CN116968064A - Interface for quickly replacing end tool of robot - Google Patents
Interface for quickly replacing end tool of robot Download PDFInfo
- Publication number
- CN116968064A CN116968064A CN202310993867.0A CN202310993867A CN116968064A CN 116968064 A CN116968064 A CN 116968064A CN 202310993867 A CN202310993867 A CN 202310993867A CN 116968064 A CN116968064 A CN 116968064A
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- Prior art keywords
- butt joint
- side butt
- tool
- locking
- mechanical arm
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- 210000001503 joint Anatomy 0.000 claims abstract description 85
- 229910000831 Steel Inorganic materials 0.000 claims description 21
- 239000010959 steel Substances 0.000 claims description 21
- 238000003032 molecular docking Methods 0.000 claims description 12
- 238000001179 sorption measurement Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims 4
- 238000000034 method Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 2
- 241000408659 Darpa Species 0.000 description 1
- 241000233805 Phoenix Species 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
Classifications
-
- 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
-
- 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
- B25J15/0408—Connections means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an interface for quickly replacing a tail end tool of a robot, which relates to the technical field of robot application and comprises a mechanical arm side butt joint assembly and a tool side butt joint assembly, wherein a circle of tolerance groove is formed in the circumference of one side of the mechanical arm side butt joint assembly, a circle of tolerance convex groove is formed in the circumference of one side of the tool side butt joint assembly, the tolerance groove and the tolerance convex groove are both asymmetric tolerance grooves, a locking element is further arranged in the middle of the mechanical arm side butt joint assembly, a locking groove is formed in the middle of the tool side butt joint assembly, and the locking element can extend out of and be embedded into the locking groove to realize connection of the mechanical arm side butt joint assembly and the tool side butt joint assembly. The invention can meet the requirement that the robot can quickly and reliably replace the corresponding end tool in a short time.
Description
Technical Field
The invention relates to the technical field of robot application, in particular to an interface for quickly replacing an end tool of a robot.
Background
In recent years, with the expansion of the application field of robots and the diversity of work tasks, the work tasks of robots are more and more complex, and meanwhile, the work objects are more and more abundant. When the robot is used for dexterous operation, the single end effector has a single function and is difficult to adapt to various operation tasks, and the general end effector such as a dexterous hand is low in operation efficiency and low in task completion degree due to the defects of perception and movement capability, so that the flexibility of the robot operation can be greatly improved and the operation efficiency can be enhanced by switching special tools according to different tasks through the quick change interfaces of the tail end of the robot. However, the existing quick-change interface generally requires high butt joint precision, is difficult to meet the large tolerance requirement of the smart operation robot, and has hydraulic power, so that the control of the electrically-driven robot is not facilitated.
The U.S. DARPA proposes a phoenix plan in which a quick change interface is proposed that controls the mechanical locking, electrical connection and torque transfer of the interface, respectively, through three separate drives, enabling tool replacement.
The existing robot tail end tool interface technology is complex in driving, huge in size and overlong in size, so that the tail end of a robot carrying the interface is bulky in the operation process, and the tool after the butt joint is overlong from the tail end flange of the mechanical arm, so that the robot can easily collide the interface with the surrounding environment in the operation process, and the working space of the mechanical arm is greatly limited; meanwhile, the overlong tail end tool causes that the tail end of the mechanical arm is difficult to control the rotation angle of the joint in the micro operation process, and the micro rotation angle of the joint can cause larger displacement of the tool, so that the robot dexterous operation is not facilitated; meanwhile, the existing interface has too high requirement on the butt joint precision, the butt joint failure is easy to occur under the error conditions of positioning and the like of the robot, and the existing interface is required to be in butt joint according to the fixed circumference due to the existence of electrical connection, otherwise, the tool cannot work and even burns out.
Disclosure of Invention
The invention aims to provide an interface for quickly replacing an end tool of a robot, so as to solve the problems of the prior art, and the interface can be used for quickly and reliably replacing the corresponding end tool of the robot in a short time.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides an interface for quickly replacing a tail end tool of a robot, which comprises a mechanical arm side butt joint assembly and a tool side butt joint assembly, wherein a circle of tolerance groove is formed in the circumference of one side of the mechanical arm side butt joint assembly, a circle of tolerance convex groove is formed in the circumference of one side of the tool side butt joint assembly, the tolerance groove and the tolerance convex groove are both asymmetric tolerance grooves, a locking element is further arranged in the middle of the mechanical arm side butt joint assembly, a locking groove is formed in the middle of the tool side butt joint assembly, and the locking element can extend out of and be embedded into the locking groove to realize connection of the mechanical arm side butt joint assembly and the tool side butt joint assembly.
Preferably, the locking element comprises a driving motor, a motor housing, a mechanical arm side butt joint end, a moving structure and a plurality of locking steel balls, wherein the mechanical arm side butt joint end is mounted on one side of the motor housing, a plurality of through holes are formed in the periphery of the mechanical arm side butt joint end, the locking steel balls are located in the through holes, the through holes penetrate through the side wall of the mechanical arm side butt joint end in the moving direction perpendicular to the moving structure, the tolerance groove is formed in one side of the mechanical arm side butt joint end, the driving motor is mounted in the motor housing, and the driving motor is used for driving the moving structure to move towards the direction close to the tool side butt joint assembly, and the moving structure pushes the locking steel balls to be embedded in the locking groove.
Preferably, the moving structure comprises a screw, a nut and a locking cam, one end of the screw is connected with the output end of the driving motor, the nut is sleeved on the periphery of the screw, one end, far away from the driving motor, of the nut is connected with the locking cam, the outer wall of the locking cam is an inclined surface, the outer wall of the locking cam is gradually reduced from the direction close to the direction far away from the driving motor, the outer wall of the locking cam can be in contact with the locking steel ball, the driving motor can drive the screw to rotate, and the screw drives the nut to move along the length direction of the screw and push the locking cam to push out the locking steel ball.
Preferably, the nut and the screw rod are both T-shaped, the upper end of the locking cam is provided with a mounting step, and the upper part of the nut is embedded into the mounting step.
Preferably, the outer wall of the locking cam is provided with a limit groove, the inner wall of the abutting end of the mechanical arm is provided with a limit protrusion, the locking cam is positioned in the abutting end of the mechanical arm, and the limit protrusion is embedded in the limit groove and can slide along the limit groove.
Preferably, one end of the mechanical arm side butt joint end is provided with an electric female terminal, one end of the tool side butt joint assembly is provided with an electric male terminal matched with the electric female terminal, and the outer periphery of the electric female terminal and the outer periphery of the electric male terminal are wrapped with insulating sleeves.
Preferably, the tool side docking assembly is mounted on a tool mount.
Preferably, an absorbing member is arranged on the periphery of the tool side butt joint assembly, an electromagnet is arranged on the tool fixing frame, and the electromagnet can absorb the absorbing member when the tool fixing frame is electrified.
Preferably, a permanent magnet is further disposed on the tool fixing frame at a position corresponding to the adsorbing member.
Compared with the prior art, the invention has the following technical effects:
the interface for quickly replacing the end tool of the robot comprises a mechanical arm side butt joint assembly and a tool side butt joint assembly, wherein a circle of tolerance groove is formed in the circumference of one side of the mechanical arm side butt joint assembly, a circle of tolerance convex groove is formed in the circumference of one side of the tool side butt joint assembly, the tolerance groove and the tolerance convex groove are both asymmetric tolerance grooves, the design of the asymmetric tolerance grooves is adopted, and the absolute positioning of the mechanical arm side butt joint assembly and the tool side butt joint assembly is ensured through the difference of various tolerance inclined plane angles, so that locking cannot be performed under the condition of circumferential offset, and the absolute accuracy of electric connection is ensured, namely, electric connection movement is correct under the condition of successful butt joint, and mechanical locking connection cannot be performed under the condition of wrong electric connection; the middle part of the mechanical arm side butt joint assembly is also provided with a locking element, the middle part of the tool side butt joint assembly is provided with a locking groove, and the locking element can extend out and be embedded into the locking groove to realize the connection of the mechanical arm side butt joint assembly and the tool side butt joint assembly.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of the internal structure of an interface for a robot to quickly change end tools in accordance with the present invention;
FIG. 2 is a schematic view of a robot arm side docking assembly according to the present invention;
FIG. 3 is a schematic view of the tool side docking assembly of the present invention;
FIG. 4 is a bottom view of the robotic arm side docking assembly of FIG. 1;
FIG. 5 is a top view of the tool side docking assembly of FIG. 1;
in the figure: the device comprises a 1-driving motor, a 2-motor shell, a 3-lead screw, a 4-nut, a 5-locking steel ball, a 6-mechanical arm side butt joint end, a 7-locking cam, an 8-electric female terminal, a 9-locking groove, a 10-tool side butt joint end, an 11-electric male terminal, a 12-tool side fixing piece, a 13-tool fixing frame, a 14-tolerance groove and a 15-tolerance groove.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to provide an interface for quickly replacing an end tool of a robot, so as to solve the technical problem that the existing robot cannot quickly and reliably replace the corresponding end tool in a short time.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-5, the present embodiment provides an interface for quickly replacing an end tool of a robot, including a mechanical arm side docking assembly and a tool side docking assembly, where a circle of tolerance groove 14 is provided in the circumference of one side of the mechanical arm side docking assembly, a circle of tolerance groove 15 is provided in the circumference of one side of the tool side docking assembly, the tolerance groove 14 and the tolerance groove 15 are both asymmetric tolerance grooves, and in the interface docking process, under the condition of inaccurate positioning caused by a robot or an environmental error, the tolerance groove 14 and the tolerance groove 15 are designed, so that a certain tolerance is ensured in the tool docking process of the robot, the success rate of tool replacement is increased, and the reliability of the interface is ensured; meanwhile, by adopting the design of an asymmetric tolerance groove, the absolute positioning of the mechanical arm side butt joint assembly and the tool side butt joint assembly is ensured through the difference of the angle of each tolerance inclined plane, so that the locking cannot be performed under the condition of circumferential offset, and the absolute accuracy of electric connection is ensured, namely, the electric connection is correct in movement under the condition of successful butt joint, and the mechanical locking connection cannot be performed under the condition of incorrect electric connection; the middle part of the mechanical arm side butt joint assembly is also provided with a locking element, the middle part of the tool side butt joint assembly is provided with a locking groove 9, and the locking element can extend out and be embedded into the locking groove 9, so that the connection between the mechanical arm side butt joint assembly and the tool side butt joint assembly is realized.
Specifically, the locking element includes driving motor 1, motor housing 2, arm side butt joint end 6, moving structure and a plurality of locking steel balls 5, arm side butt joint end 6 installs in one side of motor housing 2, preferably through a plurality of bolted connection, the periphery of arm side butt joint end 6 is equipped with a plurality of through-holes, locking steel balls 5 is located the through-hole, the through-hole is the bell mouth, the lateral wall of arm side butt joint end 6 is link up in perpendicular to moving structure direction of movement to the through-hole, the through-hole can effectively block locking steel balls 5, make it outwards fixed bulge and guarantee can not fall out, tolerance recess 14 is seted up in one side of arm side butt joint end 6, driving motor 1 installs in motor housing 2, and driving motor 1 is used for driving moving structure and is close to tool side butt joint subassembly's direction removal, and make moving structure promote locking steel balls 5 embedding locking groove 9. Alternatively, the locking steel ball 5 may be driven by hydraulic pressure.
The movable structure comprises a screw rod 3, a nut 4 and a locking cam 7, wherein one end of the screw rod 3 is connected with the output end of the driving motor 1, the nut 4 is sleeved on the periphery of the screw rod 3, one end of the nut 4 far away from the driving motor 1 is connected with the locking cam 7, the outer wall of the locking cam 7 is an inclined surface, the outer diameter of the locking cam 7 gradually decreases from approaching to the direction far away from the driving motor 1, the outer wall of the locking cam 7 can contact with a locking steel ball 5, and the locking cam 7 with inclined side walls and the locking steel ball 5 are matched, so that when the driving motor 1 drives the screw rod 3 to rotate, the screw rod 3 drives the nut 4 to move along the length direction of the screw rod 3 and push the locking cam 7 to push out the locking steel ball 5.
The nut 4 and the screw rod 3 are T-shaped, the upper end of the locking cam 7 is provided with a mounting step, and the upper part of the nut 4 is embedded into the mounting step.
The outer wall of the locking cam 7 is provided with a limiting groove, the inner wall of the mechanical arm side butt joint end 6 is provided with a limiting protrusion, the locking cam 7 is positioned in the mechanical arm side butt joint end 6, and the limiting protrusion is embedded into the limiting groove and can slide along the limiting groove. The cooperation of spacing arch and spacing groove guarantees that locking cam 7 can not circumference rotate to the rectilinear movement of locking cam 7 is realized in the convenience. At this time, the screw rod 3 is rotated by the driving motor 1, so that the push nut 4 and the locking cam 7 move downwards together, and by designing a proper angle of the locking cam 7, the locking steel ball 5 is ensured to be capable of protruding out of the corresponding part during the whole stroke of the screw rod 3, and simultaneously, the locking steel ball can be completely retracted to the inner side of the butt joint end 6 of the mechanical arm side, so that smooth butt joint and disassembly of the tool are ensured.
One end of the mechanical arm side butt joint end 6 is provided with an electric female terminal 8, one end of the tool side butt joint assembly is provided with an electric male terminal 11 matched with the electric female terminal 8, and the peripheries of the electric female terminal 8 and the electric male terminal 11 are wrapped with insulating sleeves to prevent electric short circuits.
The tool side butt joint assembly comprises a tool side butt joint end 10 and a tool side fixing piece 12, wherein the periphery of the tool side butt joint end 10 is connected with the tool side fixing piece 12, the tolerance groove 14 and the locking groove 9 are formed in the tool side butt joint end 10, and the tool side fixing piece 12 is installed on a tool fixing frame 13 for fixing and installing the tool end.
The periphery of instrument side interfacing assembly is equipped with the absorbing member, is equipped with the electro-magnet on the instrument mount 13, and the electro-magnet can adsorb the absorbing member when circular telegram, adopts the mode of magnetism to inhale to fix, and the electro-magnet outage makes the arm can take out the instrument smoothly when taking off the instrument, switch on the electro-magnet when putting back the instrument, fixes the instrument on instrument mount 13.
The position of the tool fixing frame 13 corresponding to the adsorption piece is also provided with a permanent magnet, so that the problem of electromagnet failure caused by factors such as electromagnet failure is prevented, and the tool is ensured to still have a certain adsorption force when the electromagnet fails, so that the tool cannot fall off.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In summary, the present description should not be construed as limiting the invention.
Claims (9)
1. An interface for quickly replacing an end tool of a robot, comprising: the mechanical arm side butt joint assembly comprises a mechanical arm side butt joint assembly and a tool side butt joint assembly, a circle of tolerance groove is formed in the circumference of one side of the mechanical arm side butt joint assembly, a circle of tolerance groove is formed in the circumference of one side of the tool side butt joint assembly, the tolerance groove and the tolerance groove are asymmetric tolerance grooves, a locking element is further arranged in the middle of the mechanical arm side butt joint assembly, a locking groove is formed in the middle of the tool side butt joint assembly, and the locking element can extend out of and be embedded into the locking groove to achieve connection of the mechanical arm side butt joint assembly and the tool side butt joint assembly.
2. The robotic quick change end-of-line tool interface of claim 1, wherein: the locking element comprises a driving motor, a motor housing, a mechanical arm side butt joint end, a moving structure and a plurality of locking steel balls, wherein the mechanical arm side butt joint end is mounted on one side of the motor housing, a plurality of through holes are formed in the periphery of the mechanical arm side butt joint end, the locking steel balls are located in the through holes, the through holes penetrate through the side wall of the mechanical arm side butt joint end in the moving direction perpendicular to the moving structure, the tolerance groove is formed in one side of the mechanical arm side butt joint end, the driving motor is mounted in the motor housing, and the driving motor is used for driving the moving structure to move towards the direction close to the tool side butt joint assembly, and the moving structure pushes the locking steel balls to be embedded in the locking groove.
3. The robotic quick change end-of-line tool interface of claim 2, wherein: the movable structure comprises a screw rod, a nut and a locking cam, one end of the screw rod is connected with the output end of the driving motor, the nut is sleeved on the periphery of the screw rod, one end, far away from the driving motor, of the nut is connected with the locking cam, the outer wall of the locking cam is an inclined surface, the outer wall of the locking cam gradually reduces from the direction close to the direction far away from the driving motor, the outer wall of the locking cam can contact with the locking steel ball, the driving motor can drive the screw rod to rotate, and the screw rod drives the nut to move along the length direction of the screw rod and push the locking cam to push out the locking steel ball.
4. The robotic quick change end-of-tool interface of claim 3, wherein: the nut and the screw rod are both T-shaped, the upper end of the locking cam is provided with a mounting step, and the upper part of the nut is embedded into the mounting step.
5. The robotic quick change end-of-tool interface of claim 3, wherein: the outer wall of locking cam is equipped with the spacing groove, spacing arch is established to the inner wall of arm side butt joint end, locking cam is located in the arm side butt joint end, just spacing protruding embedding in the spacing groove, and can follow the spacing groove slides.
6. The robotic quick change end-of-line tool interface of claim 2, wherein: the one end of arm side butt joint end is equipped with the female first terminal of electricity, the one end of instrument side butt joint subassembly be equipped with be used for with the public first terminal of electric female terminal complex electricity, the female first terminal of electricity with the outer periphery of the public first terminal of electricity all wraps up there is insulating sleeve.
7. The robotic quick change end-of-line tool interface of claim 1, wherein: the tool side docking assembly is mounted on the tool mount.
8. The robotic quick change end-of-tool interface of claim 7, wherein: the periphery of instrument side interfacing assembly is equipped with the adsorption equipment, be equipped with the electro-magnet on the instrument mount, the electro-magnet can adsorb when the circular telegram the adsorption equipment.
9. The robotic quick change end-of-line tool interface of claim 8, wherein: and a permanent magnet is arranged on the tool fixing frame at a position corresponding to the adsorption piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310993867.0A CN116968064A (en) | 2023-08-08 | 2023-08-08 | Interface for quickly replacing end tool of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310993867.0A CN116968064A (en) | 2023-08-08 | 2023-08-08 | Interface for quickly replacing end tool of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116968064A true CN116968064A (en) | 2023-10-31 |
Family
ID=88476496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310993867.0A Pending CN116968064A (en) | 2023-08-08 | 2023-08-08 | Interface for quickly replacing end tool of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116968064A (en) |
-
2023
- 2023-08-08 CN CN202310993867.0A patent/CN116968064A/en active Pending
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