CN117207229B - Flower-shaped mechanical arm tail end quick-dismantling mechanism - Google Patents
Flower-shaped mechanical arm tail end quick-dismantling mechanism Download PDFInfo
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- CN117207229B CN117207229B CN202311467820.7A CN202311467820A CN117207229B CN 117207229 B CN117207229 B CN 117207229B CN 202311467820 A CN202311467820 A CN 202311467820A CN 117207229 B CN117207229 B CN 117207229B
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- 230000000149 penetrating effect Effects 0.000 claims abstract description 14
- 239000012636 effector Substances 0.000 claims description 17
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 description 5
- 238000012216 screening Methods 0.000 description 4
- 230000006378 damage Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000003780 insertion Methods 0.000 description 3
- 230000037431 insertion Effects 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
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Abstract
The invention discloses a quick-release mechanism for the tail end of a flower-shaped mechanical arm, which belongs to the field of medical appliances and comprises the following components: the flower-shaped mandrel is provided with an arc-shaped channel in a penetrating way and is used for being connected with the tail end executing device; the sleeve is provided with a flower-shaped channel and is used for accommodating a flower-shaped mandrel, and the flower-shaped mandrel cannot circumferentially rotate when being connected to the flower-shaped channel in a sliding manner; the limiting pin is rotationally connected with the sleeve, an arc-shaped pin is arranged on the limiting pin, and the arc-shaped pin is inserted into the arc-shaped channel by rotating the limiting pin, so that the flower-shaped mandrel cannot axially displace; the tail end connecting seat is used for connecting the mechanical arm; the adapter is arranged between the tail end connecting seat and the sleeve and is coaxially connected with the tail end connecting seat. Through the arrangement, the invention can be connected between the mechanical arm and the tail end connecting device, and can complete assembly or disassembly of the auxiliary tail end executing device and the mechanical arm with high precision and high efficiency.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a quick-dismantling mechanism for the tail end of a flower-shaped mechanical arm.
Background
With the development of science and technology, robots are increasingly widely used in medical surgery. The medical robot assists the manual work to perform the operation, so that the operation is more accurate. The mechanical arm is usually connected with the end effector, and the end effector needs to be disassembled for sterilization after operation. During surgery, it is sometimes necessary to replace the end effector. This requires the end effector to be quickly assembled and disassembled, and the stability and the installation accuracy of the end effector can be ensured after the end effector is assembled. The existing mechanical arm and the end execution device are connected by screws or large threads on the outer circle, and the two connection modes are stable and firm, but have the problem of slow installation speed, which is not beneficial to smooth and efficient operation.
In the screw connection scheme, additional tools are needed, the operation steps are more, and the operation process is more complicated; the number of turns required to rotate in the scheme of the external circular large thread rotary connection is quite large; both of these attachment and detachment methods are complex and time consuming and directly impact the efficiency of the procedure.
Therefore, it is necessary to design an apparatus capable of assisting in high-precision and high-efficiency assembly or disassembly of the end effector and the mechanical arm, so as to solve the above technical problems, and the apparatus is particularly a quick-disassembly mechanism for the end of the flower-shaped mechanical arm.
Disclosure of Invention
In order to overcome the problems in the background art, the invention adopts the following technical scheme:
a flower-shaped mechanical arm end quick release mechanism, comprising: the first connecting structure is used for connecting the tail end executing device and comprises a sleeve and a flower-shaped mandrel penetrating through the arc-shaped channel, wherein the flower-shaped channel is arranged on the sleeve, and the flower-shaped mandrel cannot circumferentially rotate when being connected with the flower-shaped channel in a sliding manner; the limiting pin is rotationally connected with the sleeve, an arc-shaped pin is arranged on the limiting pin, and the arc-shaped pin is inserted into the arc-shaped channel by rotating the limiting pin, so that the flower-shaped mandrel cannot axially displace; the second connecting structure is used for connecting the mechanical arm and comprises a coaxially connected adapter and a tail end connecting seat, wherein the adapter is connected with the sleeve, and the tail end connecting seat is connected with the mechanical arm.
Further, the sleeve comprises a top disc provided with a stand column and a bottom disc provided with a jack, the limiting pin is connected with the stand column in a sleeved mode, the bottom disc is coaxial with the top disc, the stand column is matched with the jack, and therefore the top disc and the bottom disc can form the sleeve and limit the axial displacement of the limiting pin along the stand column.
Further, the flower-shaped channel comprises a flower-shaped top groove penetrating through the top disc along the axial direction of the top disc and a flower-shaped bottom groove penetrating through the bottom disc along the axial direction of the bottom disc, when the top disc is spliced with the bottom disc, the flower-shaped top groove and the flower-shaped bottom groove are not aligned along the axial direction of the upright post, and when the flower-shaped mandrel penetrates through the top disc, the flower-shaped mandrel is required to be subjected to circumferential rotation to be spliced in the flower-shaped bottom groove in an adaptive manner; even if the arc pin breaks and the flower-shaped mandrel moves towards the top disc, the flower-shaped mandrel is limited by the flower-shaped top groove on the top disc, so that the end effector can be prevented from directly sliding off the sleeve when the arc pin breaks, the operation process is affected, and even serious injury is caused to a patient or medical staff.
Further, the flower-shaped mandrel comprises mandrel petals and a connecting shaft, the mandrel petals are integrally connected with the connecting shaft, the arc-shaped channel penetrates through the connecting shaft, and the mandrel petals are matched with the flower-shaped channel.
Further, the outer contour of the cross section perpendicular to the axis direction of the connecting shaft on the mandrel petals is composed of at least 3 petal-shaped arcs, the inner contour of the flower-shaped top groove and the inner contour of the flower-shaped bottom groove are the same as or similar to the outer contour of the mandrel petals, and the area of the inner contour of the flower-shaped top groove and the area of the inner contour of the flower-shaped bottom groove are larger than the area of the outer contour of the mandrel petals.
Further, the number of the stand columns is not less than three, the number of the stand columns is the same as the number of the jacks, and the distribution positions of the stand columns on the top disc are the same as the distribution positions of the jacks on the bottom disc, so that the axes of the top disc and the bottom disc are overlapped after the top disc is inserted.
Further, a limiting block is arranged on the limiting pin; the limiting block is arc-shaped, the arc-shaped pin is connected to one side, close to the connecting shaft, of the limiting block, and one side, close to the connecting shaft, of the limiting block can be abutted to and attached to the outer wall of the connecting shaft.
Further, a vertical sleeve is further arranged on the limiting pin, and a connecting rod is arranged between the vertical sleeve and the limiting block; the vertical sleeve is sleeved on the vertical column, and the vertical sleeve is axially connected with the vertical column along the vertical column: the length of the vertical sleeve is smaller than that of the upright post, and the length of the vertical sleeve is not smaller than the thickness of the mandrel petals, so that the mandrel petals can circumferentially rotate after penetrating through the flower-shaped top groove and before entering the flower-shaped bottom groove.
Further, an internal shaft thread is formed in the connecting shaft, the connecting shaft is connected with the end execution device through the internal shaft thread, and the internal shaft thread is overlapped with the axis of the connecting shaft.
Further, the outer wall of the adapter is provided with a large circular external thread, the inside of the terminal adapter is provided with a large circular internal thread, and the large circular internal thread is matched with the large circular external thread, so that the adapter is detachably connected with the terminal adapter.
Further, a flat bottom is arranged on the adapter, after the adapter is connected with the tail end adapter, one point is optionally a on the adapter, and the distance between any point on the flat bottom and a in the axial direction of the large circular external thread is equal to that between any point on the flat bottom and a, so that the adapter and the chassis can be ensured to be coaxial with the large circular external thread when the adapter is abutted.
Further, the chassis with the one end that terminal connecting seat and arm are connected is equipped with the bolt hole, the bolt hole runs through along the axis direction of great circle internal thread terminal connecting seat, terminal connecting seat pass through bolt hole and arm bolted connection.
The invention has the beneficial effects that:
1. through setting up the flower shape dabber and can be by the sleeve that the flower shape dabber passed for connect the flower shape dabber can be quick with telescopic connection and make the unable rotation of the axis direction around the connecting axle of flower shape dabber after connecting, and then make the unable axis direction along the connecting axle of flower shape dabber remove of grafting through the arc round pin on the spacing round pin and arc passageway, thereby simple swift realization can save the time consuming of assembly and dismantlement process by a wide margin under the prerequisite of guaranteeing the precision to the quick limit assembly of the end effector of connection at flower shape dabber, consequently possess better practical effect.
2. The assembled flower-shaped mandrel cannot axially rotate through the flower-shaped mandrel with the flower-shaped outline formed by a plurality of identical arcs; the flower-shaped mandrel has a smooth outline and no edges, so that the flower-shaped mandrel has a longer service life in repeated disassembly and assembly use, and can not scratch medical staff.
Drawings
FIG. 1 is a schematic view of the overall structure of the front side in the disassembled state of the present invention;
FIG. 2 is a schematic view of the overall structure of the rear side in the disassembled state of the present invention;
FIG. 3 is a front view of the structure in the disassembled state of the present invention;
FIG. 4 is a schematic view of the overall structure of the front side in the installed state of the present invention;
fig. 5 is a front view of the structure in the installed state of the present invention;
FIG. 6 is a left side view of the structure of the present invention in an installed state;
FIG. 7 is a schematic cross-sectional view of FIG. 6;
FIG. 8 is an exploded view of the overall structure of the present invention;
FIG. 9 is a schematic diagram of the overall structure of the assembled flower-shaped mandrel, stop pin and chassis;
FIG. 10 is a front elevational view of the assembled flower-shaped mandrel, stop pin, and chassis;
FIG. 11 is a schematic view of the overall structure of the arcuate pin upon complete disengagement from the arcuate channel on the basis of FIG. 9;
FIG. 12 is a front elevational view of the arcuate pin fully disengaged from the arcuate channel on the basis of FIG. 10;
FIG. 13 is a front elevational view of the configuration of the flower-shaped mandrel;
FIG. 14 is a schematic cross-sectional view of a flower-shaped mandrel;
FIG. 15 is a schematic view of the overall structure of a flower-shaped mandrel;
FIG. 16 is a schematic view of the overall structure of the stop pin;
FIG. 17 is a schematic diagram illustrating the assembly of the present invention with an end effector;
FIG. 18 is a schematic diagram illustrating the general assembly of the present invention with an end effector and a robotic arm;
in the figure, A, a quick-dismantling mechanism; 1. a flower-shaped mandrel; 1-1, shaft internal threads; 1-2, mandrel petals; 1-3, connecting shaft; 1-4, arc-shaped channels; 2. a top plate; 2-1, flower-shaped top grooves; 2-2, stand columns; 3. a limiting pin; 3-1, limiting blocks; 3-2, connecting rod; 3-3, standing the sleeve; 3-4, arc pins; 4. a chassis; 4-1, flower-shaped bottom grooves; 4-2, inserting holes; 5. a connecting seat is connected in an adapting way; 5-1, large round external threads; 5-2, a flat bottom; 6. a terminal connecting seat; 6-1, large round internal threads; 6-2, bolt holes; B. a mechanical arm; C. an end effector.
Detailed Description
The following detailed description of the embodiments of the present invention will be made more apparent to those skilled in the art from the following detailed description, in which the invention is embodied in several, but not all, embodiments of the invention. The invention may be embodied or applied in other specific forms and features of the following examples and examples may be combined with each other without conflict, all other examples being contemplated by those of ordinary skill in the art without undue burden from the present disclosure, based on the examples of the invention.
As shown in fig. 1-18, a quick-dismantling mechanism a at the tail end of a flower-shaped mechanical arm B, comprising: the first connecting structure is used for connecting the tail end executing device C and comprises a sleeve and a flower-shaped mandrel 1 penetrating through an arc-shaped channel 1-4, wherein the arc-shaped channel 1-4 is arranged on a connecting shaft 1-3 of the flower-shaped mandrel 1, the flower-shaped channel is arranged on the sleeve, and the flower-shaped mandrel 1 cannot rotate circumferentially when being connected with the flower-shaped channel in a sliding manner; the limiting pin 3 is rotationally connected with the sleeve, the limiting pin 3 is provided with an arc pin 3-4, and the arc pin 3-4 is inserted into the arc channel 1-4 by rotating the limiting pin 3, so that the flower-shaped mandrel 1 cannot axially displace; the second connection structure is used for connecting the mechanical arm B and comprises a coaxially connected adapter 5 and a tail end connecting seat 6, wherein the adapter 5 is connected with a sleeve, and the tail end connecting seat 6 is connected with the mechanical arm B.
1-18, the sleeve comprises a top disc 2 provided with a stand column 2-2 and a bottom disc 4 provided with a jack 4-2, wherein the top disc 2 and the bottom disc 4 are of circular disc-shaped structures, the axis of the stand column 2-2 is parallel to the axis of the top disc 2, the axis of the jack 4-2 is parallel to the axis of the bottom disc 4, the limiting pin 3 is sleeved and connected with the stand column 2-2, the bottom disc 4 is coaxial with the top disc 2, and the stand column 2-2 is matched with the jack 4-2 so that the top disc 2 and the bottom disc 4 can form the sleeve and limit the axial displacement of the limiting pin 3 along the stand column 2-2. The vertical cross-sectional shapes of the columns 2-2 and the insertion holes 4-2 along the respective axial directions are the same, and these cross-sectional shapes may be circular or rectangular, but the cross-sectional area of the insertion holes 4-2 is larger than that of the columns 2-2 to ensure that the columns 2-2 can be inserted into the insertion holes 4-2.
In a more preferred embodiment, as shown in fig. 1-18, the flower-shaped channel comprises a flower-shaped top groove 2-1 penetrating through the top disc 2 along the axial direction of the top disc 2 and a flower-shaped bottom groove 4-1 penetrating through the bottom disc 4 along the axial direction of the bottom disc 4, when the top disc 2 is spliced with the bottom disc 4, the flower-shaped top groove 2-1 and the flower-shaped bottom groove 4-1 are not aligned along the axial direction of the upright post 2-2, and when the flower-shaped mandrel 1 penetrates through the top disc 2, the flower-shaped mandrel needs to be circumferentially rotated to be matched and spliced in the flower-shaped bottom groove 4-1; even if the arc pin 3-4 breaks and the flower-shaped mandrel 1 moves towards the top disc 2, the flower-shaped mandrel 1 is limited by the flower-shaped top groove 2-1 on the top disc 2, so that the end effector C is prevented from directly sliding out of the sleeve when the arc pin 3-4 breaks, the operation progress is influenced, and even serious injury is caused to a patient or medical staff. When the arc pin 3-4 breaks, the movement cause of the flower-shaped mandrel 1 is specifically: is pulled by gravity from the end effector C and the surgical instrument or other object to which the end effector is attached.
In a more preferred embodiment, as shown in fig. 1-18, a flower-shaped mandrel 1 comprises mandrel petals 1-2 and a connecting shaft 1-3, the mandrel petals 1-2 are integrally connected with the connecting shaft 1-3, an arc-shaped channel 1-4 is arranged on the connecting shaft 1-3 in a penetrating way, and the mandrel petals 1-2 are matched with the flower-shaped channel. The plane of the arc axis of the arc-shaped channel 1-4 is parallel to the plane perpendicular to the central axis of the connecting shaft 1-3, the arc axis is a section of arc, and any point on the axis of the upright post 2-2 sleeved by the limiting pin 3 is used as the center of a circle, so that the limiting pin 3 can be inserted into the arc-shaped channel 1-4 only by rotating the limiting pin 3. The limiting pin 3 is also provided with a limiting block 3-1; the limiting block 3-1 is arc-shaped, the arc-shaped pin 3-4 is connected to one side, close to the connecting shaft 1-3, of the limiting block 3-1, one side, close to the connecting shaft 1-3, of the limiting block 3-1 can be abutted and attached to the outer wall of the connecting shaft 1-3, the arrangement of the abutting and attaching of the outer wall of the limiting block 3-1 and the connecting shaft 1-3 has the advantages that the connection between the limiting pin 3 and the flower-shaped mandrel 1 is tighter, a tension-based connection relation is formed at the connection position, the connection relation is not easy to be damaged by vibration generated by the flower-shaped mandrel 1, and the tightly attached connection can effectively avoid stress accumulation and structural damage based on stress action, so that the service life of the flower-shaped mandrel 1 and the limiting pin 3 is prolonged on the basis of improving the connection stability.
In a more preferred embodiment, as shown in fig. 1-18, the outer contour of the cross section of the mandrel petals 1-2 perpendicular to the axis direction of the connecting shaft 1-3 is composed of at least 3 petal-shaped arcs, the inner contour of the flower-shaped top groove 2-1 and the flower-shaped bottom groove 4-1 are the same as or similar to the outer contour of the mandrel petals 1-2, the inner contour dimensions of the flower-shaped top groove 2-1 and the flower-shaped bottom groove 4-1 are the same, but the area of the inner contour of the flower-shaped top groove 2-1 and the area of the inner contour of the flower-shaped bottom groove 4-1 are both larger than the area of the outer contour of the mandrel petals 1-2. The size of the gap between the outer contour of the mandrel petal 1-2 and the flower-shaped top groove 2-1 is not more than 0.5mm, more specifically, the size of the gap between the outer contour of the mandrel petal 1-2 and the flower-shaped top groove 2-1 is in the range of 0.2mm-0.3mm, so that the flower-shaped mandrel 1 can be inserted into the flower-shaped top groove 2-1 and the flower-shaped bottom groove 4-1, and meanwhile, the flower-shaped mandrel 1 cannot shake in the flower-shaped bottom groove 4-1.
In a more preferred embodiment, as shown in fig. 1-18, the number of the columns 2-2 is not less than three, the number of the columns 2-2 is the same as the number of the jacks 4-2, the distribution positions of the columns 2-2 on the top tray 2 are the same as the distribution positions of the jacks 4-2 on the bottom tray 4, so that after the top tray 2 is spliced with the bottom tray 4, the axis coincides with the axis, when the assembly is required, firstly, one side of the top tray 2 provided with the columns 2-2 is abutted against one side of the bottom tray 4 so that the top tray 2 is parallel to the bottom tray 4, then, the disc-shaped top tray 2 and the bottom tray 4 are kept in a coaxial state, then, one of the top tray 2 or the bottom tray 4 starts to rotate until the columns 2-2 are rotated to the position where the jacks 4-2 are aligned, and in this state, the flower-shaped top slots 2-1 are not aligned with the flower-shaped bottom slots 4-1 along the axis direction of the top tray 2, and finally, the columns 2-2 are inserted into the jacks 4-2 to complete blind assembly of the sleeve.
In another more preferred embodiment, all connection modes of the top disc 2 and the bottom disc 4 when the upright post 2-2 and the jack 4-2 can be plugged are determined, then a part of the assembled top disc 2, which is coaxial with the bottom disc 4, is selected from the modes to serve as a primary screening scheme, a scheme capable of ensuring that the flower-shaped top groove 2-1 and the flower-shaped bottom groove 4-1 are not aligned along the axis direction of the top disc 2 is selected from the primary screening scheme to serve as a secondary screening scheme, the secondary screening scheme is an assembly scheme, and compared with the blind assembly embodiment, the blind assembly embodiment can effectively reduce abrasion of the upright post 2-2 and the bottom disc 4 and has higher assembly efficiency.
In a more preferred embodiment, as shown in fig. 1-18, a standing sleeve 3-3 is further arranged on the limiting pin 3, and a connecting rod 3-2 is arranged between the standing sleeve 3-3 and the limiting block 3-1; the vertical sleeve 3-3 is sleeved on the vertical column 2-2 and axially extends along the vertical column 2-2: the length of the vertical sleeve 3-3 is smaller than that of the vertical post 2-2, and the length of the vertical sleeve 3-3 is not smaller than the thickness of the mandrel petals 1-2, so that the mandrel petals 1-2 can circumferentially rotate after penetrating through the flower-shaped top groove 2-1 and before entering the flower-shaped bottom groove 4-1. The vertical sleeve 3-3 is cylindrical as a whole, and a gap of 0.1mm-0.2mm is kept between the inner wall of the vertical sleeve 3-3 and the outer wall of the upright post 2-2, so that the vertical sleeve 3-3 can be smoothly rotated around the upright post 2-2, and the arc-shaped pin 3-4 on the limiting block 3-1 can be accurately inserted into the arc-shaped channel 1-4.
In a more preferred embodiment, as shown in fig. 1 to 18, the connecting shaft 1-3 is internally provided with a shaft internal thread 1-1, the connecting shaft 1-3 is connected with the end effector C through the shaft internal thread 1-1, and the shaft internal thread 1-1 coincides with the axis of the connecting shaft 1-3. The outer wall of the adapter 5 is provided with a large circular external thread 5-1, the inside of the terminal connecting seat 6 is provided with a large circular internal thread 6-1, and the large circular internal thread 6-1 is matched with the large circular external thread 5-1 so that the adapter 5 is detachably connected with the terminal connecting seat 6.
In a more preferred embodiment, as shown in fig. 1-18, a flat bottom 5-2 is provided on the adaptor connection base 5, when the adaptor connection base 5 is connected with the end connection base 6, an optional point on the adaptor connection base 5 is a, and the distance between any point on the flat bottom 5-2 and a in the axial direction of the large circular external thread 5-1 is equal, so that the large circular external thread 5-1 and the chassis 4 can be ensured to be coaxial when the adaptor connection base 5 is abutted against the chassis 4, and meanwhile, the coaxiality of the end execution device C and the mechanical arm B can be effectively ensured.
In a more preferred embodiment, as shown in fig. 1-18, a bolt hole 6-2 is formed at one end of the chassis 4, which is connected to the end connecting seat 6 and the mechanical arm B, and the bolt hole 6-2 penetrates through the end connecting seat 6 along the axial direction of the large circular internal thread 6-1, and the end connecting seat 6 is connected to the mechanical arm B by a bolt through the bolt hole 6-2.
Claims (7)
1. The utility model provides a flower-shaped arm terminal quick detach mechanism which characterized in that includes:
the flower-shaped mandrel is provided with an arc-shaped channel in a penetrating way and is used for being connected with the tail end executing device;
the sleeve is provided with a flower-shaped channel and is used for accommodating a flower-shaped mandrel, and the flower-shaped mandrel cannot circumferentially rotate when being connected to the flower-shaped channel in a sliding manner;
the limiting pin is rotationally connected with the sleeve, an arc-shaped pin is arranged on the limiting pin, and the arc-shaped pin is inserted into the arc-shaped channel by rotating the limiting pin, so that the flower-shaped mandrel cannot axially displace;
the tail end connecting seat is used for connecting the mechanical arm;
the adapter is arranged between the tail end connecting seat and the sleeve and is coaxially connected with the tail end connecting seat;
the sleeve comprises a top disc provided with a stand column and a bottom disc provided with a jack, the limiting pin is connected with the stand column in a sleeved mode, the bottom disc is coaxial with the top disc, and the stand column is matched with the jack, so that the top disc and the bottom disc can form the sleeve and limit the axial displacement of the limiting pin along the stand column;
the flower-shaped channel comprises a flower-shaped top groove penetrating through the top disc and a flower-shaped bottom groove penetrating through the bottom disc, when the top disc is inserted into the bottom disc, the flower-shaped top groove and the flower-shaped bottom groove are not aligned along the axial direction of the upright post, and when the flower-shaped mandrel penetrates through the top disc, the flower-shaped mandrel needs to rotate circumferentially to be matched with the flower-shaped bottom groove;
the flower-shaped mandrel comprises mandrel petals and a connecting shaft, the mandrel petals are integrally connected with the connecting shaft, the arc-shaped channel penetrates through the connecting shaft, and the mandrel petals are matched with the flower-shaped channel.
2. The quick release mechanism for the tail end of a flower-shaped mechanical arm according to claim 1, wherein the limiting pin is further provided with a limiting block; the limiting block is arc-shaped, the arc-shaped pin is connected to one side, close to the connecting shaft, of the limiting block, and one side, close to the connecting shaft, of the limiting block can be abutted to and attached to the outer wall of the connecting shaft.
3. The quick release mechanism for the tail end of the flower-shaped mechanical arm according to claim 2, wherein the limiting pin is further provided with a vertical sleeve, and a connecting rod is arranged between the vertical sleeve and the limiting block; the vertical sleeve is sleeved on the vertical column, and the vertical sleeve is axially connected with the vertical column along the vertical column: the length of the vertical sleeve is smaller than that of the upright post, and the length of the vertical sleeve is not smaller than the thickness of the mandrel petals, so that the mandrel petals can circumferentially rotate after penetrating through the flower-shaped top groove and before entering the flower-shaped bottom groove.
4. A quick release mechanism for a flower-shaped arm according to claim 3, wherein the connecting shaft is internally threaded, the connecting shaft is connected to the end effector by means of the internal shaft thread, and the internal shaft thread coincides with the axis of the connecting shaft.
5. The quick release mechanism for a flower-shaped arm according to claim 4, wherein the outer wall of the adaptor is provided with a round external thread, the inner part of the adaptor is provided with a round internal thread, and the round internal thread is adapted to the round external thread, so that the adaptor is detachably connected to the adaptor.
6. The quick release mechanism for a flower-shaped mechanical arm according to claim 5, wherein a flat bottom is provided on the adapter, and when the adapter is connected with the end connector, a point a is optionally selected on the adapter, and the distance between any point on the flat bottom and a in the axial direction of the large circular external thread is equal, so that the adapter and the chassis can ensure that the large circular external thread and the chassis are coaxial when the adapter is abutted.
7. The quick release mechanism for a flower-shaped mechanical arm according to claim 6, wherein the chassis and one end of the end connecting seat connected with the mechanical arm are provided with bolt holes, the bolt holes penetrate through the end connecting seat along the axial direction of the large round internal threads, and the end connecting seat is connected with the mechanical arm through the bolt holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311467820.7A CN117207229B (en) | 2023-11-07 | 2023-11-07 | Flower-shaped mechanical arm tail end quick-dismantling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311467820.7A CN117207229B (en) | 2023-11-07 | 2023-11-07 | Flower-shaped mechanical arm tail end quick-dismantling mechanism |
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| CN117207229A CN117207229A (en) | 2023-12-12 |
| CN117207229B true CN117207229B (en) | 2024-02-09 |
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|---|---|---|---|---|
| CN104626156A (en) * | 2015-01-07 | 2015-05-20 | 北京控制工程研究所 | Quick disassembling and assembling connector for spatial operation without driving source |
| CN104816311A (en) * | 2015-04-20 | 2015-08-05 | 哈尔滨工业大学 | Robot arm joint quick-change interface system allowing on-rail replacement |
| CN108656083A (en) * | 2018-05-22 | 2018-10-16 | 王伟 | A kind of industry mechanical arm pedestal is fixedly connected with mechanism |
| CN109877604A (en) * | 2019-02-28 | 2019-06-14 | 江苏晨光数控机床有限公司 | A kind of quick clamping apparatus in top |
| CN110091355A (en) * | 2019-07-01 | 2019-08-06 | 广东博智林机器人有限公司 | Attachment device and manipulator |
| CN111496831A (en) * | 2020-05-19 | 2020-08-07 | 安徽三联学院 | Robot tail end flexible quick-change disc |
| CN216762202U (en) * | 2022-03-02 | 2022-06-17 | 新乡巴山航空材料有限公司 | Device for limiting hydraulic actuator cylinder |
| CN219633775U (en) * | 2022-10-26 | 2023-09-05 | 广州视源电子科技股份有限公司 | Quick release device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN117207229A (en) | 2023-12-12 |
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