecting members 12 and the number of the second elastic members 32 are two, the connecting members 12 and the second elastic members 32 are disposed in a one-to-one correspondence, and the two connecting members 12 are axially symmetrically distributed along the transmission rod 31, so as to improve the stability and reliability of the connection between the first connecting structure 10 and the second connecting structure 20.
Since the transmission rod 31 extends along the connecting line direction between the first connecting structure 10 and the second connecting structure 20, and the side of the first connecting structure 10 away from the second connecting structure 20 is fixed to the robot arm, it is inconvenient for the external force to drive the transmission rod 31 to slide in the first connecting structure 10. For this reason, in the present embodiment, the operating mechanism 30 further includes an operating rod 33 slidably disposed in the first connecting structure 10, the operating rod 33 extends in a direction perpendicular to the transmission rod 31, a sliding slot 312 is disposed at an end of the transmission rod 31 close to the operating rod 33, a mounting hole 331 and a transmission shaft 332 penetrating the mounting hole 331 are disposed at an end of the operating rod 33 close to the transmission rod 31, and the transmission shaft 332 is slidably disposed in the sliding slot 312 to enable the operating rod 33 and the transmission rod 31 to be in transmission connection, so that a user can drive the transmission rod 31 to lift up or lower by driving the operating rod 33, a force application direction of external force driving is changed, and interference of a mechanical arm during force application is avoided.
As shown in fig. 9 and 12, in the present embodiment, a limit block 34 is fixedly disposed on a side wall of the first connecting structure 10, one end of the operating rod 33, which is away from the transmission rod 31, is slidably disposed in the limit block 34, one side of the limit block 34, which is away from the first connecting structure 10, is provided with a locking surface 341 and an unlocking surface 342, one end of the operating rod 33, which is away from the transmission rod 31, is provided with an operating handle 35, and the operating handle 35 can respectively abut against the locking surface 341 and the unlocking surface 342, so that the quick-change device 100 is correspondingly in a locked state and an unlocked state.
Illustratively, the locking surface 341 and the unlocking surface 342 are respectively located on two opposite sides of the surface of the limiting block 34 facing away from the first connecting structure 10, and a user can rotate the operating handle 35 to realize mutual abutting of the operating handle 35 and the locking surface 341 and the unlocking surface 342. Optionally, a distance between the locking surface 341 and the outer wall of the first connection structure 10 is smaller than a distance between the unlocking surface 342 and the outer wall of the first connection structure 10, so that when the operating handle 35 abuts against the locking surface 341, the operating rod 33 can drive the transmission rod 31 to lift up, thereby driving the second end of the connection member 12 to extend out of the first connection structure 10, and when the operating handle 35 abuts against the unlocking surface 342, the operating rod 33 can drive the transmission rod 31 to descend, thereby driving the second end of the connection member 12 to retract into the first connection structure 10.
As shown in fig. 8, 9, 11 and 12, in the present embodiment, the operating mechanism 30 further includes a third elastic member 36 accommodated in the first connecting structure 10, two ends of the third elastic member 36 are fixedly connected to the operating rod 33 and the first connecting structure 10, respectively, and the third elastic member 36 is used for providing a restoring force for the movement of the operating rod 33 relative to the first connecting structure 10. The third elastic element 36 can be sleeved on the operating rod 33, so that the movement of the third elastic element 36 is guided and limited by the operating rod 33. In addition, the operating lever 33 may be provided with a holding step, or the diameter of the side of the operating lever 33 close to the transmission rod 31 is larger than the diameter of the side of the operating lever 33 away from the transmission rod 31, so that the third elastic member 36 is fixedly connected with the holding step of the operating lever 33, and the holding step can hold the third elastic member 36.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The quick change device for the end tool of the live working robot is characterized by comprising a first connecting structure and a second connecting structure, wherein the first connecting structure is used for being installed on a mechanical arm, the second connecting structure is used for being installed on the end tool, an opening is formed in one side, away from the end tool, of the second connecting structure, one side, away from the mechanical arm, of the first connecting structure can extend into the second connecting structure through the opening, a connecting piece is arranged on the side wall of the first connecting structure, a connecting hole is formed in the side wall of the second connecting structure, and the connecting piece can be contained in the connecting hole in a limiting mode so that the first connecting structure and the second connecting structure can be installed in a limiting mode;
an elastic component is arranged on one side, away from the opening, of the second connecting structure, the connecting hole comprises a leading-in section, a limiting section and an accommodating section which are sequentially communicated, one end, away from the limiting section, of the leading-in section is communicated with the opening to drive the first connecting structure to move towards one side close to the second connecting structure, the connecting piece can slide into the limiting section through the movement of the leading-in section and extrude the elastic component to store energy, the first connecting structure is driven to rotate relative to the second connecting structure, the connecting piece can slide into the accommodating section through the rotation of the limiting section, and the elastic component releases energy to force the first connecting structure to move towards one side, away from the second connecting structure;
the quick-change device also comprises an operating mechanism in transmission connection with the connecting piece, and the driving of the operating mechanism can drive the connecting piece to extend out of the first connecting structure in a sliding manner or retract into the first connecting structure in a sliding manner so as to lock or unlock the first connecting structure and the second connecting structure;
the operating mechanism comprises a transmission rod arranged in the first connecting structure in a sliding mode, the transmission rod extends along the direction of a connecting line of the first connecting structure and the second connecting structure, one end, close to the connecting piece, of the transmission rod is provided with a butting surface used for butting against the first end of the connecting piece, the transmission rod is driven to slide in the first connecting structure, and the second end of the connecting piece is driven by the butting surface to extend out of the first connecting structure in a sliding mode or retract into the first connecting structure in a sliding mode.
2. The quick-change device for end tools of electric operating robots according to claim 1, characterized in that the elastic assembly comprises two elastic pads and at least one first elastic element arranged between the two elastic pads, the elastic pad facing away from the opening is fixedly connected with the side of the second connecting structure facing away from the opening, the elastic pad near the opening can be in abutting contact with the first connecting structure, and the outer diameter of the elastic pad is smaller than or equal to the inner diameter of the second connecting structure.
3. The quick-change device for end tools of electric working robots according to claim 2, characterized in that the side of the second connection structure facing away from the opening is provided with a magnetic material which is magnetically attracted to the elastic pad.
4. The quick-change device for end tools of electric working robots according to claim 1, characterized in that the distance between the side of the abutment surface close to the connecting piece and the side wall of the first connecting structure is larger than the distance between the side of the abutment surface facing away from the connecting piece and the side wall of the first connecting structure.
5. The quick-change device for tool at end of live working robot according to claim 1, wherein the operating mechanism further comprises a second elastic member received in the first connecting structure, and both ends of the second elastic member are fixedly connected to the connecting member and the first connecting structure, respectively, and the second elastic member is configured to provide a restoring force for the movement of the connecting member relative to the first connecting structure.
6. The quick-change device for end tools of electric working robots according to claim 5, characterized in that the number of said connecting elements and said second elastic element is two, said connecting elements and said second elastic element are arranged in a one-to-one correspondence, and said two connecting elements are axially symmetrically distributed along said transmission rod.
7. The quick-change device for end tools of electric working robots according to claim 1, characterized in that the operating mechanism further comprises an operating rod slidably arranged in the first connecting structure, the operating rod extends in a direction perpendicular to the transmission rod, a sliding groove is arranged at one end of the transmission rod near the operating rod, a mounting hole is arranged at one end of the operating rod near the transmission rod, and a transmission shaft is arranged in the mounting hole in a penetrating manner, the transmission shaft is slidably arranged in the sliding groove, so that the operating rod is in transmission connection with the transmission rod.
8. The quick-change device for end tools of electric working robots according to claim 7, characterized in that a limiting block is fixedly arranged on the side wall of the first connecting structure, one end of the operating rod, which is far away from the transmission rod, is slidably arranged in the limiting block, one side of the limiting block, which is far away from the first connecting structure, is provided with a locking surface and an unlocking surface, one end of the operating rod, which is far away from the transmission rod, is provided with an operating handle, and the operating handle can respectively abut against the locking surface and the unlocking surface.
9. The quick-change device for tool at end of live working robot according to claim 8, wherein the operating mechanism further comprises a third elastic member received in the first connecting structure, wherein both ends of the third elastic member are fixedly connected to the operating rod and the first connecting structure, respectively, and the third elastic member is configured to provide a restoring force for the movement of the operating rod relative to the first connecting structure.
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| CN202211237710.7A CN115319786B (en) | 2022-10-11 | 2022-10-11 | Quick change device for end tool of live working robot |
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| CN202211237710.7A CN115319786B (en) | 2022-10-11 | 2022-10-11 | Quick change device for end tool of live working robot |
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| JP7217946B2 (en) * | 2019-05-08 | 2023-02-06 | 株式会社コスメック | Material changer |
| DE102019118903A1 (en) * | 2019-07-12 | 2021-01-14 | Pi4_Robotics Gmbh | System and method for changing an end effector on a robot |
| CN214055345U (en) * | 2020-10-22 | 2021-08-27 | 深圳市优必选科技股份有限公司 | Coupling mechanism and robot |
| CN216098986U (en) * | 2021-06-30 | 2022-03-22 | 武汉中科医疗科技工业技术研究院有限公司 | Terminal quick change device of robot |
| CN112894778A (en) * | 2021-03-17 | 2021-06-04 | 无锡弗沃德科技有限公司 | Tangential locking type manual quick-change connector and using method |
| CN215747343U (en) * | 2021-07-23 | 2022-02-08 | 武汉欣洋光精密冲压件有限公司 | Welding head quick-change structure and welding robot |
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| CN102119872A (en) * | 2011-01-10 | 2011-07-13 | 天津大学 | Compact quick-change mechanism of robot for minimally invasive surgery |
| CN106308940A (en) * | 2016-09-12 | 2017-01-11 | 苏州大学 | Rapid replacing mechanism for orthopedic surgery assisting robot end tool and rapid replacing method |
| CN113693646A (en) * | 2021-10-28 | 2021-11-26 | 极限人工智能(北京)有限公司 | Control handle, instrument and minimally invasive surgery robot |
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