CN217168561U

CN217168561U - Intelligent robot quick lock device

Info

Publication number: CN217168561U
Application number: CN202121270170.3U
Authority: CN
Inventors: 苗利; 朱丽娜; 朱维金
Original assignee: Weifang Xinsong Robot Automation Co ltd
Current assignee: Weifang Xinsong Robot Automation Co ltd
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2022-08-12
Anticipated expiration: 2031-06-07

Abstract

The utility model belongs to the technical field of the robot, in particular to quick locking device of intelligent robot. The positioning device comprises a first connecting piece, a second connecting piece, an elastic sleeve and a positioning pin, wherein the first connecting piece and the second connecting piece are correspondingly provided with a first positioning hole and a second positioning hole respectively; the positioning pin is inserted into the first positioning hole and the second positioning hole; the elastic sleeve is arranged between the positioning pin and the first positioning hole and between the positioning pin and the second positioning hole, and an elastic ring is sleeved on the outer side of the elastic sleeve; the elastic ring is tensioned by the positioning pin, so that the first connecting piece and the second connecting piece are fixedly connected. The utility model discloses can lock first connecting piece and second connecting piece and demolish high-efficiently simple and direct, eliminate through the elastic sleeve that the fast lock is fast to be torn open to the wearing and tearing in the accurate hole of fast lock, let the system contain the fast lock quick detach of rigidity and damping.

Description

Intelligent robot quick lock device

Technical Field

The utility model belongs to the technical field of the robot, in particular to quick locking device of intelligent robot.

Background

A large amount of quick lock devices can be adopted in the current intelligent robot and automation industry, and the effect of the quick lock quick release mechanism is obvious in daily life. At present, although the number of quick-release mechanisms of the quick lock is large, the requirements of reliably assembling two different parts together and quickly disassembling and taking the parts are met, and certain difficulty is caused. The traditional fixing mode of the quickly locked part mainly comprises a bolt connecting mode and a pin hole matching mode, wherein the bolt connecting mode is that the quickly locked part and a base are fixed through a bolt, and the bolt is required to be disassembled and assembled through a special tool during implementation; the fixing bolts are usually arranged in a bolt group mode, and the complexity of operation is increased due to a large number of assembling and disassembling. The pin hole matching mode is that the fast lock pin and the fast lock hole structure are respectively fixed on the fast locked part and the base, and the fast lock pin is inserted into the fast lock hole to be fixed during fast locking; the pin hole cooperation mode requires that the part is locked soon to have higher repetition precision that targets in place, and the pin hole cooperation is dismantled and assembled repeatedly simultaneously and can bring the round pin axle wearing and tearing, reduces the reliability of locking soon. The traditional fixing mode of locking the part fast is complicated, complex in operation, low in positioning accuracy, easy to lose efficacy by locking fast, and can not satisfy the use requirement of locking the part fast reliably.

SUMMERY OF THE UTILITY MODEL

To the problem, an object of the utility model is to provide a quick locking device of intelligent robot to solve the tradition and locked the fixed mode dismouting of part complicated, complex operation, positioning accuracy are low, lock soon and easily become invalid soon, can't satisfy by the problem of the reliable user demand who locks soon of part soon.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

the embodiment of the utility model provides an intelligent robot quick lock device, including first connecting piece, second connecting piece, elastic sleeve and locating pin, wherein be equipped with first locating hole and second locating hole on first connecting piece and the second connecting piece respectively correspondingly; the positioning pins are inserted into the first positioning holes and the second positioning holes;

the elastic sleeve is arranged between the positioning pin and the first positioning hole and between the positioning pin and the second positioning hole, and an elastic ring is sleeved on the outer side of the elastic sleeve; the elastic sleeve and the elastic ring are tensioned by the positioning pin, so that the first connecting piece and the second connecting piece are fixedly connected.

In a possible implementation manner, one end of the first positioning hole corresponding to one end of the second positioning hole is provided with a first arc-shaped groove and a second arc-shaped groove, and the first arc-shaped groove and the second arc-shaped groove are buckled to form an elastic ring accommodating groove.

In a possible implementation manner, the diameter of the outer circumference of the elastic ring is smaller than the diameters of the first positioning hole and the second positioning hole; the elastic ring is accommodated in the elastic ring accommodating groove after being tensioned and elastically deformed by the positioning pin

In a possible implementation manner, the elastic ring is matched with the inner wall of the elastic ring accommodating groove in an elliptical surface manner.

In a possible implementation manner, the elastic sleeve is a split structure and includes a first elastic half body and a second elastic half body, and the elastic sleeve is sleeved outside the first elastic half body and the second elastic half body.

In a possible implementation manner, the first elastic half body and the second elastic half body are both in an arc-shaped structure, and one end of the first elastic half body is provided with a flange spigot I.

In a possible implementation manner, the length of a chord-wise connecting line of two side edges of the first elastic half body and the second elastic half body is smaller than the diameter of an arc.

In a possible implementation manner, elastic ring positioning grooves are formed in the outer surfaces of the first elastic half body and the second elastic half body along the circumferential direction, and the elastic rings are embedded in the elastic ring positioning grooves.

In a possible implementation manner, the positioning pin is of a cylindrical structure, a flange seam allowance II is arranged at one end of the positioning pin, and a chamfer is arranged at the other end of the positioning pin.

In a possible implementation manner, the intelligent robot quick lock device further comprises an intelligent robot; the intelligent robot comprises a base, a large arm, a small arm and an end effector which are sequentially connected in a rotating mode, and the first connecting piece and the second connecting piece are respectively arranged on the large arm and the small arm.

The utility model has the advantages and beneficial effects that:

1. the utility model discloses can lock first connecting piece and second connecting piece and demolish high-efficiently simple and direct, owing to contain the elastic sleeve, eliminate fast lock quick detach and to the wearing and tearing in the accurate hole of fast lock, let the system contain the fast lock quick detach of rigidity and damping.

2. The utility model discloses utilize the nonlinear deformation of elastic sleeve, can form the pine structure of not taking off, owing to set up the pine structure of not taking off, not only can fasten first connecting piece and second connecting piece fast, make first connecting piece and second connecting piece safe and reliable more after the fastening moreover, the good reliability, stability is high.

3. The utility model discloses simple structure, convenient to use, the range of application is wide, and is little to the structure required precision of first connecting piece and second connecting piece moreover.

4. The utility model discloses an elastic sleeve has the fish tail of imitating and preventing accurate locating hole.

Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.

The technical solution of the present invention is further described in detail by the accompanying drawings and examples.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

fig. 1 is an isometric view of an intelligent robot quick lock device in an embodiment of the present invention;

fig. 2 is a side view of an intelligent robot quick locking device in an embodiment of the present invention;

FIG. 3 is an enlarged view taken at point I in FIG. 2;

fig. 4 is an isometric view of an elastic sleeve according to an embodiment of the present invention;

fig. 5 is a schematic structural view of an elastic half body in an embodiment of the present invention;

fig. 6 is a schematic structural view of the positioning pin according to the embodiment of the present invention.

In the figure: the positioning device comprises a base 1, a large arm 2, a small arm 3, an end effector 4, an elastic sleeve 5, a first elastic half body 51, a second elastic half body 52, a flange seam allowance I501, an upper positioning half ring 502, an elastic ring positioning groove 503, a lower positioning half ring 504, a positioning pin 6, a flange seam allowance II 601, a first connecting piece 20, a first positioning hole 201, a first arc-shaped groove 202, a second connecting piece 30, a second positioning hole 301, a second arc-shaped groove 302 and an elastic ring 7.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are presented herein only to illustrate and explain the present invention, and not to limit the present invention.

The embodiment of the utility model provides a pair of quick locking device of intelligent robot has the advantage of lightweight, the flexible compensation of process, low noise, can assemble the spare part that two structures are different, locks or demolishs efficiently, the good reliability. Referring to fig. 1 to 3, the intelligent robot quick lock device includes a first connecting member 20, a second connecting member 30, an elastic sleeve 5 and a positioning pin 6, wherein the first connecting member 20 and the second connecting member 30 are correspondingly provided with a first positioning hole 201 and a second positioning hole 301, respectively, and the positioning pin 6 is inserted into the first positioning hole 201 and the second positioning hole 301; the elastic sleeve 5 is disposed between the positioning pin 6 and the first positioning hole 201 and the second positioning hole 301, the elastic ring 7 is sleeved outside the elastic sleeve 5, and the elastic ring 7 is tensioned by the positioning pin 6, so that the first connecting member 20 is fixedly connected with the second connecting member 30.

The utility model discloses can lock first connecting piece 20 and second connecting piece 30 and demolish high-efficiently simple and direct, owing to contain the elastic deformation structure, can eliminate the wearing and tearing of quick lock quick detach to locking accurate hole, let the system contain rigidity and damped quick lock quick detach.

Referring to fig. 1 and fig. 2, in the embodiment of the present invention, an intelligent robot quick locking device further includes an intelligent robot; the intelligent robot comprises a base 1, a big arm 2, a small arm 3 and an end effector 4 which are sequentially connected in a rotating mode, wherein a first connecting piece 20 and a second connecting piece 30 are respectively arranged on the big arm 2 and the small arm 3 and are used for rapidly locking the small arm 3 after contraction.

Referring to fig. 3, in the embodiment of the present invention, the first positioning hole 201 and the second positioning hole 301 are cylindrical holes, and the corresponding one end is respectively provided with the first arc-shaped groove 202 and the second arc-shaped groove 302, and the first arc-shaped groove 202 and the second arc-shaped groove 302 are buckled to form the elastic ring accommodating groove. Specifically, the elastic ring accommodating groove is of an elliptical structure.

In the embodiment of the present invention, the diameter of the outer circumference of the elastic ring 7 is smaller than the diameters of the first positioning hole 201 and the second positioning hole 301; the elastic ring 7 is accommodated in the elastic ring accommodating groove after being tensioned and elastically deformed by the positioning pin 6, and the elastic ring 7 is matched with the inner wall of the elastic ring accommodating groove by an elliptical surface to form a release structure. Owing to set up the structure of not taking off of pine, not only can fasten first connecting piece 20 and second connecting piece 30 fast, make first connecting piece 20 and second connecting piece 30 safe and reliable more after the fastening moreover, the good reliability, stability is high.

Referring to fig. 4 and 5, in the embodiment of the present invention, the elastic sleeve 5 effectively prevents the precision positioning hole from being scratched. Specifically, the elastic sleeve 5 is a split structure and includes a first elastic half body 51 and a second elastic half body 52, the elastic ring 7 is sleeved outside the first elastic half body 51 and the second elastic half body 52, and the first elastic half body 51 and the second elastic half body 52 are relatively positioned under the effect of the resilience of the elastic ring 7.

Further, the first elastic half body 51 and the second elastic half body 52 are both arc-shaped structures, and one end of each elastic half body is provided with a flange spigot I501, and the flange spigot I501 is used for axial limiting to limit the relative height of the first elastic half body 51 and the second elastic half body 52 which are simultaneously inserted into the first positioning hole 201 and the second positioning hole 301. The length of the chord line connecting the edges of the first half elastic body 51 and the second half elastic body 52 is smaller than the diameter of the whole circle concentric with the circular arc of the half elastic bodies. That is, the first elastic half body 51 and the second elastic half body 52 have a non-semicircular arc structure, and the radial height thereof is smaller than the radius of the circular arc.

Furthermore, the outer surfaces of the first elastic half body 51 and the second elastic half body 52 are both provided with elastic ring positioning grooves 503 along the circumferential direction, and the elastic ring 7 is embedded in the elastic ring positioning grooves 503. The two sides of the elastic ring positioning groove 503 are respectively an upper positioning half ring 502 and a lower positioning half ring 504. After the positioning pin 6 is inserted, the first elastic half body 51 and the second elastic half body 52 are separated, the lower positioning half ring 504 of the first elastic half body 51 and the second elastic half body 52 is tightly attached to the inner wall of the first positioning hole 201, and the upper positioning half ring 502 is tightly attached to the inner wall of the second positioning hole 301; meanwhile, the elastic ring 7 is tightened, and the elastic ring 7 is received in the elastic ring receiving groove between the first positioning hole 201 and the second positioning hole 301, thereby completing the quick connection of the first connecting member 20 and the second connecting member 30.

Specifically, the elastic sleeve 5 and the elastic ring 7 are made of rubber. The first elastic half body 51 and the second elastic half body 52 are positioned opposite to each other by the resilient force of the elastic ring 7 having high elasticity. The rebound of the elastomeric ring acts on the concave inner surface of the elastomeric ring positioning slot 503. In the natural state of non-use, the outer diameter of the elastic ring 7 is smaller than the diameter of the first positioning hole 201 and the second positioning hole 301. In this embodiment, the outer diameter of the elastic ring 7 is 20mm, and the diameters of the first positioning hole 201 and the second positioning hole 301 are 21 mm.

The embodiment of the utility model provides an in, because of elastic sleeve 5 is for dividing the body structure, can decompose quantity for m piece, m is the natural number more than or equal to two, as long as m piece guarantees that elastic ring 7 is by the locating pin 6 around tight elastic deformation that rises, and 7 appearance changes of elastic ring promptly satisfy insert and tight holding in elastic ring holding intracavity that rises. It should be noted that a plurality of elastic ring positioning grooves 503 may be provided on each elastic block at intervals along the axial direction, and a plurality of elastic blocks may be positioned by a plurality of elastic rings 7. Accordingly, a plurality of elastic ring receiving grooves are formed on the inner walls of the first positioning hole 201 and the second positioning hole 301 for receiving the corresponding elastic rings 7, thereby further improving the connection strength.

Referring to fig. 6, in the embodiment of the present invention, the positioning pin 6 is a cylindrical structure, and a flange seam allowance ii 601 is disposed at one end for axial limiting; the other end of the positioning pin 6 is provided with a chamfer 602, which is convenient to insert into the positioning hole.

Some accurate joints of current intelligent robot need lock with two school zero holes in the transportation, because the hole that is used for the locking is accurate hole, the utility model provides an intelligent robot quick-lock device can eliminate the wearing and tearing of quick lock quick detach to locking accurate hole, lets the system contain the quick lock quick detach of rigidity and damping.

The utility model provides a pair of quick locking device of intelligent robot contains following step:

a first step; and (6) contraposition.

The large arm 2 and the small arm 3 run until the first positioning hole 201 and the second positioning hole 301 are concentric.

A second step; the elastic link is in place

The first elastic half body 51 and the second elastic half body 52 in the natural contraction configuration are oppositely positioned by the resilience of the elastic ring 7, and are inserted into the first positioning hole 201 and the second positioning hole 301 from top to bottom. The flange seam allowance 501 locks the relative height of the first and second

elastic half bodies

51 and 52 inserted into the first and second positioning holes 201 and 301.

A third step; and (4) swelling.

The chamfer 602 of the rigid locating pin 6 is inserted into the elastic sleeve 5 from top to bottom.

Synchronously generating the following actions;

A) the upper half cylinder contacts.

The cylindrical surface of the rigid positioning pin 6 is inserted into the elastic sleeve 5 from top to bottom. Due to the elastic deformation of the elastic sleeve 5, the cylindrical surface of the positioning pin 6, the upper positioning half ring 502 and the second positioning hole 301 of the elastic sleeve 5 elastically tension the quick lock.

B) The ellipsoidal contact of the elastic ring 7 deforms.

In the elastic contact deformation process that the cylindrical surface of the rigid positioning pin 6 is inserted into the elastic sleeve 5 from top to bottom, the first elastic half body 51 and the second elastic half body 52 expand, the ellipsoidal surface of the elastic ring 7 contacts the first arc-shaped groove 202 and the second arc-shaped groove 302 in a deformation mode, and positioning is completed.

C) The lower half cylinders contact.

The cylindrical surface of the rigid positioning pin 6 is inserted into the elastic sleeve 5 from top to bottom. Due to the elastic deformation of the elastic sleeve 5, the cylindrical surface of the positioning pin 6, the two lower positioning half rings 504 and the first positioning hole 201 of the elastic sleeve 5 elastically tension the quick lock.

The above is a fast locking process, and the unlocking process is a reverse logic process.

The utility model provides a quick locking device of intelligent robot can eliminate the wearing and tearing of quick lock quick detach to locking precision hole, lets the system contain rigidity and damped quick lock quick detach, and it can assemble the spare part of two differences in structure, locks or demolishs efficiently, the good reliability.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The intelligent robot quick lock device is characterized by comprising a first connecting piece (20), a second connecting piece (30), an elastic sleeve (5) and a positioning pin (6), wherein the first connecting piece (20) and the second connecting piece (30) are correspondingly provided with a first positioning hole (201) and a second positioning hole (301) respectively;

the positioning pin (6) is inserted into the first positioning hole (201) and the second positioning hole (301);

the elastic sleeve (5) is arranged between the positioning pin (6) and the first positioning hole (201) and the second positioning hole (301), and an elastic ring (7) is sleeved on the outer side of the elastic sleeve (5);

the elastic sleeve (5) and the elastic ring (7) are tensioned by the positioning pin (6), so that the first connecting piece (20) and the second connecting piece (30) are fixedly connected.

2. The intelligent robot quick lock device according to claim 1, wherein one end of the first positioning hole (201) corresponding to the one end of the second positioning hole (301) is provided with a first arc-shaped groove (202) and a second arc-shaped groove (302), and the first arc-shaped groove (202) and the second arc-shaped groove (302) are buckled to form an elastic ring accommodating groove.

3. The intelligent robot quick lock device according to claim 2, wherein the diameter of the outer circumference of the elastic ring (7) is smaller than the diameter of the first positioning hole (201) and the second positioning hole (301); the elastic ring (7) is accommodated in the elastic ring accommodating groove after being tensioned and elastically deformed by the positioning pin (6).

4. The intelligent robot quick lock device according to claim 3, wherein the elastic ring (7) is matched with the inner wall of the elastic ring accommodating groove in an elliptical shape.

5. The intelligent robot quick lock device according to claim 1, wherein the elastic sleeve (5) is a split structure and comprises a first elastic half body (51) and a second elastic half body (52), and the elastic ring (7) is sleeved outside the first elastic half body (51) and the second elastic half body (52).

6. The intelligent robot quick lock device as claimed in claim 5, wherein the first elastic half body (51) and the second elastic half body (52) are both circular arc-shaped structures, and one end of the first elastic half body is provided with a flange spigot I (501).

7. The intelligent robot quick lock device according to claim 6, wherein the length of the chord-wise connection line of the two side edges of the first elastic half body (51) and the second elastic half body (52) is smaller than the diameter of a circular arc.

8. The intelligent robot quick lock device according to claim 7, wherein the first elastic half body (51) and the second elastic half body (52) are provided with elastic ring positioning grooves (503) on the outer surfaces along the circumferential direction, and the elastic ring (7) is embedded in the elastic ring positioning grooves (503).

9. The intelligent robot quick lock device according to claim 1, characterized in that the positioning pin (6) is a cylindrical structure, and one end is provided with a flange spigot II (601), and the other end is provided with a chamfer (602).

10. The intelligent robot quick lock device of any one of claims 1-9, further comprising an intelligent robot;

the intelligent robot comprises a base (1), a large arm (2), a small arm (3) and an end effector (4), wherein the base (1), the large arm (2), the small arm (3) and the end effector are sequentially connected in a rotating mode, and a first connecting piece (20) and a second connecting piece (30) are respectively arranged on the large arm (2) and the small arm (3).