CN108177158B - Quick change interface of reconfigurable mechanical arm based on memory alloy - Google Patents
Quick change interface of reconfigurable mechanical arm based on memory alloy Download PDFInfo
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- CN108177158B CN108177158B CN201711492546.3A CN201711492546A CN108177158B CN 108177158 B CN108177158 B CN 108177158B CN 201711492546 A CN201711492546 A CN 201711492546A CN 108177158 B CN108177158 B CN 108177158B
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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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Abstract
The invention discloses a quick-change interface of a reconfigurable mechanical arm based on memory alloy, and belongs to the technical field of robots. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy comprises an interface male end and an interface female end which are matched with each other, wherein the interface male end comprises a male end main body, a plug support, a plug, a first locking ring and a locking slide block, the locking slide block is driven by the memory alloy to move along the axial direction of the male end main body, the interface female end comprises a female end main body, a socket and a second locking ring, a through hole is formed in the first locking ring, a steel ball is arranged in the through hole, a first inclined part abutted against the steel ball is arranged on the locking slide block, a locking groove is formed in the position, corresponding to the through hole, of the second locking ring, and the locking slide block can slide to drive the first inclined part to abut against the steel ball to move so as to realize abutting joint or separation. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy is simple in structure, and the butt joint or separation operation of the interface is very convenient.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a quick-change interface of a reconfigurable mechanical arm based on memory alloy.
Background
The development of robotics has led to a continuous increase in the capabilities of robots, and the fields and scope of application of robots are expanding, and it is desirable for robots to be able to perform more complex tasks. By reprogramming, a robot can easily perform many different tasks, however the range of tasks a robot can perform is limited by its own mechanical structure. For a given task, the optimum configuration of the robot can be selected according to the task requirements, such as painting or welding operations, which generally use robots of vertical articulated configuration, and for high-precision table-top precision assembly operations, horizontal SCARA configuration. For unpredictable tasks or changing tasks, the optimal configuration of the robot cannot be selected, and a plurality of robots with different kinematics and dynamics are required to complete the task, which is often costly and even infeasible.
The reconfigurable robot is a robot capable of recombining configuration according to task needs, and is developed on the basis of modular robot research. Reconfigurable robots are robots that are built into a specific configuration using interchangeable links and joint modules of different sizes and capabilities, like building blocks.
The key research object of the reconfigurable robot is the design of the quick-change interface, but the existing quick-change interfaces of the reconfigurable robot are not researched much, the structure of the quick-change interface is often very complex, and the application is very inconvenient, so that improvement is needed.
Disclosure of Invention
The invention aims to solve the technical problem of providing a quick-change interface of a reconfigurable mechanical arm based on memory alloy, which has a simple structure and is convenient to butt joint.
The solution adopted by the invention for solving the technical problems is as follows: the quick-change interface comprises a male interface end and a female interface end which are matched with each other, the male interface end comprises a male end main body, a hollow plug support is fixedly arranged at the axis position of the male end main body, a plug is fixedly arranged in the plug support, the female interface end comprises a female end main body, a socket matched with the plug is fixedly arranged at the axis position of the female end main body, a first locking ring extends out of the circumferential position of the male end main body, a locking sliding block is slidably arranged between the plug support and the first locking ring, a memory alloy for driving the locking sliding block to move is fixedly arranged in the male end main body, one end of the memory alloy is fixedly connected with the male end main body, the other end of the memory alloy is fixedly connected with the locking sliding block, and a through hole is formed in the first locking ring along the radial direction of the male end main body, the through hole is internally provided with a steel ball which can move along the axial direction of the through hole, the locking slide block is provided with a first inclined part which is used for abutting against the steel ball, the circumferential position of the female end main body extends to the direction of the male end main body to form a second locking ring, when in butt joint, the second locking ring is attached to the outer surface of the first locking ring, a locking groove is formed in the position, corresponding to the through hole, of the second locking ring, the locking slide block moves along the axial direction of the male end main body to push the steel ball into the locking groove, so that the male end of the interface is locked with the female end of the interface, or the steel ball is driven to move out of the locking groove, and the male end of the interface is separated from the female end of the interface in a locking state; and a passive spring is fixedly arranged in the plug support, one end of the passive spring is abutted against the plug support, and the other end of the passive spring is abutted against the plug.
As a further improvement of the above technical solution, along in the public end main part axial direction, the both sides of closure slider are provided with first tensioning piece and second tensioning piece respectively, first tensioning piece set firmly in public end main part, second tensioning piece set firmly in plug support keeps away from in public end main part one end, follows in the radial direction of public end main part, the interval has set up a plurality of first bolts in proper order on the first tensioning piece, interval has set up a plurality of second bolts in proper order on the second tensioning piece, and follows in the radial direction of public end main part, the second bolt sets up in adjacent two between the first bolt, the mid portion of memory alloy twines in proper order first bolt, second bolt, so that the memory alloy in the axial direction of public end main part turns over the direction.
As a further improvement of the above technical solution, a stud disposed along the axial direction of the male end main body is fixedly disposed on the second tensioning block, the stud is disposed in a hollow manner, a fastening nut is further fixedly disposed at one end of the stud away from the male end main body, and the memory alloy passes through one end of the stud close to the male end main body and is fastened to the second tensioning block through the fastening nut.
As a further improvement of the technical scheme, the longitudinal section of the locking groove is of a trapezoidal structure.
As a further improvement of the above technical solution, a restoring spring is sleeved on the plug support, one end of the restoring spring abuts against the male end main body, and the other end of the restoring spring abuts against the locking slider.
As a further improvement of the above technical solution, the male end body is further fixedly provided with a limit switch, the female end body is fixedly provided with a limit switch touch screw at a position corresponding to the limit switch, and when the male interface end is in butt joint with the female interface end, the limit switch is in contact with the limit switch touch screw, so as to prevent the male interface end from being continuously close to the female interface end.
As a further improvement of the above technical solution, the cross section of the contact surface of the plug support and the locking slider is a mutually matched D-shaped structure, so as to circumferentially fix the locking slider and the plug support.
As a further improvement of the above technical solution, a second inclined portion that is arranged in a direction away from the second locking ring is arranged on a free end of the first locking ring and a surface facing the second locking ring, and a third inclined portion that is arranged in a direction away from the first locking ring is arranged on a free end of the second locking ring and a surface facing the first locking ring.
As a further improvement of the above technical solution, one end of the second locking ring facing the male end main body is provided with a locking opening, and a locking plate matched with the locking opening is fixedly arranged on the male end main body at a position corresponding to the locking opening.
As a further improvement of the above technical solution, six through holes are uniformly formed in the first locking ring along the circumferential direction of the male end main body, the steel ball is disposed in each through hole, and a locking groove is formed in the second locking ring at a position corresponding to each through hole.
The invention has the beneficial effects that:
the quick-change interface of the reconfigurable mechanical arm based on the memory alloy drives the locking slide block to move along the axial direction of the male end main body by utilizing the deformation of the memory alloy, and in the moving process of the locking slide block, the inclined part on the locking slide block pushes the steel ball to move along the axial direction of the through hole, so that the steel ball is pushed into the locking groove, the male end of the interface is locked with the female end of the interface, or the steel ball is moved out of the locking groove, so that the male end of the interface is separated from the female end of the interface.
Drawings
FIG. 1 is a schematic overall structure diagram of a quick-change interface of a reconfigurable mechanical arm based on memory alloy, disclosed by the invention;
FIG. 2 is a schematic diagram of the internal structure of a quick-change interface of the reconfigurable mechanical arm based on the memory alloy;
fig. 3 is a schematic diagram of the internal structure of the male terminal and the female terminal of the interface.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connection/connection relations referred to in the patent do not mean that the components are directly connected, but mean that a better connection structure can be formed by adding or reducing connection auxiliary components according to specific implementation conditions. The technical characteristics of the invention can be combined interactively on the premise of not conflicting with each other.
The invention provides a quick-change interface of a reconfigurable mechanical arm based on memory alloy, please refer to fig. 1 to fig. 3 together, which comprises an interface male end 1 and an interface female end 2, wherein the interface male end 1 comprises a circular male end main body 100, a plug support 110 is fixedly arranged at the axis position of the male end main body 100, the plug support 110 is arranged in a hollow manner, a plug 120 is fixedly arranged in the plug support 110, correspondingly, the interface female end 2 comprises a circular female end main body 200, a socket 210 matched with the plug 120 is fixedly arranged at the axis position of the female end main body 200, and when in butt joint, the interface male end 1 and the interface female end 2 are close to each other, so that the plug 120 and the plug 210 are tightly inserted to realize the electrical connection of the two.
In this embodiment, a passive spring 121 is further fixedly disposed in the plug holder 100, one end of the passive spring 121 abuts against the plug holder 100, and the other end abuts against the plug 120, and is used for providing a pressing force when the plug 120 abuts against the socket 210.
Further, a first locking ring 130 extends from the circumferential position of the male end main body 100 to the direction of the female end main body 200, a second locking ring 220 extends from the circumferential position of the female end main body 200 to the direction of the male end main body 100, and the distance from the first locking ring 130 to the center of the male end main body 100 is smaller than the distance from the second locking ring 220 to the center of the female end main body 200, so that during butt joint, the second locking ring 220 is attached to the outer surface of the first locking ring 130, and the male end 1 and the female end 2 of the interface are fixed in the radial direction.
In the invention, a through hole 131 is arranged on the first locking ring 130, a steel ball 132 is arranged in the through hole 131, a first inclined part 141 for abutting against the steel ball 132 is arranged on the locking slide block 140, a locking groove 221 is arranged at the position of the second locking ring 220 corresponding to the through hole 131, when the locking slide block 140 moves along the axial direction of the male end main body 1, the first inclined part 141 pushes the steel ball 132 to move along the axial direction of the through hole 131 so as to push the steel ball 132 into the locking groove 221, when the first locking ring 141, the steel ball 132 and the locking groove 221 abut against and are fastened, the interface male end 1 is in butt joint fastening with the interface female end 2, when the locking slide block 140 moves along the axial direction of the male end main body 1, the first inclined portion 141 may also drive the steel balls 132 to move away from the locking groove 221, so as to separate the interface male end 1 from the interface female end 2.
Preferably, the surfaces of the locking slider 140 contacting the plug holder 110 are in a matched D-shaped structure in cross section, so that the locking slider 140 and the plug holder 110 are circumferentially fixed, of course, in other different embodiments, the circumferential fixing may be achieved by adopting a matching manner of a protrusion and a groove, of course, a matching manner of a polygonal protrusion and a groove may also be adopted, which belong to conventional replacement means of those skilled in the art, and are not described herein again.
Preferably, the longitudinal section of the locking groove 221 is of a trapezoidal structure, so as to ensure that the locking groove 221 and the steel ball 132 have as large an interference area as possible, and ensure the stable locking of the male end 1 and the female end 2 of the interface.
Preferably, the locking slider 140 is further provided with a plane abutting portion 142, the plane abutting portion 142 is disposed at one end of the first inclined portion 141 close to the first locking ring 130, when the first inclined portion 141 abuts the steel ball 132 in the locking groove 221, the locking slider 140 continues to move, so that the steel ball 132 abuts through the plane abutting portion 142, and the abutting among the plane abutting portion 142, the steel ball 132, and the locking groove 221 is more stable.
In this embodiment, the sliding of the locking slider 140 is driven by the memory alloy 150, one end of the memory alloy 150 is fixed on the locking slider 140, and the other end is fixed on the male end main body 100, when the memory alloy 150 is heated, it will contract to drive the locking slider 140 to move towards the male end main body 1, so as to separate the male end 1 from the female end 2 of the interface, the plug support 100 is further sleeved with the restoring spring 160, one end of the restoring spring 160 abuts against the male end main body 100, and the other end abuts against the locking slider 140, when the locking slider 140 moves towards the male end main body 100, the restoring spring 160 is driven to compress, when the temperature of the memory alloy 150 is restored, the restoring spring 160 pushes the locking slider 140 to move towards the direction far away from the male end main body 100, so as to lock the male end 1 with the female end 2 of the interface, and at the same time, the memory alloy 150 deforms along with the movement of the locking slider 140.
Preferably, in the axial direction of the male end body 100, a first tensioning block 170 and a second tensioning block 180 are respectively disposed at two ends of the locking slider 140, the first tensioning block 170 is fixedly disposed on the male end body 100, the second tensioning block 180 is fixedly disposed at one end of the plug support 110 away from the male end body 100, in the radial direction of the male end body 100, a plurality of first bolts 171 are sequentially disposed on the first tensioning block 170 at intervals, a plurality of second bolts 181 are sequentially disposed on the second tensioning block 180 at intervals, and in the radial direction of the male end body 100, the second bolts 181 are disposed between two adjacent first bolts 171, and the middle portion of the memory alloy 150 sequentially bypasses the first bolts 171 and the second bolts 181, so that the direction of the memory alloy 150 is turned down, and the length of the memory alloy 150 is increased.
Preferably, the distance between two adjacent first bolts 171 is equal to the diameter of the second bolt 181, the distance between two adjacent second bolts 181 is equal to the diameter of the first bolt 171, and one end of the memory alloy 150 fixed on the locking slider 140 extends to the first bolt 171 along the direction parallel to the male end body 100 and bypasses the first bolt 171, and the memory alloy 150 wound from the last first bolt 171 extends along the direction parallel to the axis of the male end body 100 to the direction far away from the male end body 100 and is fixed on the second tensioning block 180, so as to ensure that the memory alloy 150 applies a driving force to the locking slider 140 along the axis of the male end body 100, effectively increase the length of the memory alloy 150, and improve the driving efficiency.
Preferably, a stud 182 is further fixedly arranged on the second tensioning block 180 along the axial direction of the male end body 100, the stud 182 is arranged in a hollow manner so that the memory alloy 150 can pass through the hollow portion of the stud, a fastening nut 183 is further arranged at a position of the stud 182, which is far away from one end of the male end body 100 and corresponds to the hollow portion of the stud, the fastening nut 183 is fixedly arranged on the second tensioning block 180, and the memory alloy 150 passing through the stud 182 is fastened on the second tensioning block 180 through the fastening nut 183.
In this embodiment, in order to improve the success rate of the butt joint between the interface male end 1 and the interface female end 2, a second inclined portion 133 facing the direction away from the second locking ring 220 is disposed on one surface of the free end of the first locking ring 130 and facing the second locking ring 220, a third inclined portion 222 facing the direction away from the first locking ring 130 is disposed on one surface of the free end of the second locking ring 220 and facing the first locking ring 130, and the second inclined portion 133 and the third inclined portion 222 form a guiding tolerance structure, so as to avoid inconvenience caused by a manufacturing error to the butt joint between the first locking ring 130 and the second locking ring 220.
In this embodiment, one end of the second locking ring 220 facing the male end body 100 is provided with a locking opening 223, and correspondingly, the male end body 100 is fixedly provided with a locking plate 101 matched with the locking opening 223, and the quick-change interface is circumferentially fixed through the locking action of the locking opening 223 and the locking plate 101.
Preferably, the locking opening 223 and the locking plate 101 are chamfered, so that the two can be more conveniently butted.
In this embodiment, the male end body 100 is further fixedly provided with a limit switch 190, correspondingly, the female end body 200 is fixedly provided with a limit switch touch screw 230 at a position corresponding to the limit switch 190, and when the butt joint is fastened, the limit switch 190 and the limit switch touch screw 230 are abutted to prevent the interface male end 1 and the interface female end 2 from continuously moving relatively close to each other, so as to avoid damage caused by excessive matching of parts.
Preferably, the male end body 100 is further fixedly provided with a limit switch bracket 191 for supporting the limit switch 190.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (10)
1. The utility model provides a quick change interface of restructural arm based on memory alloy, includes the public end of interface and the female end of interface that match each other, the public end of interface includes public end main part, the axle center position department of public end main part has set firmly the plug support that cavity set up, the plug support internal setting has the plug, the female end of interface includes the female end main part, the axle center position department of female end main part set firmly with plug assorted socket, its characterized in that: a first locking ring extends out of the circumferential position of the male end main body, a locking sliding block is arranged between the plug support and the first locking ring in a sliding manner, a memory alloy for driving the locking sliding block to move is fixedly arranged in the male end main body, one end of the memory alloy is fixedly connected with the male end main body, the other end of the memory alloy is fixedly connected with the locking sliding block, a through hole along the radial direction of the male end main body is formed in the first locking ring, a steel ball capable of moving along the axial direction of the through hole is arranged in the through hole, a first inclined part for abutting against the steel ball is arranged on the locking sliding block, a second locking ring extends out of the circumferential position of the female end main body towards the direction of the male end main body, and when in butt joint, the second locking ring is attached to the outer surface of the first locking ring, and a locking groove is formed in the position, corresponding to the through hole, on the second locking ring, the locking slide block moves along the axial direction of the male end main body so as to push the steel balls into the locking groove to lock the interface male end and the interface female end, or drive the steel balls to move out of the locking groove to separate the interface male end and the interface female end from a locking state; and a passive spring is fixedly arranged in the plug support, one end of the passive spring is abutted against the plug support, and the other end of the passive spring is abutted against the plug.
2. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in claim 1, characterized in that: the edge in public end main part axial direction, the both sides of closure slider are provided with first tensioning piece and second tensioning piece respectively, first tensioning piece set firmly in public end main part is last, second tensioning piece set firmly in plug support keep away from in public end main part one end, follow in the radial direction of public end main part, the interval has set up a plurality of first bolts in proper order on the first tensioning piece, interval has set up a plurality of second bolts in proper order on the second tensioning piece, and follows in the radial direction of public end main part, the second bolt sets up in adjacent two between the first bolt, the mid portion of memory alloy twines in proper order first bolt, second bolt, so that the memory alloy in the direction of turning round in the axis direction of public end main part.
3. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in claim 2, characterized in that: the second tensioning block is fixedly provided with a stud arranged along the axial direction of the male end main body, the stud is arranged in a hollow mode, one end, far away from the male end main body, of the stud is fixedly provided with a fastening nut, and the memory alloy penetrates through one end, close to the male end main body, of the stud and is fastened on the second tensioning block through the fastening nut.
4. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in claim 1, characterized in that: the longitudinal section of the locking groove is in a trapezoidal structure.
5. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in any one of claims 1 to 4, wherein: and a restoring spring is sleeved on the plug support, one end of the restoring spring abuts against the male end main body, and the other end of the restoring spring abuts against the locking sliding block.
6. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in any one of claims 1 to 4, wherein: the interface connector comprises a male end body and a female end body, and is characterized in that a limit switch is further fixedly arranged on the male end body, a limit switch touch screw is fixedly arranged at the position, corresponding to the limit switch, of the female end body, and when the interface male end and the interface female end are in butt joint and fastened, the limit switch is in conflict with the limit switch touch screw, so that the interface male end and the interface female end are prevented from continuously approaching to each other.
7. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in any one of claims 1 to 4, wherein: the cross section of the contact surface of the plug support and the locking sliding block is of a D-shaped structure matched with each other, so that the locking sliding block and the plug support are circumferentially fixed.
8. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in any one of claims 1 to 4, wherein: and a second inclined part which is arranged in the direction away from the second locking ring is arranged at one free end of the first locking ring and faces the second locking ring, and a third inclined part which is arranged in the direction away from the first locking ring is arranged at one free end of the second locking ring and faces the first locking ring.
9. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in any one of claims 1 to 4, wherein: the second locking ring is provided with a locking opening at one end facing the male end main body, and a locking plate matched with the locking opening is fixedly arranged at the position, corresponding to the locking opening, of the male end main body.
10. The quick-change interface of the reconfigurable mechanical arm based on the memory alloy as claimed in claim 1, characterized in that: six through holes are uniformly formed in the first locking ring in the circumferential direction along the male end main body, the steel balls are arranged in each through hole, and locking grooves are formed in the positions, corresponding to the through holes, of the second locking ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711492546.3A CN108177158B (en) | 2017-12-30 | 2017-12-30 | Quick change interface of reconfigurable mechanical arm based on memory alloy |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711492546.3A CN108177158B (en) | 2017-12-30 | 2017-12-30 | Quick change interface of reconfigurable mechanical arm based on memory alloy |
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| CN108177158A CN108177158A (en) | 2018-06-19 |
| CN108177158B true CN108177158B (en) | 2021-08-03 |
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| CN201711492546.3A Active CN108177158B (en) | 2017-12-30 | 2017-12-30 | Quick change interface of reconfigurable mechanical arm based on memory alloy |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109015760B (en) * | 2018-09-29 | 2023-08-29 | 华侨大学 | Quick change device for mechanical arm |
| CN110614651A (en) * | 2019-10-22 | 2019-12-27 | 北京海益同展信息科技有限公司 | Quick connecting device, functional arm and robot |
| CN112476399B (en) * | 2020-11-12 | 2022-02-08 | 哈尔滨工业大学 | Mechanical arm modular joint rapid electromechanical butt joint device |
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| US4793053A (en) * | 1987-04-16 | 1988-12-27 | General Motors Corporation | Quick disconnect device |
| CN101665156A (en) * | 2008-09-03 | 2010-03-10 | 北京航空航天大学 | Connecting and unlocking mechanism driven by SMA wire |
| CN203726502U (en) * | 2013-12-31 | 2014-07-23 | 辽宁东泰自动化设备制造有限公司 | Automatic rapid changing device for robot end |
| CN106863357A (en) * | 2017-02-27 | 2017-06-20 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface of reconfigurable manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US10661449B2 (en) * | 2014-08-20 | 2020-05-26 | Ati Industrial Automation, Inc. | Safe robotic tool changer |
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| US4793053A (en) * | 1987-04-16 | 1988-12-27 | General Motors Corporation | Quick disconnect device |
| CN101665156A (en) * | 2008-09-03 | 2010-03-10 | 北京航空航天大学 | Connecting and unlocking mechanism driven by SMA wire |
| CN203726502U (en) * | 2013-12-31 | 2014-07-23 | 辽宁东泰自动化设备制造有限公司 | Automatic rapid changing device for robot end |
| CN106863357A (en) * | 2017-02-27 | 2017-06-20 | 哈尔滨工业大学深圳研究生院 | A kind of rapid replacing interface of reconfigurable manipulator |
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