CN116533218B - Quick-dismantling device and robot - Google Patents
Quick-dismantling device and robot Download PDFInfo
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- CN116533218B CN116533218B CN202310594744.XA CN202310594744A CN116533218B CN 116533218 B CN116533218 B CN 116533218B CN 202310594744 A CN202310594744 A CN 202310594744A CN 116533218 B CN116533218 B CN 116533218B
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- 230000002093 peripheral effect Effects 0.000 claims description 17
- 230000013011 mating Effects 0.000 claims description 9
- 210000005069 ears Anatomy 0.000 claims description 8
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 description 9
- 230000008569 process Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000014509 gene expression Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
Abstract
The application provides a quick-dismantling device and a robot, wherein the quick-dismantling device comprises: the main frame is formed into a columnar structure, an installation channel is arranged in the main frame, and a plurality of limit holes extending along the radial direction of the main frame are formed in the inner wall surface of the main frame; the limiting parts are respectively movably arranged in the corresponding limiting holes between a locking state and an unlocking state; the quick-release piece is detachably arranged in the mounting channel, a corresponding limit groove is formed in the outer surface of the quick-release piece, the limit piece stretches into the limit groove to fix the quick-release piece when the limit piece is in a locking state, and the limit piece is separated from the limit groove when the limit piece is in an unlocking state, so that the quick-release piece can be detached; the driving assembly is arranged on the main frame, and is matched with the limiting piece to adjust the position of the limiting piece, and the limiting piece can move between a locking state and an unlocking state under the condition that the driving assembly is in a first state; when the driving component is in the second state, the driving component abuts against the limiting piece and enables the limiting piece to be fixed in the locking state.
Description
Technical Field
The application relates to the technical field of robots, in particular to a quick-dismantling device and a robot with the same.
Background
The robot can perform different tasks by installing different actuators at the end of its own robot arm. In order to improve the efficiency of the manipulator end switching actuator, a quick-release device can be arranged between the manipulator and the actuator to realize quick switching of the actuator. However, the conventional quick release device has large overall size, complex structure and insufficient locking reliability.
Disclosure of Invention
The application aims to provide a novel technical scheme of a quick release device, which at least can solve one of the problems of large size, complex structure and insufficient locking reliability of the quick release device in the prior art.
It is still another object of the present application to provide a robot including the above quick release device.
According to a first aspect of the present application, there is provided a quick release device comprising: the main frame is formed into a columnar structure, a mounting channel extending along a first direction is arranged in the main frame, and a plurality of limiting holes extending along the radial direction are formed in the inner wall surface of the main frame; the limiting parts are respectively movably arranged in the corresponding limiting holes between a locking state and an unlocking state; the quick-release piece is detachably arranged in the mounting channel, a limiting groove corresponding to the position of the limiting piece is formed in the outer surface of the quick-release piece, the limiting piece stretches into the limiting groove to fix the quick-release piece when the limiting piece is in the locking state, and the limiting piece is separated from the limiting groove when the limiting piece is in the unlocking state, and the quick-release piece is detachable; the driving assembly is arranged on the main frame in a switchable manner between a first state and a second state, and is matched with the limiting piece to adjust the position of the limiting piece, wherein the limiting piece is movable between the locking state and the unlocking state under the condition that the driving assembly is in the first state; when the driving assembly is in the second state, the driving assembly abuts against the limiting piece and enables the limiting piece to be fixed in the locking state.
Optionally, the driving assembly includes: the support column is arranged on the rod body extending along the first direction and movably arranged on the main frame along the first direction, and one end, close to the quick-dismantling piece, of the support column is matched with the limiting piece to drive the limiting piece; the pushing plate is movably arranged on the main frame along the first direction and is connected with one end of the support column far away from the quick-release piece; the driving piece is arranged on the main frame, the driving piece is movable between the first state and the second state, and the push plate is movable along the first direction under the condition that the driving piece is positioned in the first state; the driving member abuts and secures the push plate with the driving member in the second state.
Optionally, the one end that the main frame kept away from the quick-release spare is equipped with along the fretwork district that the first direction extends, the fretwork district is followed the radial run through of main frame the main frame, the push pedal includes: a main body portion movably provided in the mounting passage in the first direction, the driving member abutting against the main body portion in a case where the driving member is in the second state; the first end of the extension part is connected with the main body part, the second end of the extension part extends out of the main frame through the hollowed-out area and is connected with the second end of the support column, and the extension part is movable along the hollowed-out area.
Optionally, the quick release device further includes: the inner support is arranged on one side, close to the quick-release piece, of the push plate, the inner support comprises a mounting part and an ear part, the mounting part is contained in the mounting channel and fixedly connected with the main frame, the first end of the ear part is connected with the mounting part, the second end of the ear part extends out of the main frame through the hollowed-out area, the second end of the ear part is provided with a guide hole penetrating along the first direction, and the support column penetrates through the guide hole. Alternatively, the process may be carried out in a single-stage,
Optionally, the support column the fretwork district the extension with the quantity of ear is a plurality of respectively, a plurality of the support column, a plurality of the fretwork district, a plurality of the extension with a plurality of the ear one-to-one, a plurality of the support column is followed the circumference of main frame is spaced apart to be located the periphery side of main frame.
Optionally, the driving assembly further comprises: the elastic piece is connected between the main frame and the push plate, the elastic piece is telescopic in the first direction, when the limiting piece is in the unlocking state, the push plate is close to the quick-release piece, and when the limiting piece is in the locking state, the push plate is far away from the quick-release piece.
Optionally, the elastic element is a spring, the elastic element is sleeved on the supporting column, one end of the elastic element is connected with the push plate, and the other end of the elastic element is connected with the main frame.
Optionally, the locating part is the ball, the first end of support column is equipped with the locking frame, the locking frame cover is established the periphery side of main frame, just the locking frame with the support column synchronous activity, the locking frame have with the mating surface of locating part butt, the mating surface for the first direction slope sets up.
Optionally, the inclination angle of the mating surface relative to the first direction is 20 ° to 70 °.
Optionally, the main frame is close to be equipped with spacing portion on the outer peripheral face of the one end of quick-release spare, spacing portion is followed the radial outside extension of main frame, spacing portion is located the locking frame is kept away from one side of push pedal, when the locating part is in the unblock state, spacing portion with the locking frame butt is in order to be right the locking frame is spacing, when the locating part is in the locking state, spacing portion with the locking frame is in first direction spaced apart.
Optionally, the driving member includes: the screw rod is coaxially arranged with the main frame; the locking piece is in threaded connection with the screw rod and is positioned at one side of the push plate close to the quick-release piece; the driving motor is arranged on the main frame and connected with the screw rod, and is used for driving the screw rod to rotate around the axis of the screw rod so as to drive the locking piece to move along the first direction, the locking piece is spaced from the push plate in the first direction under the condition that the driving piece is in the first state, and the locking piece is abutted to the push plate under the condition that the driving piece is in the second state.
Optionally, a side of the push plate facing the quick-release member is provided with a mounting groove adapted to the locking member, the locking member is arranged in the mounting groove, and in the first direction, the depth of the mounting groove is greater than the thickness of the locking member.
Optionally, the quick release device further includes: and the position detection unit is arranged on the main frame, and corresponds to the push plate so as to detect the position of the push plate.
Optionally, the quick release device further includes: and the electric connecting piece is connected with the main frame and positioned in the mounting channel and is used for connecting electric components to be connected.
Optionally, the number of the limiting parts is 4n, and n is an integer greater than zero.
According to a second aspect of the present application, a robot is provided, comprising a quick release device as described in any of the embodiments above.
According to the quick-dismantling device, the quick-dismantling piece is switched between the locking state and the unlocking state, so that the quick-dismantling piece and the main frame can be quickly dismantled. Utilize drive assembly to switch between first state and second state to and the cooperation between drive assembly and the locating part, can fix the locating part when the locating part is in the locked state, locking locating part is not hard up in order to prevent the locating part, thereby improves reliability and the firm degree of being connected between quick detach piece and the main frame. In addition, the quick release device can insert and pull the quick release piece along the first direction so as to realize the disassembly and assembly of the quick release piece, the quick release piece does not need to be rotated, and the actuator and the mechanical arm can be conveniently and electrically connected through structures such as connectors.
Other features of the present application and its advantages will become apparent from the following detailed description of exemplary embodiments of the application, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
FIG. 1 is a perspective view of a quick release device according to one embodiment of the present application with a quick release member and a mount separated;
FIG. 2 is a perspective view of a fixed structure of a quick release device according to one embodiment of the present application;
FIG. 3 is an exploded view of a securing structure of a quick release device according to one embodiment of the present application;
fig. 4 is a front view of a fixing structure of the quick release device according to one embodiment of the present application;
FIG. 5 is a bottom view of a securing structure of a quick release device according to one embodiment of the present application;
Fig. 6 is a cross-sectional view taken along line A-A of fig. 5.
Reference numerals
A quick release device 100;
A main frame 10; a mounting channel 11; a positioning member 111; a limiting hole 12; a hollow area 13; a limit part 14; a frame fixing member 15;
A stopper 20;
a quick release 30; a limit groove 31; a positioning groove 32;
support columns 41; a pusher plate 42; a main body 421; an extension 422; a mounting groove 423; a driving member 43; a screw 431; a locking member 432; a driving motor 433; an elastic member 44; a locking frame 45; a mating surface 451;
An inner bracket 50; a mounting portion 51; an ear 52; a guide hole 521;
A position detecting unit 60;
an electrical connection 70.
Detailed Description
Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present application unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the application, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
The quick release device 100 according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, a quick release device 100 according to an embodiment of the present application includes: the device comprises a main frame 10, a plurality of limiting pieces 20, a quick-release piece 30 and a driving assembly.
Specifically, the main frame 10 is formed in a columnar structure, a mounting passage 11 extending in the first direction is provided in the main frame 10, and a plurality of stopper holes 12 extending in the radial direction are provided in the inner wall surface of the main frame 10. Each of the stoppers 20 is movably provided in the corresponding stopper hole 12 between the locked state and the unlocked state, respectively. The quick release member 30 is detachably arranged in the mounting channel 11, the outer surface of the quick release member 30 is provided with a limit groove 31 corresponding to the position of the limit member 20, the limit member 20 stretches into the limit groove 31 to fix the quick release member 30 under the condition that the limit member 20 is in a locking state, the limit member 20 is separated from the limit groove 31 under the condition that the limit member 20 is in an unlocking state, and the quick release member 30 is detachable. The driving assembly is switchably arranged on the main frame 10 between a first state and a second state, and cooperates with the limiting member 20 to adjust the position of the limiting member 20. With the drive assembly in the first state, the limiter 20 is movable between a locked state and an unlocked state. In the case where the driving assembly is in the second state, the driving assembly abuts against the stopper 20 and fixes the stopper 20 in the locked state.
In other words, the quick release device 100 according to the embodiment of the present application is mainly composed of the main frame 10, the plurality of stoppers 20, the quick release 30, and the driving assembly. Wherein, the main frame 10, the plurality of limiting members 20 and the driving assembly may constitute a fixed structure, and the quick release member 30 is detachably connected with the fixed structure. For example, the quick release device 100 of the present embodiment may be installed in a robot, the fixing structure may be fixed at the end of a mechanical arm of the robot, the quick release member 30 may be fixed on an actuator, and the quick release member 30 and the fixing structure may be detachably connected, so that the quick release of the actuator and the mechanical arm may be realized.
Specifically, the main frame 10 may be a column member, and a mounting passage 11 may be provided inside the main frame 10, and the mounting passage 11 may extend in the first direction. The main frame 10 may also extend in the first direction.
Alternatively, the mounting passage 11 may penetrate the main frame 10, openings may be formed at both ends of the main frame 10, one end opening of the main frame 10 may be used to connect the quick release 30, and the other end opening of the main frame 10 may be provided with the frame fixing 15. The frame fixing members 15 may close the corresponding openings, and the frame fixing members 15 and the main frame 10 may be fixedly connected to constitute a load bearing structure for carrying the quick release member 30 and the actuator connected to the quick release member 30.
The inner wall surface of the main frame 10 is further provided with a plurality of limiting holes 12, and the limiting holes 12 can extend along the radial direction of the mounting channel 11 and are communicated with the mounting channel 11. Each of the limiting holes 12 may be provided with a limiting member 20, and each of the limiting members 20 may be switched between a locked state and an unlocked state.
The quick release 30 is detachably connected to the main frame 10, and a portion of the quick release 30 may extend into the mounting channel 11 when the quick release 30 is connected to the main frame 10. The outer surface of the quick release member 30 may be provided with a limiting groove 31, and the limiting groove 31 may correspond to the position of the limiting member 20, that is, the limiting groove 31 corresponds to the position of the limiting hole 12.
Alternatively, the quick release 30 may be a hollow cylindrical member, and the quick release 30 may be shaped and sized to fit the channel 11 to facilitate connection of the quick release 30 to the main frame 10.
When the stoppers 20 are in the locked state, a portion of each stopper 20 may extend into the receiving cavity through the stopper hole 12. At this time, if the limiting groove 31 of the quick release 30 is opposite to the limiting hole 12, the limiting member 20 may extend into the limiting groove 31 to limit the movement of the quick release 30 in the first direction, thereby fixing the quick release 30.
When the stoppers 20 are in the unlocked state, each stopper 20 may be positioned outside the receiving chamber such that the stoppers 20 are disengaged from the stopper grooves 31. At this time, the quick release 30 may be movable in the first direction within the mounting channel 11, so that the quick release 30 may be removed from the main frame 10.
The main frame 10 is further provided with a driving assembly which can be switched between a first state and a second state. The drive assembly may cooperate with the stop 20 to adjust the position of the stop 20.
When the driving assembly is in the first state, the limiting member 20 can move between the locking state and the unlocking state, so that the quick-release member 30 can be conveniently assembled and disassembled with the main frame 10.
When the driving assembly is in the second state, the driving assembly can be abutted against the limiting piece 20, and the driving assembly can fix the limiting piece 20 in the limiting state, so that the limiting piece 20 is locked, and the locking reliability and the locking firmness are improved.
Thus, according to the quick release device 100 of the embodiment of the present application, the quick release 30 can be quickly detached from the main frame 10 by switching the quick release 30 between the locked state and the unlocked state. By utilizing the switching of the driving assembly between the first state and the second state and the cooperation between the driving assembly and the limiting piece 20, the limiting piece 20 can be fixed when the limiting piece 20 is in the locking state, and the limiting piece 20 is locked to prevent the loosening of the limiting piece 20, so that the reliability and the firmness of the connection between the quick-release piece 30 and the main frame 10 are improved.
In addition, the quick release device 100 of the present embodiment can insert and pull the quick release member 30 along the first direction to realize the disassembly and assembly of the quick release member 30, without rotating the quick release member 30, and can facilitate electrical connection between the actuator and the mechanical arm through connectors and other structures.
The following describes in detail the disassembly and assembly process of the quick-disassembly assembly of the present embodiment.
During installation, the drive assembly may first be placed in a first state, the quick release 30 is then aligned with the mounting channel 11, and the quick release 30 is then inserted into the mounting channel 11 in a first direction while the limiter 20 is moved from the locked state to the unlocked state. When the limiting groove 31 on the quick release member 30 is opposite to the limiting hole 12 in the mounting channel 11, the limiting member 20 can move from the unlocking state to the locking state, so that the limiting member 20 can extend into the limiting groove 31. Finally, the driving assembly can be moved to the second state to fix the limiting member 20 in the limiting state, so as to complete the installation of the quick release member 30.
In the disassembly process, the driving assembly can be moved from the second state to the first state, the fixing of the driving assembly to the limiting piece 20 is released, and then the limiting piece 20 is switched from the locking state to the unlocking state. The quick release 30 may then be pulled out of the mounting channel 11 in a first direction such that the quick release 30 is separated from the main frame 10, completing the removal of the quick release 30.
According to one embodiment of the application, the drive assembly comprises: support column 41, push plate 42 and driver 43.
The supporting column 41 is formed as a rod extending along a first direction, and is movably disposed on the main frame 10 along the first direction, and one end of the supporting column 41 near the quick release member 30 is matched with the limiting member 20 to drive the limiting member 20. The push plate 42 is movably provided to the main frame 10 in the first direction, and the push plate 42 is connected to the other end of the support column 41 remote from the quick release 30. The driving member 43 is provided to the main frame 10, and the driving member 43 is movable between a first state and a second state. The driving piece 43 is separated from the push plate 42 in the first state, and the push plate 42 is movable in the first direction, and the driving piece 43 abuts and fixes the push plate 42 in the second state.
Specifically, the support column 41 may have a rod shape, and the support column 41 may extend in the first direction. The support column 41 is connected to the main frame 10, and the support column 41 is movable in a first direction. The connection between the support column 41 and the main frame 10 may be a direct connection or an indirect connection, and is not limited herein.
In the first direction, a first end of the support column 41 is proximal to the quick release 30 and a second end of the support column 41 is distal to the quick release 30. The first end of the support column 41 may cooperate with the stopper 20, and the stopper 20 may be driven to move between the locked state and the unlocked state by the movement of the support column 41 itself. A second end of the support column 41 may be coupled to a push plate 42.
The push plate 42 is movable in a first direction. The push plate 42 and the support column 41 may be fixedly connected, so that the push plate 42 and the support column 41 move synchronously.
The driving piece 43 is mounted on the main frame 10, and the position of the driving piece 43 may correspond to the push plate 42. The driving member 43 is movable between a first state and a second state.
When the driving member 43 is in the second state, the driving member 43 may abut against the push plate 42 to fix the push plate 42, and since the support column 41 and the push plate 42 move synchronously, the support column 41 is fixed after the push plate 42 is fixed. When the limiting piece 20 is in the locking state, the driving piece 43 can be controlled by the through hole, so that the driving piece 43 is in the second state, and the limiting piece 20 is locked in the locking state through the push plate 42 and the supporting column 41, so that the releasing of the limiting piece 20 is avoided, and the reliability of connection between the quick release piece 30 and the main frame 10 is improved.
When the driving member 43 is in the first state, the driving member 43 can release the fixing of the push plate 42, and the push plate 42 and the support column 41 can move along the first direction under the action of external force, so that the limiting member 20 moves between the locking state and the unlocking state.
In some alternative embodiments, the driving member 43 may be an electromagnet push rod, a pneumatic push rod, a hydraulic push rod, an electromagnetic attraction push rod, or the like, having a telescopic structure, where the driving member 43 may have a telescopic end that is movable in a first direction, so that the driving member 43 is switched between a first state and a second state.
According to other embodiments of the present application, the end of the main frame 10 away from the quick release 30 is provided with a hollowed-out area 13 extending along the first direction, the hollowed-out area 13 penetrates the main frame 10 along the radial direction of the main frame 10, and the push plate 42 includes a main body 421 and an extension 422.
The main body 421 is movably disposed in the mounting channel 11 along the first direction, and the driving member 43 abuts against the main body 421 when the driving member 43 is in the second state. The first end of the extension portion 422 is connected with the main body 421, the second end of the extension portion 422 extends out of the main frame 10 through the hollowed-out area 13, and is connected with the second end of the support column 41, and the extension portion 422 is movable along the hollowed-out area 13.
Specifically, a first end of the main frame 10 is for connection with the quick release 30, and a second end of the main frame 10 may be connected with the frame fixture 15. The second end of the main frame 10 may be provided with a hollowed-out area 13, and the hollowed-out area 13 may extend along the first direction. In the first direction, one end of the hollowed-out area 13 penetrates through the second end of the main frame 10, and the other end of the hollowed-out area 13 is located at one side of the limiting hole 12 away from the quick-release member 30. In addition, the hollowed-out area 13 may penetrate the main frame 10 in the radial direction of the main frame 10, that is, in the radial direction of the installation channel 11.
The push plate 42 may be mainly composed of a body portion 421 and an extension portion 422, wherein the body portion 421 may be disposed in the mounting passage 11 and may be movable in the extension direction of the mounting passage 11. The body 421 may be disposed opposite the driver 43, and when the driver 43 is in the second state, the driver 43 may abut against the body 421 to limit movement of the body 421 in the first direction.
The extension 422 may be disposed at an edge of the body 421, and the extension 422 may extend outwardly through the hollowed out area 13. One end of the extension portion 422 may be connected to the body portion 421, and a second end of the extension portion 422 may protrude out of the hollowed-out portion 13 such that the second end of the extension portion 422 is located at the outer circumferential side of the main frame 10. When the main body 421 moves along the first direction, the extension 422 can slide along the hollowed-out area 13.
The support column 41 may be provided at the outer circumferential side of the main frame 10, and a second end of the support column 41 may be fixedly coupled with a second end of the extension 422 such that the support column 41 moves in synchronization with the push plate 42.
In this embodiment, by disposing the hollow area 13 on the main frame 10, the main body 421 of the push plate 42 is disposed in the mounting channel 11, and the extension 422 of the push plate 42 extends out of the main frame 10 through the hollow area 13, the overall size of the quick release device 100 can be reduced, and the number of parts of the quick release device 100 is reduced, which is beneficial to the miniaturization of the quick release device 100.
In some embodiments of the present application, the quick release device 100 further includes an inner bracket 50, the inner bracket 50 being disposed on a side of the push plate 42 adjacent to the quick release 30, the inner bracket 50 including a mounting portion 51 and an ear 52. The mounting portion 51 is accommodated in the mounting passage 11 and fixedly connected with the main frame 10. The first end of the ear 52 is connected to the mounting portion 51, the second end of the ear 52 protrudes out of the main frame 10 through the hollowed-out portion 13, the second end of the ear 52 has a guide hole 521 penetrating in the first direction, and the support column 41 passes through the guide hole 521.
Specifically, the main frame 10 may have an inner bracket 50 fixedly mounted thereon, and the inner bracket 50 may be located at a side of the push plate 42 facing the quick release 30. The inner bracket 50 may be mainly composed of a mounting portion 51 and an ear portion 52.
Wherein, the mounting portion 51 may be fixedly connected with the main frame 10, and the mounting portion 51 may be located in the mounting passage 11. Alternatively, the mounting portion 51 may be a ring-shaped member, and the mounting portion 51 may be fixedly connected with the inner wall surface of the mounting passage 11.
The ear portion 52 may be attached to an edge of the mounting portion 51, and when the mounting portion 51 is a ring-shaped member, the ear portion 52 may be attached to an outer peripheral surface of the mounting portion 51. The ears 52 may extend outwardly through the hollowed out area 13. The first end of the ear 52 may be fixedly connected to the mounting portion 51, and the second end of the ear 52 may extend out of the hollow area 13, such that the second end of the ear 52 is located on the outer peripheral side of the main frame 10.
In addition, the position of the ears 52 and the position of the extensions 422 may correspond. The second end of the ear 52 may have a guide hole 521, and the guide hole 521 may extend through the ear 52 in the first direction. The support column 41 may pass through the guide hole 521.
Because of the fixed connection between the inner bracket 50 and the main frame 10, the support column 41 can slide along the guide hole 521 when the push plate 42 and the support column 41 move in the first direction.
In this embodiment, since the support column 41 is an elongated rod, the ear 52 on the inner bracket 50 can be used to support the support column 41, so as to improve the stability and reliability of the support column 41. The provision of the guide holes 521 in the ears 52 facilitates guiding the support post 41 in the direction of extension of the guide holes 521, i.e. the first direction.
According to some alternative embodiments of the present application, the number of the support columns 41, the hollow-out areas 13, the extending portions 422 and the ears 52 is plural, and the plurality of support columns 41, the plurality of hollow-out areas 13, the plurality of extending portions 422 and the plurality of ears 52 are in one-to-one correspondence, and the plurality of support columns 41 are spaced apart from the outer peripheral side of the main frame 10 along the circumferential direction of the main frame 10.
In other words, the quick release device 100 of the present embodiment may include a plurality of support columns 41, a plurality of hollow areas 13, a plurality of extension portions 422, and a plurality of ears 52, and each support column 41 may correspond to one hollow area 13, one extension portion 422, and one ear 52.
The plurality of support columns 41 may be circumferentially around the outer peripheral side of the main frame 10 and spaced apart in the circumferential direction of the main frame 10. By providing a plurality of support columns 41 on the outer peripheral side of the main frame 10 to control the stopper 20, it is advantageous to improve the reliability of the cooperation of the support columns 41 with the stopper 20.
Alternatively, the plurality of support columns 41 may be uniformly distributed on the outer peripheral side of the main frame 10, and the distance between any adjacent two support columns 41 may be equal to further improve the reliability of the fit between the support columns 41 and the stopper 20.
In some embodiments, the number of the support columns 41, the hollowed-out area 13, the extension portions 422 and the ear portions 52 may be eight, and the eight support columns 41 may be distributed symmetrically in the center on the outer peripheral side of the main frame 10.
According to other embodiments of the present application, the driving assembly further includes an elastic member 44, wherein the elastic member 44 is connected between the main frame 10 and the push plate 42, and the elastic member 44 is retractable in the first direction, and the push plate 42 is close to the quick release member 30 when the stopper 20 is in the unlocked state, and the push plate 42 is far away from the quick release member 30 when the stopper 20 is in the locked state.
An elastic member 44 may be connected between the main frame 10 and the push plate 42, the elastic member 44 being stretchable in the first direction. The connection between the elastic member 44 and the main frame 10 may be a direct connection or an indirect connection, and is not limited herein.
When the stop 20 is in the unlocked state, the resilient member 44 can have a first length in a first direction when the push plate 42 is adjacent to the quick release 30. The resilient member 44 can have a second length in the first direction when the stop member 20 is in the locked condition, with the push plate 42 being away from the quick release 30. The first length may be less than the second length.
When the elastic member 44 is not subjected to an external force, the push plate 42 may be located away from the quick release member 30 under the action of the elastic member 44, i.e., the stopper 20 may be in a locked state.
During the process of installing the quick release member 30, when the quick release member 30 is inserted into the installation channel 11 along the first direction, the quick release member 30 may jack the limiting member 20, so that the limiting member 20 moves to the unlocking position against the elastic force of the elastic member 44, and the push plate 42 approaches the quick release member 30. When the limiting groove 31 on the quick release member 30 is opposite to the limiting hole 12, the push plate 42 is far away from the quick release member 30 under the elastic force of the elastic member 44, so that the support column 41 drives the limiting member 20 to move to the locking position.
In the present embodiment, by connecting the elastic member 44 between the main frame 10 and the push plate 42, the quick release member 30 can be quickly locked and unlocked by the elastic force of the elastic member 44, thereby improving the convenience and efficiency of the connection of the quick release member 30 with the main frame 10.
In some embodiments of the present application, the elastic member 44 is a spring, the elastic member 44 is sleeved on the supporting column 41, one end of the elastic member 44 is connected to the push plate 42, and the other end of the elastic member 44 is connected to the main frame 10.
Specifically, the elastic member 44 may be sleeved on the support column 41 and located between the extension 422 of the push plate 42 and the ear 52 of the inner bracket 50. The elastic member 44 may be indirectly connected to the main frame 10, for example, an end of the elastic member 44 away from the quick release member 30 may be connected to the extension 422, and an end of the elastic member 44 near the quick release member 30 may be connected to the ear 52.
The connection between the elastic member 44 and the push plate 42 and the connection between the elastic member 44 and the main frame 10 may be fixed connection or may be abutting connection, and are not limited herein.
When the push plate 42 is moved in the first direction, the elastic member 44 may be stretched along the support column 41 to provide a proper elastic force, so that the push plate 42 and the support column 41 are conveniently engaged with the stopper 20.
When the number of the support columns 41 is plural, the number of the elastic members 44 may be one or plural, and one or more of the plurality of support columns 41 may be fitted with the elastic members 44. Providing a plurality of resilient members 44 may enhance the smoothness of movement of the limiter 20 between the locked and unlocked conditions.
According to some alternative embodiments of the present application, the first end of the support column 41 is provided with a locking frame 45, the limiting member 20 is a ball, the locking frame 45 is sleeved on the outer peripheral side of the main frame 10, and the locking frame 45 and the support column 41 synchronously move, the locking frame 45 has a mating surface 451 mated with the limiting member 20, and the mating surface 451 is obliquely arranged relative to the first direction.
Specifically, the locking frame 45 may be fixedly coupled to the first end of the support column 41 and movable in synchronization with the support column 41. The locking frame 45 may be a ring member, and the locking frame 45 is sleeved on the outer circumferential side of the main frame 10 and moves in the first direction.
The locking frame 45 is disposed corresponding to the stopper 20, and a portion of an inner wall surface of the locking frame 45 may be formed as an engagement surface 451, and the engagement surface 451 may face the stopper 20. In addition, the engagement surface 451 may be inclined with respect to the first direction, and the inclined engagement surface 451 may form a horn-shaped open structure at the inner peripheral side of the lock bracket 45.
The stopper 20 may be a ball, the outer surface of which may be a smooth spherical surface, and the outer surface of which may abut the mating surface 451. The balls may be provided at the outer peripheral side of the main frame 10, and the diameter of the balls may be larger than the aperture of the limiting hole 12.
In the process of disassembling the quick release member 30, the quick release member 30 can overcome the elastic force of the elastic member 44 to push the limiting member 20, and the locking frame 45 is driven to move toward the direction close to the first end of the main frame 10 by the limiting member 20, so that the supporting column 41 also pushes the plate 42 to move to compress the elastic member 44.
When the quick release member 30 is removed or the limit groove 31 of the quick release member 30 is opposite to the limit hole 12, the elastic member 44 pushes the push plate 42 to move away from the first end of the main frame 10 under the use of its own elastic force, so that the locking frame 45 moves away from the first end of the main frame 10, and a part of the driving limit member 20 extends into the installation channel 11 through the limit hole 12.
According to other embodiments of the present application, the inclination angle of the engaging surface 451 with respect to the first direction is 20 ° to 70 °, so as to improve the reliability and stability of the engagement of the engaging surface 451 with the limiting member 20. For example, the inclination angle between the mating surface 451 and the first direction may be 20 °, 30 °, 46 °, 55 °, 70 °.
In some embodiments of the present application, the outer peripheral surface of the end of the main frame 10 near the quick release member 30 is provided with a limiting portion 14, the limiting portion 14 extends outwards along the radial direction of the main frame 10, the limiting portion 14 is located on one side of the locking frame 45 away from the push plate 42, when the limiting member 20 is in the unlocked state, the limiting portion 14 abuts against the locking frame 45 to limit the locking frame 45, and when the limiting member 20 is in the locked state, the limiting portion 14 is spaced from the locking frame 45 in the first direction.
Specifically, a limiting portion 14 may be provided on an outer circumferential surface of the first end of the main frame 10, and the limiting portion 14 may protrude outward from the outer circumferential surface of the main frame 10 in a radial direction of the main frame 10. The locking frame 45 may be located at a side of the stopper 14 toward the second end of the main frame 10.
When the limiting member 20 is in the unlocked state, a side surface of the limiting portion 14 facing the second end of the main frame 10 may abut against the locking frame 45, so as to prevent the locking frame 45 from continuing to move, thereby limiting the locking frame 45 and preventing the locking frame 45 from falling off from the main frame 10.
The stopper 14 may be spaced apart from the locking frame 45 in the first direction when the stopper 20 is in the locked state. Alternatively, a surface of the lock facing the stopper 14 may form an abutment surface, and the abutment surface may be spaced apart from a side surface of the stopper 14 facing the second end of the main frame 10 in the first direction when the stopper 20 is in the locked state.
Alternatively, the stopper 14 may be formed as an annular protrusion, a portion of the locking frame 45 may be sleeved on the outer peripheral side of the annular protrusion, and a further portion of the locking frame 45 may be sleeved on the outer peripheral side of the main frame 10.
According to some alternative embodiments of the present application, the driving member 43 includes: a screw 431, a locking piece 432 and a driving motor 433. Wherein the screw 431 is coaxially disposed with the main frame 10. The locking member 432 is screwed with the screw 431 and is located on one side of the push plate 42 near the quick release member 30. The driving motor 433 is disposed on the main frame 10 and connected to the screw 431, and is configured to drive the screw 431 to rotate about its own axis, so as to drive the locking member 432 to move along a first direction, where the locking member 432 is spaced apart from the push plate 42 in the first direction when the driving member 43 is in the first state, and where the locking member 432 is abutted against the push plate 42 when the driving member 43 is in the second state.
The driving member 43 in the present embodiment may be mainly composed of a screw 431, a locking member 432, and a driving motor 433. Wherein, the driving motor 433 may be fixedly installed on the main frame 10, the driving motor 433 may be connected with the screw 431, and alternatively, the driving motor 433 and the screw 431 may constitute a screw speed reduction motor.
The screw 431 may extend in the first direction. The screw 431 is rotatable around its own axis by the driving motor 433.
The locking member 432 may be disposed opposite the push plate 42, for example, the locking member 432 may be opposite the body portion 421 of the push plate 42. The locking member 432 may be screwed with the screw 431, and during rotation of the screw 431, the locking member 432 may move along an extending direction of the screw 431 to approach or separate from the main body 421.
When the driving member 43 is in the first state, the locking member 432 and the push plate 42 may be spaced apart to form a moving gap, and the moving gap provides a moving space for the push plate 42 to move in the first direction, so that the push plate 42 is matched with the elastic member 44, and the quick-dismantling member 30 is quickly dismantled by the elastic force of the elastic member 44.
When the driving member 43 is in the second state, the locking member 432 may abut against the push plate 42 to restrict the push plate 42 from moving toward the first end of the main frame 10, thereby fixing the push plate 42, the support column 41 and the stopper 20. The locking member 432 can provide a stronger locking force when the stopper 20 is in the locked state, so as to improve the firmness of the connection between the quick release member 30 and the main frame 10.
In this embodiment, the elastic member 44 may generate a weak locking force, and the locking member 432 may provide a strong locking force. The quick unlocking and locking of the light load can be realized through the elastic piece 44, the electric unlocking and locking of the heavy load can be realized through the screw rod 431 and the locking piece 432 driven by the driving motor 433, the convenience of quick assembly and disassembly and the reliability of stable connection are both considered, the device is suitable for loads with different weights, and the device can be flexibly used according to requirements.
According to other embodiments of the present application, the side of the push plate 42 facing the quick release 30 has a mounting groove 423 adapted to the locking piece 432, the locking piece 432 being provided in the mounting groove 423, and the depth of the mounting groove 423 being greater than the thickness of the locking piece 432 in the first direction.
Specifically, a side of the push plate 42 facing the first end of the main frame 10 may be provided with a mounting groove 423, the mounting groove 423 may correspond to the position of the locking piece 432, and the mounting groove 423 may be adapted to the locking piece 432. Alternatively, the axis of the screw 431 may coincide with the axis of the mounting passage 11 and the axis of the main frame 10, and the mounting groove 423 may be provided at the center position of the body portion 421 of the push plate 42.
The locking member 432 may be received in the mounting groove 423 and may be movable in a first direction within the recess of the mounting groove 423.
The depth of the mounting groove 423 may be greater than the thickness of the locking piece 432 in the first direction such that movement of the locking piece 432 in the first direction is performed within the mounting groove 423.
Since the mounting groove 423 is fitted with the locking piece 432, the mounting groove 423 may allow the locking piece 432 to rotate with respect to the screw 431 when the screw 431 rotates, thereby allowing the locking piece 432 to move in the first direction.
In some embodiments, the locking member 432 may be a screw nut, the shape of the mounting groove 423 may be adapted to the shape of the screw nut, and the caliber of the mounting groove 423 may be the same as the caliber of the screw nut.
The locking piece 432 may be spaced apart from the bottom surface of the mounting groove 423 when the driving piece 43 is in the first state, and the locking piece 432 may abut against the bottom surface of the mounting groove 423 when the driving piece 43 is in the second state.
In some embodiments of the present application, the quick release device 100 further includes a position detecting unit 60, at least a portion of the position detecting unit 60 is disposed on the main frame 10, and the position detecting unit 60 corresponds to the push plate 42 to detect the position of the push plate 42.
By providing the position detecting unit 60, the position of the push plate 42 can be detected in real time, thereby controlling the movement of the driving member 43 according to the position of the push plate 42.
Alternatively, the position detecting unit 60 may include a linear slide rheostat, the main body 421 of the linear slide rheostat may be disposed on the main frame 10, the sliding head of the linear slide rheostat may be disposed on the push plate 42, and the resistance value of the linear slide rheostat may be correspondingly changed during the movement of the push plate 42, so that the current position of the push plate 42 may be obtained according to the change of the resistance value.
In other embodiments, the position detection unit 60 may also be a hall sensor, an infrared sensor, or the like for detecting the position of the push plate 42.
According to some alternative embodiments of the present application, the quick release device 100 further includes an electrical connector 70, wherein the electrical connector 70 is connected to the main frame 10 and located in the mounting channel 11 for connecting to an electrical component to be connected.
Specifically, the main frame 10 may have the electrical connector 70 fixedly mounted thereon, and the electrical connector 70 may be located in the mounting channel 11, alternatively, the electrical connector 70 may be a connector.
The actuator connected to the quick release 30 may have an electrical component that mates with the electrical connector 70, which may be connected to the electrical connector 70 by plugging.
Since the quick release member 30 of the present embodiment is only movable in the first direction during the assembly and disassembly process, no rotation is required, and thus electrical communication between the actuator and the robot body can be conveniently achieved through the electrical connection member 70.
In some alternative embodiments, the positioning member 111 may be provided on the inner wall surface of the mounting channel 11, and the positioning member 111 may be located on the side of the limiting hole 12 near the quick release member 30. The positioning member 111 may be a protrusion extending in the first direction, and the outer circumferential surface of the quick release member 30 may be provided with a positioning groove 32, and the positioning groove 32 may extend in the first direction. During the installation of the quick release 30, the positioning member 111 may be extended into the positioning groove 32 to position the quick release 30 such that the quick release 30 extends into the installation channel 11 at a predetermined angle.
In addition, the positioning piece 111 can move along the positioning groove 32 to guide the quick-release piece 30 to move along the first direction, so as to prevent the quick-release piece 30 from rotating during the installation and the removal processes, and thus, the electric piece on the actuator can be conveniently inserted into the electric connection piece 70 in the installation channel 11.
According to other embodiments of the present application, the number of the limiting members 20 is 4n, where n is an integer greater than zero, so as to improve the reliability of locking the quick release member 30 by the limiting members 20 in the locked state.
The embodiment of the application also provides a robot comprising the quick release device 100 according to any of the embodiments described above.
The robot may further include a robot body and an actuator, wherein the robot body may be connected with a fixing structure of the quick release device 100, and the actuator may be connected with the quick release member 30. The quick release 30 is engaged with the main frame 10 to allow quick release 30.
Since the quick release device 100 according to the embodiment of the present application has the above-described technical effects, the robot according to the embodiment of the present application also has the corresponding technical effects of fixing the stopper 20 when the stopper 20 is in the locked state, and locking the stopper 20 to prevent the stopper 20 from loosening, thereby improving the reliability and firmness of the connection between the quick release member 30 and the main frame 10.
While certain specific embodiments of the application have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the application. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the application. The scope of the application is defined by the appended claims.
Claims (15)
1. A quick release device, comprising:
the main frame is formed into a columnar structure, a mounting channel extending along a first direction is arranged in the main frame, and a plurality of limiting holes extending along the radial direction are formed in the inner wall surface of the main frame;
The limiting parts are respectively movably arranged in the corresponding limiting holes between a locking state and an unlocking state;
The quick-release piece is detachably arranged in the mounting channel, a limiting groove corresponding to the position of the limiting piece is formed in the outer surface of the quick-release piece, the limiting piece stretches into the limiting groove to fix the quick-release piece when the limiting piece is in the locking state, and the limiting piece is separated from the limiting groove when the limiting piece is in the unlocking state, and the quick-release piece is detachable;
the driving component is arranged on the main frame in a switchable manner between a first state and a second state, is matched with the limiting piece to adjust the position of the limiting piece,
Wherein the limiter is movable between the locked and unlocked states with the drive assembly in the first state;
With the drive assembly in the second state, the drive assembly abuts the limiter and secures the limiter in the locked state,
The drive assembly includes:
the support columns are arranged on the rod body extending along the first direction and movably arranged on the main frame along the first direction, one end, close to the quick-dismantling piece, of each support column is matched with the limiting piece to drive the limiting piece, and the support columns are arranged on the outer peripheral side of the main frame at intervals along the circumferential direction of the main frame;
the pushing plate is movably arranged on the main frame along the first direction and is connected with one end of the support column far away from the quick-release piece;
the driving piece is arranged on the main frame and can move between the first state and the second state,
The push plate is movable along the first direction under the condition that the driving piece is in the first state;
The driving member abuts and secures the push plate with the driving member in the second state.
2. The quick release device of claim 1, wherein an end of the main frame remote from the quick release member is provided with a hollowed-out area extending along the first direction, the hollowed-out area extending through the main frame in a radial direction of the main frame, and the push plate comprises:
A main body portion movably provided in the mounting passage in the first direction, the driving member abutting against the main body portion in a case where the driving member is in the second state;
The first end of the extension part is connected with the main body part, the second end of the extension part extends out of the main frame through the hollowed-out area and is connected with the second end of the support column, and the extension part is movable along the hollowed-out area.
3. The quick release device of claim 2, further comprising:
The inner support is arranged on one side, close to the quick-release piece, of the push plate, the inner support comprises a mounting part and an ear part, the mounting part is contained in the mounting channel and fixedly connected with the main frame, the first end of the ear part is connected with the mounting part, the second end of the ear part extends out of the main frame through the hollowed-out area, the second end of the ear part is provided with a guide hole penetrating along the first direction, and the support column penetrates through the guide hole.
4. The quick release device of claim 3, wherein the number of support posts, hollowed-out areas, extending portions and ears is a plurality of, respectively, and the support posts, hollowed-out areas, extending portions and ears are in one-to-one correspondence.
5. The quick release device of claim 1, wherein the drive assembly further comprises:
The elastic piece is connected between the main frame and the push plate, the elastic piece is telescopic in the first direction, when the limiting piece is in the unlocking state, the push plate is close to the quick-release piece, and when the limiting piece is in the locking state, the push plate is far away from the quick-release piece.
6. The quick release device of claim 5, wherein the elastic member is a spring, the elastic member is sleeved on the support column, one end of the elastic member is connected with the push plate, and the other end of the elastic member is connected with the main frame.
7. The quick release device of claim 5, wherein the limiting member is a ball, the first end of the support column is provided with a locking frame, the locking frame is sleeved on the outer peripheral side of the main frame, the locking frame and the support column move synchronously, the locking frame is provided with a matching surface abutting against the limiting member, and the matching surface is obliquely arranged relative to the first direction.
8. The quick release device of claim 7, wherein the mating surface is inclined at an angle of 20 ° to 70 ° relative to the first direction.
9. The quick release device of claim 7, wherein a limiting portion is provided on an outer peripheral surface of the main frame near one end of the quick release member, the limiting portion extends radially outward of the main frame, the limiting portion is located on a side of the locking frame away from the push plate, the limiting portion abuts against the locking frame to limit the locking frame when the limiting member is in the unlocked state, and the limiting portion is spaced apart from the locking frame in the first direction when the limiting member is in the locked state.
10. The quick release device of claim 1, wherein the drive member comprises:
The screw rod is coaxially arranged with the main frame;
The locking piece is in threaded connection with the screw rod and is positioned at one side of the push plate close to the quick-release piece;
The driving motor is arranged on the main frame and connected with the screw rod, and is used for driving the screw rod to rotate around the axis of the screw rod so as to drive the locking piece to move along the first direction, the locking piece is spaced from the push plate in the first direction under the condition that the driving piece is in the first state, and the locking piece is abutted to the push plate under the condition that the driving piece is in the second state.
11. The quick release device of claim 10, wherein a side of the push plate facing the quick release member has a mounting groove adapted to the locking member, the locking member being disposed in the mounting groove, and wherein a depth of the mounting groove in the first direction is greater than a thickness of the locking member.
12. The quick release device of claim 1, further comprising:
and the position detection unit is arranged on the main frame, and corresponds to the push plate so as to detect the position of the push plate.
13. The quick release device of claim 1, further comprising:
and the electric connecting piece is connected with the main frame and positioned in the mounting channel and is used for connecting electric components to be connected.
14. The quick release device of claim 1, wherein the number of the limiting members is 4n, n being an integer greater than zero.
15. A robot, comprising:
a quick release device according to any one of claims 1 to 14.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310594744.XA CN116533218B (en) | 2023-05-24 | 2023-05-24 | Quick-dismantling device and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310594744.XA CN116533218B (en) | 2023-05-24 | 2023-05-24 | Quick-dismantling device and robot |
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| Publication Number | Publication Date |
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| CN116533218A CN116533218A (en) | 2023-08-04 |
| CN116533218B true CN116533218B (en) | 2024-05-03 |
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| CN202310594744.XA Active CN116533218B (en) | 2023-05-24 | 2023-05-24 | Quick-dismantling device and robot |
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