CN117021156A - Device for robot limb assembly - Google Patents
Device for robot limb assembly Download PDFInfo
- Publication number
- CN117021156A CN117021156A CN202311294188.0A CN202311294188A CN117021156A CN 117021156 A CN117021156 A CN 117021156A CN 202311294188 A CN202311294188 A CN 202311294188A CN 117021156 A CN117021156 A CN 117021156A
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- locking
- mandrel
- tooth
- teeth
- pushing
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- 210000000078 claw Anatomy 0.000 claims abstract description 17
- 230000000670 limiting effect Effects 0.000 claims abstract description 15
- 230000009471 action Effects 0.000 claims abstract description 11
- 238000000034 method Methods 0.000 claims description 13
- 230000008569 process Effects 0.000 claims description 12
- 238000004519 manufacturing process Methods 0.000 description 5
- 230000003993 interaction Effects 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/007—Means or methods for designing or fabricating manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Mutual Connection Of Rods And Tubes (AREA)
- Prostheses (AREA)
Abstract
The application discloses a device for robot limb assembly, which comprises a sleeve and a cover plate; the sleeve and the cover plate are fixedly arranged, a cavity is formed in the sleeve, and a mandrel, a locking piece and a pushing piece are arranged in the cavity; a mandrel is arranged on the cover plate; the core sleeve is provided with a spring and a limiting part is arranged at the tail end; the pushing piece is sleeved on the mandrel and is extruded by the spring; the pushing piece is uniformly and circumferentially provided with n inclined wedges, at least two inverted teeth are arranged, and a yielding groove is formed between every two adjacent inverted teeth; the locking piece is rotatably but axially immovably arranged at the bottom of the cavity; the locking piece is uniformly and circumferentially provided with n claws, at least one group of inclined teeth are arranged, the tail ends of the claws are provided with hook tips, the hook tips are positioned in the abdication grooves, and the inclined teeth are provided with two inclined planes; the limb part to be locked is uniformly and circumferentially provided with n locking teeth, a space for giving way is formed between every two adjacent groups of locking teeth, and the locking teeth are provided with at least two inclined planes; the locking piece circularly rotates under the action of the pushing piece and is matched with a part needing to be locked to realize automatic locking and automatic unlocking.
Description
Technical Field
The application relates to the field of robot products, in particular to a device for robot limb assembly.
Background
Along with the continuous progress of scientific technology, the world robot level is higher and higher, the application field of robots is wider and wider, a large number of human-type household robots with limbs and heads, such as human-type remote control robot toys, human-type educational robots and human-type programming enlightenment robots, are present in the market, the robots are higher in use frequency at ordinary times, and the limbs are installed and are connected with a shell through a cover-closing type in the traditional way, so that the strength of the joints of the limbs is lower, and the robot is easy to damage, inconvenient to assemble and disassemble and inconvenient to repair and maintain when accidents such as toppling occur; the maintenance personnel is required to have certain relevant disassembly and assembly experience, so that the product cost is increased, and the maintenance cost control is not facilitated; the production and manufacturing process can only be carried out step by step according to the assembly process sequence by step on a job basis, and the production efficiency is reduced.
Disclosure of Invention
The application aims at solving the problems of low production efficiency and inconvenient later maintenance of the robot, provides a thought of carrying out modularized design on the robot and taking a robot body and limbs as independent functional modules to carry out separate design, and provides a device for assembling the limbs of the robot.
The aim of the application is realized by the following technical scheme: a device for robot limb assembly comprises a sleeve, a cover plate and a limb part to be locked; the sleeve and the cover plate are fixedly arranged, a cavity is formed in the sleeve, and a mandrel, a spring, a locking piece and a pushing piece are arranged in the cavity; the cover plate is provided with the mandrel; the core shaft is sleeved with a spring, and the tail end of the core shaft is provided with a limiting part; the pushing piece is sleeved on the mandrel, can do linear motion along the axial direction of the mandrel but cannot rotate, and is extruded by the spring; the pushing piece is uniformly and circumferentially provided with n inclined wedges, at least two inverted teeth are also arranged, and a yielding groove is formed between every two adjacent inverted teeth; the wedge is provided with a wedge first inclined plane; the locking piece is rotatably but axially immovably arranged at the bottom of the cavity; the locking piece is uniformly and circumferentially provided with n claws and at least one group of bevel gears, the tail ends of the claws are provided with hook tips, the hook tips are positioned in the abdication grooves, and the bevel gears are provided with first bevel gears and second bevel gears; n groups of locking teeth are uniformly arranged around the limb part to be locked, a yielding space is formed between every two adjacent groups of locking teeth, and the locking teeth are provided with a locking tooth second inclined plane and a locking tooth fourth inclined plane; wherein n is more than or equal to 2.
Further, the device realizes locking and unlocking the lock body as follows:
when the limb part to be locked is locked, the limb part to be locked is inserted into the sleeve, the abdication space corresponds to the abdication groove, thrust is applied, the limb part to be locked pushes the pushing part to move inwards along the spindle direction, and the spring is compressed; under the mutual matching of the first inclined surface of the inclined wedge and the first inclined surface of the inclined tooth, the locking piece is rotated until the hook tip of the hook claw is positioned above the locking tooth; the pushing force is removed, and under the rebound action of the spring, the hook tips of the hook claws are pressed in the locking teeth, so that locking is realized;
when unlocking, thrust is applied to enable the limb part to be locked to push the pushing part to move inwards along the direction of the mandrel, and under the mutual matching of the first inclined plane of the inclined wedge and the second inclined plane of the inclined tooth, the locking part is enabled to rotate until the hook tip of the hook claw is positioned above the abdication space; and the pushing force is removed, and the hook tip of the hook claw is separated from the locking tooth under the rebound action of the spring, so that unlocking is realized.
Further, it is ensured that the yielding space 2 corresponds to a yielding groove, a guiding groove is formed in the inner wall of the sleeve, and guiding ribs are arranged on the limb parts to be locked.
Further, the pushing piece is sleeved on the mandrel and can do linear motion along the axial direction of the mandrel but cannot rotate specifically: the cross section of the mandrel is non-circular, and the pushing piece is provided with a hole with the same shape as the cross section of the mandrel.
Further, the cross section of the mandrel is square, and the pushing piece is provided with a hole with the same size as the square.
Further, the locking member is rotatably but axially immovably mounted at the bottom of the cavity, specifically: the bearing is fixed on the locking piece through a clamp spring, and the bearing is fixed on the inner wall of the cavity.
Further, the pushing piece is limited to move on the mandrel by taking the screw and the gasket as limiting components.
Further, the sleeve and the cover plate are fixedly installed through screws; the mandrel is fixedly arranged on the cover plate through screws.
Further, chamfer angles are arranged on two sides of the inverted tooth.
Further, to realize the two processes of locking and unlocking is a period, the angle of rotation of the locking piece is one period。
The beneficial effects of the application are as follows: 1. the operation is convenient, and the automatic locking and unlocking can be realized only by pressing and applying force to the limb parts to be locked;
2. the convenience for replacing the robot limbs is improved, and the robot is convenient for later maintenance;
3. the modularization of robot limbs is realized, and the production efficiency is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a side cross-sectional view of a robotic limb fitting apparatus according to an embodiment of the application;
FIG. 2 is a schematic view of a sleeve according to an embodiment of the present application;
FIG. 3 is a schematic view of a pushing member according to an embodiment of the present application;
FIG. 4 is a schematic view of a locking member according to an embodiment of the present application;
FIG. 5 is a schematic view of a limb member to be locked according to an embodiment of the present application;
FIG. 6 is a schematic view of a motion phase for a robotic limb assembly apparatus according to an embodiment of the application;
fig. 7 is a schematic view of the hook tip in the yielding groove according to the embodiment of the present application.
Reference numerals illustrate: a sleeve 1 comprising a guide groove 11; a mandrel 2; a spring 3; countersunk head screws 4; a fixed cover plate 5; a flat pad 6; a lock screw 7; the locking part 8 comprises a clamp spring 81, a bearing 82 and a locking piece 83; the locking member 83 includes a bevel tooth 831 and a finger 832; wherein the bevel 831 includes a bevel first bevel 8311, a bevel second bevel 8312, a bevel first plane 8313, and a bevel second plane 8314; the finger 832 includes a finger tip 8321; the pushing piece 9 comprises a wedge 91, a yielding groove 92, a wedge first plane 911 and a wedge first inclined plane 912; the limb part 10 to be locked comprises a locking tooth 101, a abdication space 102 and a guide rib 103; each tooth 101 is provided with a first tooth bevel 1011, a second tooth bevel 1012, a third tooth bevel 1013 and a fourth tooth bevel 1014 from right to left.
Description of the embodiments
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used herein to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the application. The word "if" as used herein may be interpreted as "at … …" or "at … …" or "responsive to a determination", depending on the context. Furthermore, the terms "front," "rear," "upper," "lower," "left," and "right" are based on the orientation and positional relationship shown in the drawings, and are merely for convenience of description of the application, and do not denote that the device or component in question must have a particular orientation, and thus should not be construed as limiting the application.
The present application will be described in detail with reference to the accompanying drawings. The features of the examples and embodiments described below may be combined with each other without conflict.
The application relates to a device for robot limb assembly, which comprises a sleeve 1, a cover plate 5 and a limb part 10 to be locked; the sleeve 1 and the cover plate 5 are fixedly arranged, a cavity is formed in the sleeve, and a mandrel 2, a spring 3, a locking piece 83 and a pushing piece 9 are arranged in the cavity; the cover plate 5 is provided with the mandrel 2; the mandrel 2 is sleeved with a spring 3, and the tail end of the mandrel 2 is provided with a limiting part; the pushing piece 9 is sleeved on the mandrel 2, can linearly move along the axial direction of the mandrel 2 and cannot rotate, and is extruded by the spring 3; the pushing member 9 is uniformly provided with n inclined wedges 91 in a surrounding manner, and at least two inverted teeth 93 are also provided in a surrounding manner, and a yielding groove 92 is formed between every two adjacent inverted teeth 93; the wedge 91 is provided with a wedge first inclined surface 912; the locking member 83 is rotatably but axially immovably mounted at the bottom of the cavity; the locking piece 83 is uniformly provided with n hooked claws 832 in a surrounding manner, and is also provided with at least one group of inclined teeth 831, and the tail end of the hooked claw 832 is provided with a hooked tip 8321; the hook point 8321 is positioned in the abdication groove 92 to provide abdication and initial limiting effect for the locking piece 83; the bevel 831 is provided with a bevel first bevel 8311 and a bevel second bevel 8312, and the bevel first bevel 8311 and the bevel second bevel 8312 are respectively matched with the bevel first bevel 912 to enable the locking piece 83 to rotate; n groups of locking teeth 101 are uniformly and circumferentially arranged on the limb part 10 to be locked, a yielding space 102 is formed between every two adjacent groups of locking teeth 101, and the locking teeth 101 are provided with a locking tooth second inclined surface 1012 and a locking tooth fourth inclined surface 1014; the second inclined surface 1012 and the fourth inclined surface 1014 cooperate with the hook tip 8321 to rotate the locking member 83; wherein n is more than or equal to 2.
The device realizes locking and unlocking the lock body as follows:
during locking, the limb part 10 to be locked is inserted into the sleeve 1, so that the abdication space 102 corresponds to the abdication groove 92, thrust is applied, the limb part 10 to be locked pushes the pushing piece 9 to move inwards along the direction of the mandrel 2, and the spring 3 is compressed; under the mutual matching of the inclined wedge first inclined surface 912 and the inclined tooth first inclined surface 8311, the locking piece 83 is rotated until the hook tip 8321 of the hook finger 832 is positioned above the locking tooth 101; the pushing force is removed, and under the rebound action of the spring 3, the hook tip 8321 of the hook claw 832 is pressed into the lock tooth 101, so that locking is realized;
when unlocking, thrust is applied to enable the limb part 10 to be locked to push the pushing part 9 to move inwards along the direction of the mandrel 2, and under the mutual matching of the inclined wedge first inclined surface 912 and the inclined tooth second inclined surface 8312, the locking part 83 is enabled to rotate until the hook tip 8321 of the hook 832 is positioned above the abdication space; the pushing force is removed, and the hook point 8321 of the hook claw 832 is separated from the locking tooth 101 under the rebound action of the spring 3, so that unlocking is realized.
To realize the two processes of locking and unlocking as one cycle, the angle of rotation of the locking piece 83 is one cycle。
In an embodiment, the yielding space 102 corresponds to the yielding groove 92, the inner wall of the sleeve 1 is provided with a guiding groove 11, and the limb part 10 to be locked is provided with a guiding rib 103.
In one embodiment, the pushing member 9 is sleeved on the mandrel 2, and can perform linear motion along the axial direction of the mandrel 2 without rotating specifically: the cross section of the mandrel 2 is non-circular, and the pushing member 9 is provided with a hole of the same shape as the cross section of the mandrel 2. Specifically, the cross section of the mandrel 2 is square, and the pushing member 9 is provided with a hole with the same size as the square.
In one embodiment, the locking member 83 is rotatably but axially immovably mounted at the bottom of the cavity, specifically: the bearing 82 is fixed to the locking member 83 by a snap spring 81, and the bearing 82 is fixed to the inner wall of the cavity.
In one embodiment, the pusher 9 is constrained to move on the mandrel 2 by screws and shims as limiting members.
In one embodiment, the sleeve 1 and the cover plate 5 are fixedly installed through screws; the mandrel 2 is fixedly arranged on the cover plate 5 through screws.
In one embodiment, the two sides of the inverted tooth 93 are chamfer angles; the chamfer on both sides of the chamfer 93 provides a guiding action for the finger 832 of the latch 83. In order to provide a better guiding action, the number of the inverted teeth is consistent with the number of the fingers.
Examples
The application provides a device for robot limb assembly, which is shown in figures 1-7, and comprises a sleeve 1, a cover plate 5, a locking part 8 and a limb part 10 to be locked; the locking part 8 is formed by fixing a bearing 82 on a locking piece 83 through a clamp spring 81; the sleeve 1 and the cover plate 5 are fixed by the countersunk head screw 4 and the bearing 82 is fixed between the sleeve and the cover plate, so that the locking piece 83 can rotate but can not axially move; the central position in the cover plate 5 is used for fixing the mandrel 2 through a flat pad 6 and a check screw 7; the mandrel 2 is sleeved with a spring 3, and the tail end of the mandrel 2 is provided with a limiting part (a screw and a gasket are used as the limiting parts); the pushing member 9 is sleeved on the mandrel 2, and in an initial state, is extruded by the spring 3 and is clung to the limiting component (as shown in fig. 1, specifically clung to the gasket), wherein the cross section of the mandrel 2 is square, and the pushing member 9 is provided with a hole with the same size as the square, so that the pushing member 9 can do linear motion along the axial direction of the mandrel 2 and cannot rotate.
The pushing piece 9 is uniformly provided with 8 inclined wedges 91 and 8 inverted teeth 93 in a surrounding manner, two sides of the inverted teeth 93 are chamfer angles, and a yielding groove 92 is formed between every two inverted teeth 93; the cam 91 is provided with a cam first slope 912.
The locking member 83 is rotatably but axially immovably mounted at the bottom of the cavity; the locking piece 83 is uniformly provided with 8 groups of inclined teeth 831 and 8 hooks 832 in a surrounding manner, and the tail end of each hook 832 is provided with a hook tip 8321; as shown in fig. 7, the hook tip 8321 is located in the relief groove 92, so as to prevent the locking member 83 from rotating randomly in the initial state, i.e. to perform an initial limiting function (the width of the relief groove 92 is slightly larger than the width of the hook tip 8321); the bevel 831 is provided with a bevel first bevel 8311, a bevel second bevel 8312, a bevel first flat 8313, and a bevel second flat 8314.
In the initial state, the wedge 91 is opposite to the first inclined plane 8311 of the inclined tooth, and the pushing member 9 is pressed by the spring 3 to cling to the limiting member.
The limb part 10 to be locked is uniformly and circumferentially provided with 8 groups of locking teeth 101; the locking tooth 101 is provided with a locking tooth first chamfer 1011, a locking tooth second chamfer 1012, a locking tooth third chamfer 1013, and a locking tooth fourth chamfer 1014. Wherein the second lock tooth incline 1012 and the fourth lock tooth incline 1014 are configured to interact with the hook tip 8321 to rotate the locking member 83; the first bevel 1011 of the locking teeth is used to prevent the locking teeth 101 from obstructing the rotation of the locking member 83 during locking, and if the pushing distance of the pushing member 9 is sufficient before the locking member 83 rotates (i.e. the hook point 8321 is obliquely above the locking teeth 101 before the locking member 83 rotates), the locking teeth first bevel 1011 does not need to be provided.
The inner wall of the sleeve 1 is provided with a guide groove 11, and the locking limb part 10 is provided with a guide rib 103; ensuring that the yield space 102 corresponds to one yield slot 92.
Motion initiation state: the pusher 9 is pressed by the spring 3 against the limit stop, and the locking finger 832 on the locking member 83 is located in the tail relief groove 92 on the pusher 9, with the cam first ramp 912 of the pusher 9 opposing the first ramp feature 8311 on the locking member 83 (as shown in fig. 6 (a)).
When locking: the limb member 10 to be locked is pressed against the pushing member 9 along the guide groove 11 under the pushing force, the pushing member 9 moves linearly, the spring 3 compresses, the hook tip 8321 of the hook 832 extends out of the relief groove 92 of the pushing member 9 (as shown in fig. 6 (b)), the locking member 83 rotates under the interaction force of the first inclined surface 912 of the cam and the first inclined surface 8311 of the cam, when the first plane 911 of the cam contacts the second plane 8314 of the cam, the pushing member 9 reaches the first limit position, the locking member 83 stops rotating (at this time, the locking member rotates about 12 degrees relative to the initial position), and the hook tip 8321 of the hook 832 is opposite to the second inclined surface 1012 of the lock tooth (as shown in fig. 6 (c)). The external force is removed, the pushing member 9 rebounds under the action of the compression spring 3, the hook tip 8321 of the hook 832 contacts the second inclined surface 1012 of the locking tooth of the limb member 10 to be locked, meanwhile, the inclined wedge 91 of the pushing member 9 is separated from the inclined tooth 831 of the locking member 83 (as shown in (d) of fig. 6), and under the interaction force of the hook tip 8321 of the hook 832 and the second inclined surface 1012 of the locking tooth, the locking member 83 is forced to rotate for a certain angle again until the hook tip 8321 of the hook 832 is blocked on the V-shaped groove formed by the second inclined surface 1012 of the locking tooth and the third inclined surface 1013 of the locking tooth (at this time, the locking member rotates for about 22.5 degrees relative to the initial position); at this time, the limb part 10 to be locked is pressed on the pushing part 9 by the claw 832 of the locking part 83 due to the pressure of the spring 3, thereby realizing the locking purpose; meanwhile, the wedge 91 is opposite to the helical tooth second inclined surface 8312, in preparation for the subsequent unlocking (as shown in (e) of fig. 6).
When unlocking, pushing force is applied to the limb part 10 to be locked again, the pushing piece 9 moves in a feeding way again, the hook tip 8321 of the hook 832 is separated from the locking tooth 101 (as shown in (f) of fig. 6), the locking piece 83 rotates under the interaction force of the first inclined surface 912 of the wedge and the second inclined surface 8312 of the wedge, when the first plane 911 of the wedge 91 adjacent to the first plane 8313 of the wedge is contacted (at the moment, the first inclined surface 912 of the wedge is still partially contacted with the second inclined surface 8312 of the wedge), the pushing piece 9 reaches the second limit position, the locking piece 83 stops rotating (at the moment, the locking piece rotates by about 34.5 degrees relative to the initial position), and meanwhile the hook tip 8321 of the hook 832 is opposite to the fourth inclined surface 1014 of the locking tooth (as shown in (g) of fig. 6); the external force is removed, the pushing member 9 rebounds under the action of the compression spring 3, the hook tip 8321 of the hook 832 contacts the fourth inclined surface 1014 of the locking tooth, meanwhile, the inclined wedge 91 of the pushing member 9 is separated from the inclined tooth 831 of the locking member 83 again (as shown in (h) of fig. 6), and under the interaction force of the hook tip 8321 of the hook 832 and the fourth inclined surface 1014 of the locking tooth, the locking member 83 is forced to rotate for a certain angle again until the hook returns to the abdication groove 92 of the pushing member 9 (at this time, the locking member rotates for about 45 degrees relative to the initial position); at the moment, the limb part 10 is required to be locked and unlocked, and the device can be withdrawn; at the same time, cam 91 still corresponds to the first bevel of the bevel tooth (as shown in fig. 6 (a)) in preparation for the next lock-up.
It should be noted that the limb member 10 is a structural feature required for a robot limb, and is not particularly a component.
Example 2: unlike embodiment 1, the locking member 83 is provided with only one set of oblique teeth 831, and the pushing member 9 is provided with two inverted teeth 93 (i.e., two adjacent inverted teeth remain), all the functions of embodiment 1 described above can be still achieved, and the locking process and the unlocking process are the same.
Example 3: unlike embodiment 1, the pushing member 9 is provided with 2 inverted teeth 93 and uniformly and circumferentially provided with 2 wedges 91 and the locking member 83 is provided with a set of inverted teeth 831 and uniformly and circumferentially provided with 2 hooks 832, and all the functions of embodiment 1 described above can be still achieved, but the rotation angles of the locking member 83 in the locking process and the unlocking process are different, at this time, the locking process and the unlocking process are completed, the rotation angle of the locking member 83 is 45 °, i.e., the locking and unlocking processes are implemented, and the rotation angle of the locking member 83 is 90 °.
The rotation angle of the locking member 83 is related to the width of each inclined plane, and the width of the corresponding inclined plane is set according to the difference of n values so as to realize the two processes of locking and unlocking, wherein the rotation angle of the locking member 83 is that。
Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. The specification and examples are to be regarded in an illustrative manner only.
It is to be understood that the application is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof.
Claims (10)
1. A device for robotic limb assembly, characterized by comprising a sleeve (1), a cover plate (5) and a limb part (10) to be locked; the sleeve (1) and the cover plate (5) are fixedly installed, a cavity is formed in the sleeve, and a mandrel (2), a spring (3), a locking piece (83) and a pushing piece (9) are arranged in the cavity; the cover plate (5) is provided with the mandrel (2); the core shaft (2) is sleeved with a spring (3), and the tail end of the core shaft (2) is provided with a limiting part; the pushing piece (9) is sleeved on the mandrel (2), can linearly move along the axial direction of the mandrel (2) and cannot rotate, and is extruded by the spring (3); n inclined wedges (91) are uniformly arranged around the pushing piece (9), at least two inverted teeth (93) are also arranged, and a yielding groove (92) is formed between every two adjacent inverted teeth (93); the inclined wedge (91) is provided with an inclined wedge first inclined surface (912); the locking element (83) is rotatably but axially immovably mounted at the bottom of the cavity; the locking piece (83) is uniformly and circumferentially provided with n hooks (832), at least one group of helical teeth (831) are also arranged, the tail end of each hook (832) is provided with a hook tip (8321), each hook tip (8321) is positioned in the corresponding abdication groove (92), and each helical tooth (831) is provided with a helical tooth first inclined plane (8311) and a helical tooth second inclined plane (8312); n groups of locking teeth (101) are uniformly and circumferentially arranged on the limb part (10) to be locked, a yielding space (102) is formed between every two adjacent groups of locking teeth (101), and the locking teeth (101) are provided with a locking tooth second inclined plane (1012) and a locking tooth fourth inclined plane (1014); wherein n is more than or equal to 2.
2. The device according to claim 1, wherein the device implements a locking and unlocking body:
when in locking, the limb part (10) to be locked is inserted into the sleeve (1), so that the abdication space (102) corresponds to the abdication groove (92), thrust is applied, the limb part (10) to be locked pushes the pushing piece (9) to move inwards along the direction of the mandrel (2), and the spring (3) is compressed; under the mutual matching of the inclined wedge first inclined surface (912) and the inclined tooth first inclined surface (8311), the locking piece (83) is rotated until the hook tip (8321) of the hook claw (832) is positioned above the locking tooth (101); the pushing force is removed, and under the rebound action of the spring (3), the hook tip (8321) of the hook claw (832) is pressed into the lock tooth (101) to realize locking;
when the lock is unlocked, thrust is applied to enable the limb part (10) to be locked to push the pushing part (9) to move inwards along the direction of the mandrel (2), and under the mutual matching of the inclined wedge first inclined surface (912) and the inclined tooth second inclined surface (8312), the locking part (83) is enabled to rotate until the hook tip (8321) of the hook claw (832) is located above the abdication space (102); the pushing force is removed, and the hook tip (8321) of the hook claw (832) is separated from the locking tooth (101) under the rebound action of the spring (3) so as to realize unlocking.
3. The device according to claim 1, characterized in that the relief space (102) is ensured to correspond to the relief groove (92), the inner wall of the sleeve (1) is provided with a guide groove (11), and the limb part (10) to be locked is provided with a guide rib (103).
4. Device according to claim 1, characterized in that the pushing element (9) is fitted over the spindle (2) and is movable in a rectilinear manner axially of the spindle (2) without rotation: the cross section of the mandrel (2) is non-circular, and the pushing piece (9) is provided with a hole with the same shape as the cross section of the mandrel (2).
5. Device according to claim 4, characterized in that the cross section of the mandrel (2) is square, the pushing member (9) being provided with holes of the same size as the square.
6. The device according to claim 1, characterized in that the locking element (83) is rotatably but axially immovably mounted at the bottom of the cavity, in particular: the bearing (82) is fixed on the locking piece (83) through the clamp spring (81), and the bearing (82) is fixed on the inner wall of the cavity.
7. Device according to claim 1, characterized in that the push member (9) is limited to move on the spindle (2) with screws and shims as limiting members.
8. The device according to claim 1, characterized in that the sleeve (1) and the cover plate (5) are fixedly mounted by means of screws; the mandrel (2) is fixedly arranged on the cover plate (5) through screws.
9. The device according to claim 1, characterized in that the chamfer (93) is chamfered on both sides.
10. The device according to claim 2, characterized in that the two processes of locking and unlocking are carried out as a cycle, in which the angle by which the locking member (83) rotates is。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311294188.0A CN117021156B (en) | 2023-10-09 | 2023-10-09 | Device for robot limb assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311294188.0A CN117021156B (en) | 2023-10-09 | 2023-10-09 | Device for robot limb assembly |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117021156A true CN117021156A (en) | 2023-11-10 |
| CN117021156B CN117021156B (en) | 2024-01-16 |
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| CN202311294188.0A Active CN117021156B (en) | 2023-10-09 | 2023-10-09 | Device for robot limb assembly |
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| FR2884587A1 (en) * | 2005-04-19 | 2006-10-20 | Valeo Vision Sa | Pipe`s e.g. fluid pipe, free ends coupling device for supplying cleaning liquid jet, has spring exerting return force to push pins towards back against release ramps for rotating ring in positive direction till angular release position |
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| CN114030003A (en) * | 2021-12-17 | 2022-02-11 | 杭州申昊科技股份有限公司 | Quick change device for end tool of mechanical arm |
| WO2022105806A1 (en) * | 2020-11-17 | 2022-05-27 | 武汉联影智融医疗科技有限公司 | Joint quick-change connector of mechanical arm and mechanical arm |
| FR3117392A1 (en) * | 2020-12-11 | 2022-06-17 | Etablissements Georges Renault | system for attaching a tool bit to a tool |
| CN217320138U (en) * | 2022-02-21 | 2022-08-30 | 欧颂德婴童用品(湖北)有限公司 | Quick unlocking device of pull strap hook in push type |
| CN218061908U (en) * | 2022-05-13 | 2022-12-16 | 浙江吉利控股集团有限公司 | Unlocking assembly of glove box |
| CN115524154A (en) * | 2022-09-21 | 2022-12-27 | 中煤科工集团重庆研究院有限公司 | Coal mine deep hole fixed point closed sampling device and method |
| CN218762382U (en) * | 2022-12-23 | 2023-03-28 | 武汉联影医疗科技有限公司 | Rotary locking mechanism and medical equipment |
| CN116728379A (en) * | 2023-06-08 | 2023-09-12 | 浙江大学 | Passive heterogeneous upper limb assistance exoskeleton based on switch locking mechanism |
-
2023
- 2023-10-09 CN CN202311294188.0A patent/CN117021156B/en active Active
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| GB1339801A (en) * | 1972-06-29 | 1973-12-05 | Bunker Ramo | Latching connectors |
| JPH10277978A (en) * | 1996-11-08 | 1998-10-20 | Arinobu Miura | Attachment chucking device for robot |
| FR2884587A1 (en) * | 2005-04-19 | 2006-10-20 | Valeo Vision Sa | Pipe`s e.g. fluid pipe, free ends coupling device for supplying cleaning liquid jet, has spring exerting return force to push pins towards back against release ramps for rotating ring in positive direction till angular release position |
| JP2007055029A (en) * | 2005-08-23 | 2007-03-08 | Kato Kinzoku Kogyo Kk | Refill tip covering type ballpoint pen |
| CN204113144U (en) * | 2014-09-17 | 2015-01-21 | 宝鸡石油机械有限责任公司 | Combination hook-block pressing twist lock device |
| CN110242134A (en) * | 2019-01-29 | 2019-09-17 | 浙江工业大学之江学院 | A kind of noiseless door-inhale of push button |
| CN210797765U (en) * | 2019-07-16 | 2020-06-19 | 厦门倍洁特建材有限公司 | Push type quick assembly disassembly structure of water intaking valve |
| CN110924887A (en) * | 2019-12-03 | 2020-03-27 | 湖南科技大学 | Deep sea submarine drilling rig rope coring and salvaging system and using method thereof |
| CN211820749U (en) * | 2019-12-28 | 2020-10-30 | 潍柴动力股份有限公司 | Quick oil drain device of oil pan |
| WO2022105806A1 (en) * | 2020-11-17 | 2022-05-27 | 武汉联影智融医疗科技有限公司 | Joint quick-change connector of mechanical arm and mechanical arm |
| FR3117392A1 (en) * | 2020-12-11 | 2022-06-17 | Etablissements Georges Renault | system for attaching a tool bit to a tool |
| CN114030003A (en) * | 2021-12-17 | 2022-02-11 | 杭州申昊科技股份有限公司 | Quick change device for end tool of mechanical arm |
| CN217320138U (en) * | 2022-02-21 | 2022-08-30 | 欧颂德婴童用品(湖北)有限公司 | Quick unlocking device of pull strap hook in push type |
| CN218061908U (en) * | 2022-05-13 | 2022-12-16 | 浙江吉利控股集团有限公司 | Unlocking assembly of glove box |
| CN115524154A (en) * | 2022-09-21 | 2022-12-27 | 中煤科工集团重庆研究院有限公司 | Coal mine deep hole fixed point closed sampling device and method |
| CN218762382U (en) * | 2022-12-23 | 2023-03-28 | 武汉联影医疗科技有限公司 | Rotary locking mechanism and medical equipment |
| CN116728379A (en) * | 2023-06-08 | 2023-09-12 | 浙江大学 | Passive heterogeneous upper limb assistance exoskeleton based on switch locking mechanism |
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| Publication number | Publication date |
|---|---|
| CN117021156B (en) | 2024-01-16 |
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