CN112248019B - Quick automatic interface device of arm end effector - Google Patents
Quick automatic interface device of arm end effector Download PDFInfo
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- CN112248019B CN112248019B CN202011083088.XA CN202011083088A CN112248019B CN 112248019 B CN112248019 B CN 112248019B CN 202011083088 A CN202011083088 A CN 202011083088A CN 112248019 B CN112248019 B CN 112248019B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
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Abstract
The invention discloses a quick automatic interface device of a mechanical arm end effector, which comprises a first matching part and a second matching part, wherein the first matching part is arranged on a mechanical arm end joint, the second matching part is arranged on the mechanical arm end effector, and the first matching part and the second matching part are detachably connected; the first matching part comprises a male head part, a transmission part and a rotating motor, and the rotating motor realizes the unlocking of the male head part and the second matching part through the transmission part; the second matching part comprises a base and a receiving plate; according to the invention, the first matching part and the second matching part are arranged, the first matching part is arranged on the tail end joint of the mechanical arm, the second matching part is connected to the surface of the tail end actuator of the mechanical arm through a bolt, and the tail end actuator of the mechanical arm can be replaced only by connecting and fixing the first matching part and the second matching part; the end effector of the mechanical arm can be replaced quickly and automatically.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a quick automatic interface device for an end effector of a mechanical arm.
Background
The end effector of the mechanical arm is the last link and the execution part of the mechanical arm interacting with the outside, is a device used by the mechanical arm to directly execute various operations and tasks, and depends on whether the mechanical arm can quickly and effectively complete the specified task. The robot has wide application in the fields of industrial robots and special robots, and different end effectors of the mechanical arm influence the working range of the mechanical arm in various fields. Meanwhile, whether the end effector can be replaced quickly, stably, flexibly and automatically becomes an important index for the design of the end effector and the mechanical arm of the existing mechanical arm.
Most of the existing mechanical arm end effectors are fixed and cannot be replaced quickly, and the mechanical arm end effectors are generally required to be replaced manually, so that the actions that the robot can grab or complete are limited.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the invention adopts the technical scheme that a device for automatically and quickly replacing an end effector of a mechanical arm is provided, and comprises a first matching part and a second matching part, wherein the first matching part is arranged on a joint at the end of the mechanical arm, the second matching part is arranged on the end effector of the mechanical arm, and the first matching part and the second matching part are detachably connected;
the first matching part comprises a male head part, a transmission part and a rotating motor, and the rotating motor realizes the unlocking of the male head part and the second matching part through the transmission part; the second matching part comprises a base and a receiving plate;
the base is fixedly arranged on the receiving plate, and the receiving plate is fixedly arranged on a clamped object; the base is of an annular structure and is provided with a clamping groove, a matching hole is formed in the center of the clamping groove, the end part of the matching hole protrudes out of the clamping groove to form an annular matching boss, and the matching boss and the side wall of the clamping groove form a sunken limiting groove; the male head part comprises a male head and a ball pin, the male head is arranged in the clamping groove, and the ball pin is arranged in the matching hole; public first center is provided with the connecting hole, public head passes through the connecting hole cover is established on the bulb round pin, just the one end of public head is provided with the second boss in the inboard, is being provided with the tip position department of second boss, public head with the bulb round pin forms annular cooperation groove, the cooperation boss with the joint cooperation between the cooperation groove.
Preferably, the side wall of the clamping groove is provided with a guide groove, the outer circular surface of the male head is provided with a bolt bearing, and the bolt bearing can be clamped and arranged in the guide groove.
Preferably, a limit bolt is arranged on the end face, close to the male head, of the base, and the limit bolt is arranged corresponding to the guide groove.
Preferably, the transmission portion includes a driving gear, a driven gear, and a screw shaft, the driven gear is engaged with the driving gear, the driven gear is fixedly disposed on the screw shaft, the driving gear is fixedly disposed on an output shaft of the rotating electrical machine, a threaded end of the screw shaft is in threaded connection with the ball stud, an optical axis end of the screw shaft is provided with a flange linear bearing, and the flange linear bearing is fixedly disposed.
Preferably, a guide threaded hole and a hollow cavity are respectively formed in two ends of the center of the ball stud, the guide threaded hole and the hollow cavity are coaxial and communicated, and the guide threaded hole is in threaded connection with the screw shaft.
Preferably, be provided with a central spheroid and at least three side spheroid in the cavity, central spheroid sets up on the axis of cavity, just central spheroid is located the side spheroid with between the direction screw hole, the side spheroid with the axis annular equipartition of cavity, the cavity corresponds each the side spheroid all is provided with the clearing hole, the clearing hole is through structure, just the diameter of clearing hole is less than the side spheroid diameter, lead screw shaft tip can with central spheroid contact sets up, central spheroid can with the contact of side spheroid sets up.
Preferably, the matching hole is provided with a limiting ring at the position of the matching boss, and the limiting ring and the side ball body form clamping connection.
Preferably, the diameter of the guiding threaded hole is smaller than that of the hollow cavity, and the diameter of the central sphere is larger than that of the guiding threaded hole.
Preferably, the first matching part further comprises a first motor cover, a second motor cover, a third motor cover and a tail end adapter flange; first motor cover with the second motor cover is connected, third motor cover with first motor cover is connected, terminal adapter flange is fixed to be set up on the second motor cover, just terminal adapter flange and the terminal joint fixed connection of arm, the rotating electrical machines sets up in the second motor cover, the transmission portion sets up in the first motor cover, flange linear bearing is fixed to be set up on the third motor cover.
Preferably, the third motor cover is a disc-shaped structure, a connecting groove is formed in the third motor cover and is used for being circumferentially matched and fixed with a flange end of the flange linear bearing, a plain shaft end of the screw shaft is matched and connected with a linear bearing end of the flange linear bearing, and the plain shaft end of the screw shaft can rotate and move in the linear bearing end.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the first matching part and the second matching part are arranged, the first matching part is arranged on the tail end joint of the mechanical arm, the second matching part is connected to the tail end actuator of the mechanical arm through a bolt, and an object can be clamped only by connecting and fixing the first matching part and the second matching part; the first matching part is driven by a mechanical arm to be in coaxial line contact with the second matching part guide groove, and the bolt bearing is matched with the surface groove to realize circumferential fixing of the first matching part and the second matching part by utilizing the force compliance of the mechanical arm; and when the male head is contacted with the lower surface of the guide groove, the mechanical arm stops. The rotary motor drives the driving gear through the coupler, the driving gear is meshed with the driven gear to drive the driven gear to rotate, the driven gear rotates to drive the screw rod shaft, the screw rod shaft moves in the threaded hole in the upper end of the ball head pin and pushes the ball above the ball head pin to extrude the rest balls to expand outwards to be locked and fixed with the matching hole, and then the object is grabbed, so that the object can be clamped quickly and in a large weight, and the surface of the clamped object can be prevented from being damaged.
Drawings
FIG. 1 is a structural view of the robot arm end effector quick interface device;
FIG. 2 is a structural view of the second mating portion;
FIG. 3 is a structural view of the male portion;
FIG. 4 is a structural view of the transmission portion;
FIG. 5 is a structural view of the second motor cover;
fig. 6 is a structural view of the third motor cover.
The figures in the drawings represent:
1-a receiving plate; 2-a limit bolt; 3-a base; 4-male; 5-bolt bearings; 6-a first motor cover; 7-ball stud; 8-screw shaft; 9-a driven gear; 10-a drive gear; 11-flange linear bearing; 12-a third motor cover; 13-a second motor cover; 14-a rotating electrical machine; 15-terminal adapter flange; 21-a first bolt hole; 22-countersunk threaded holes; 31-a guide groove; 32-a clamping groove; 33-mating holes; 41-mounting plane; 42-a third threaded hole; 43-jackscrew hole; 44-a first boss; 71-a guide threaded hole; 72-central sphere; 73-side sphere; 81-a threaded end; 82-optical axis end; 111-linear bearing end; 112-flange end; 113-a fixation hole; 121-connecting groove; 122-second bolt hole; 123-a third hood aperture; 131-a groove; 132-a first threaded hole; 133-a third boss; 134-third threaded hole; 135-a second hood aperture; 136-second threaded hole.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, fig. 1 is a structural view of the robot arm end effector quick interface device; the quick interface device for the mechanical arm end effector comprises a first matching part and a second matching part, wherein the first matching part is installed on the mechanical arm end joint, the second matching part is installed on the mechanical arm end effector, and the first matching part and the second matching part are clamped and fixed to realize detachable connection between the mechanical arm end joint and the mechanical arm end effector.
The first matching part comprises a male head part, a transmission part and a rotating motor 14, and the rotating motor 14 realizes unlocking of the male head part and the second matching part through the transmission part. The second matching part comprises a base 3, a limiting bolt 2 and a receiving plate 1.
As shown in fig. 2, fig. 2 is a structural view of the second mating portion; the base 3 is fixedly arranged on the receiving plate 1, and the receiving plate 1 is fixedly arranged on the surface of a clamped object.
As shown in fig. 3, fig. 3 is a structural view of the male portion; correspondingly, public head includes public head 4, bulb round pin 7, public head 4 sets up in the joint groove 32, bulb round pin 7 sets up in the mating holes 33. A connecting hole is formed in the center of the male head 4, the male head 4 is sleeved on the ball pin 7 through the connecting hole, the male head 4 is of a cylindrical structure, a first boss 44 is arranged at one end of the male head 4 on the outer side, a second boss is arranged at the other end of the male head 4 on the inner side, a jackscrew hole 43 is formed in the end part provided with the first boss 44, and the male head 4 realizes circumferential fixation of the ball pin 7 and the male head 4 through a screw jackscrew; being provided with the tip position department of second boss, public head 4 with ball stud 7 forms annular cooperation groove, thereby realizes the cooperation boss with joint cooperation between the cooperation groove.
The fitting hole 33 is provided with a limiting ring at the position of the fitting boss, and the ball stud 7 can be clamped and limited in the fitting hole 33 through the limiting ring. Meanwhile, the end of the male head 4 is limited in displacement by the limiting groove, so that the relative position of the ball stud 7 in the matching hole 33 can be limited, and the axial movement of the ball stud 7 in a locking state is avoided by the double limiting action of the limiting ring and the limiting groove.
Preferably, a guide groove 31 is formed in a side wall of the clamping groove 32, a bolt bearing 5 is arranged on an outer circumferential surface of the male head 4, and when the ball stud 7 is in a locked state, the bolt bearing 5 is arranged in the guide groove 31, so that relative rotation between the male head 4 and the base 3 is avoided. Generally, in order to ensure the installation of the bolt bearing 5, the outer circumferential surface of the male head 4 is correspondingly provided with an installation plane 41.
Simultaneously, base 3 is close to the tip of public head 4 is provided with spacing bolt 2, spacing bolt 2 corresponds guide way 31 sets up, rotates at the arm and drives when first cooperation portion is rotatory, spacing bolt 2 can cooperate and block bolt bearing 5 with the relative position of base 3 to the power of usable arm is in the same direction as making bolt bearing 5 gets into in the guide way 31, reach first cooperation portion with circumference between the second cooperation portion is fixed.
Preferably, the receiving plate 1 is provided with a first bolt hole 21 for connecting with a clamped object by a bolt. The receiving plate 1 is provided with a stepped hole for being connected with the base 3 in a matching manner, and a countersunk head threaded hole 22 for being connected with a bolt between the bases 3.
Example two
As shown in fig. 4, fig. 4 is a structural view of the transmission part; the transmission part comprises a driving gear 10, a driven gear 9 and a screw shaft 8, the driven gear 9 is meshed with the driving gear 10, the driven gear 9 is fixedly arranged on the screw shaft 8, the driving gear 10 is fixedly arranged on an output shaft of the rotating motor 14, a threaded end 81 of the screw shaft 8 is in threaded connection with the ball stud 7, and an optical axis end 82 is provided with a flange linear bearing 11. The rotation motor 14 rotates the driving gear 10, thereby rotating the screw shaft 8, and the screw shaft 8 and the ball stud 7 relatively move in the axial direction due to the threaded connection between the screw shaft 8 and the ball stud 7.
The ball stud 7 is pin-shaped, specifically, a clamping boss is arranged at one end of the ball stud 7, the ball stud 7 is positioned by clamping between the clamping boss and the male head 4, a guide threaded hole 71 and a hollow cavity are respectively arranged at two central ends of the ball stud 7, the guide threaded hole 71 and the hollow cavity are coaxial and communicated, and the guide threaded hole 71 is in threaded connection with the screw shaft 8.
The hollow cavity is internally provided with 4 spheres, specifically comprises a central sphere 72 and three side spheres 73, the central sphere 72 is arranged on the axis of the hollow cavity, the central sphere 72 is positioned between the side spheres 73 and the guide threaded hole 71, the side spheres 73 are uniformly distributed in an annular manner along the axis of the hollow cavity, the hollow cavity is provided with through holes corresponding to the side spheres 73, the through holes are of a through structure, the diameter of each through hole is slightly smaller than that of the side sphere 73, the side spheres 73 are prevented from falling out of the hollow cavity through the through holes, the side spheres 73 can pass through the through holes to realize partial exposure of the spheres out of the hollow cavity, and the end part of the screw shaft 8 can be in contact with the central sphere 72.
Meanwhile, the diameter of the guiding threaded hole 71 is smaller than that of the hollow cavity, and the diameter of the central sphere 72 is larger than that of the guiding threaded hole 71, so that the position of the central sphere 72 in the hollow cavity is limited by the guiding threaded holes 71 and the side spheres 73 on both sides of the central sphere 72.
When the rotating motor 14 drives the screw shaft 8 to move axially, the screw shaft 8 contacts the central ball 72 and pushes the central ball 72, the central ball 72 contacts and pushes the side balls 73, so that the side balls 73 are expanded outwards through the through hole, the diameter of the ball pin 7 at the corresponding position of the side balls 73 is increased, and the ball pin 7 is locked in the matching hole 33 in a state of being matched with the limiting ring.
EXAMPLE III
The first matching part further comprises a first motor cover 6, a second motor cover 13, a third motor cover 12 and a tail end adapter flange 15. First motor cover 6 with second motor cover 13 is connected, third motor cover 12 with first motor cover 6 is connected, terminal adapter flange 15 is fixed to be set up on the second motor cover 13, just terminal adapter flange 15 and the terminal joint fixed connection of arm, rotating electrical machines 14 sets up in the second motor cover 13, the transmission portion sets up in the first motor cover 6, flange linear bearing 11 is fixed to be set up on the third motor cover 12.
As shown in fig. 5, fig. 5 is a structural view of the second motor cover; specifically, the tail end adapter flange 15 is simultaneously in bolted connection with the tail end joint of the mechanical arm and the second motor cover 13, the second motor cover 13 is provided with a third boss 133, and a third threaded hole 134 is annularly formed in the third boss 133; the rotating motor 14 is arranged in the second motor cover 13 and is connected with the second motor cover 13 through a bolt connected with a first threaded hole 132 on the lower end face of the second motor cover 13.
The lower end of the second motor cover 13 is provided with a groove 131, a second threaded hole 136 is arranged in the groove 131, and the second threaded hole 136 is used for connecting the first motor cover 6 and the second motor cover 13 through bolts. The third motor cover 12 is installed between the first motor cover 6 and the second motor cover 13, and a seam allowance of the third motor cover 12 is matched with a seam allowance of the first motor cover 6.
As shown in fig. 6, fig. 6 is a structural view of the third motor cover; the third motor cover 12 is of a disc-shaped structure, an a-type flat key-shaped connecting groove 121 is formed in the third motor cover 12 and used for being circumferentially matched and fixed with the flange end 112 of the flange linear bearing 11, and a second bolt hole 122 is formed in the connecting groove 121 and used for being axially fixed with a fixing hole 113 of the flange linear bearing 11.
The optical axis end 82 of the screw shaft 8 is fittingly connected with the linear bearing end 111 of the flange linear bearing 11, and the optical axis end 82 of the screw shaft 8 is rotatable and movable in the linear bearing end 111.
The output shaft of the rotating electrical machine 14 passes through the second hood hole 135 of the second motor hood 13 and the third hood hole 123 of the third motor hood 12, and is connected to the driving gear 10 through a coupling.
And a third threaded hole 42 is formed in the first boss and used for being connected with a bolt between the first motor cover 6.
The mechanical arm drives the first matching part to enable the male head 4 and the base 3 to be located on the same axis and enable the bolt bearing 5 to be in contact with the upper end face of the base 3, and under the action of the limiting bolt 2, the mechanical arm drives the first matching part to rotate anticlockwise, so that the bolt bearing 5 can enter the guide groove 31 formed in the base 3 by means of force of the mechanical arm in a corresponding mode, and circumferential fixing between the first matching part and the second matching part is achieved; the lower end of the ball stud 7 enters the clamping groove 32 on the base 3, and at this time, the rotating motor 14 drives the screw shaft 8 in the ball stud 7 to move downward after being decelerated by a gear, so that the ball stud 7 and the matching hole 33 are locked, and the axial fixation between the first matching part and the second matching part is achieved by utilizing the double limiting of the limiting ring and the limiting groove.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (7)
1. The quick automatic interface device for the mechanical arm end effector is characterized by comprising a first matching part and a second matching part, wherein the first matching part is installed on a joint at the end of the mechanical arm;
the first matching part comprises a male head part, a transmission part and a rotating motor, and the rotating motor realizes the unlocking of the male head part and the second matching part through the transmission part; the second matching part comprises a base and a receiving plate;
the base is fixedly arranged on the receiving plate, and the receiving plate is fixedly arranged on the end effector of the mechanical arm; the base is of an annular structure and is provided with a clamping groove, a matching hole is formed in the center of the clamping groove, the end part of the matching hole protrudes out of the clamping groove to form an annular matching boss, and the matching boss and the side wall of the clamping groove form a sunken limiting groove; the male head part comprises a male head and a ball pin, the male head is arranged in the clamping groove, and the ball pin is arranged in the matching hole; the center of the male head is provided with a connecting hole, the male head is sleeved on the ball head pin through the connecting hole, one end of the male head is provided with a second boss at the inner side, the male head and the ball head pin form an annular matching groove at the position of the end part provided with the second boss, and the matching boss is in clamping fit with the matching groove;
the transmission part comprises a driving gear, a driven gear and a screw rod shaft, the driven gear is meshed with the driving gear, the driven gear is fixedly arranged on the screw rod shaft, the driving gear is fixedly arranged on an output shaft of the rotating motor, a threaded end of the screw rod shaft is in threaded connection with the ball pin, and an optical axis end of the screw rod shaft is provided with a flange linear bearing which is fixedly arranged;
a guide threaded hole and a hollow cavity are respectively formed in two central ends of the ball pin, the guide threaded hole and the hollow cavity are coaxial and communicated, and the guide threaded hole is in threaded connection with the screw shaft;
the utility model discloses a lead screw, including cavity, central spheroid, guide screw hole, guide screw shaft tip, lead screw shaft tip, the cavity is provided with a central spheroid and at least three side spheroid in, central spheroid sets up on the axis of cavity, just central spheroid is located the side spheroid with between the direction screw hole, the side spheroid with the axis annular equipartition of cavity, the cavity corresponds each the side spheroid all is provided with the clearing hole, the clearing hole is through structure, just the diameter of clearing hole is less than side spheroid diameter, lead screw shaft tip can with central spheroid contact sets up, central spheroid can with the contact of side spheroid sets up.
2. The end effector rapid automatic interface device of a mechanical arm according to claim 1, wherein a guide groove is provided on a side wall of the clamping groove, and a bolt bearing is provided on an outer circumferential surface of the male head, and the bolt bearing can be clamped and arranged in the guide groove.
3. The end effector quick automatic interface device of claim 2, wherein the base has a stop bolt disposed on an end surface thereof adjacent to the male end, the stop bolt being disposed in correspondence with the guide slot.
4. The end effector rapid automatic interface device of a robot arm according to claim 1, wherein the fitting hole is provided with a limit ring at the position of the fitting boss, and the limit ring and the side ball form a snap joint.
5. The end effector quick automated interface device according to claim 4, wherein a diameter of the pilot threaded hole is smaller than a diameter of the hollow cavity, and a diameter of the central sphere is larger than the diameter of the pilot threaded hole.
6. The robotic arm end effector rapid automated interface device of claim 1, wherein the first mating portion further comprises a first motor cover, a second motor cover, a third motor cover, an end adaptor flange; first motor cover with the second motor cover is connected, third motor cover with first motor cover is connected, terminal adapter flange is fixed to be set up on the second motor cover, just terminal adapter flange and the terminal joint fixed connection of arm, the rotating electrical machines sets up in the second motor cover, the transmission portion sets up in the first motor cover, flange linear bearing is fixed to be set up on the third motor cover.
7. The end effector rapid automatic interface device according to claim 6, characterized in that the third motor housing is a disc-shaped structure, the third motor housing is provided with a connecting groove for circumferentially fitting and fixing with the flange end of the flange linear bearing, the optical axis end of the screw shaft is fitted and connected with the linear bearing end of the flange linear bearing, and the optical axis end of the screw shaft can rotate and move in the linear bearing end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011083088.XA CN112248019B (en) | 2020-10-10 | 2020-10-10 | Quick automatic interface device of arm end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011083088.XA CN112248019B (en) | 2020-10-10 | 2020-10-10 | Quick automatic interface device of arm end effector |
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| Publication Number | Publication Date |
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| CN112248019A CN112248019A (en) | 2021-01-22 |
| CN112248019B true CN112248019B (en) | 2022-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011083088.XA Active CN112248019B (en) | 2020-10-10 | 2020-10-10 | Quick automatic interface device of arm end effector |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114986128B (en) * | 2021-11-15 | 2023-07-21 | 杭州键嘉医疗科技股份有限公司 | Terminal quick installation device of rotation type arm |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITUB20156099A1 (en) * | 2015-12-02 | 2017-06-02 | Robotools S R L | CONNECTION DEVICE OF A TOOL TO AN INDUSTRIAL ROBOT ARM |
| CN205588327U (en) * | 2016-03-14 | 2016-09-21 | 西北工业大学 | Rotary joint of robot optimizes structure |
| CN106166758B (en) * | 2016-09-23 | 2018-03-23 | 中国工程物理研究院总体工程研究所 | A kind of centrifuge robot tool quick-change system |
| CN107351113A (en) * | 2017-08-22 | 2017-11-17 | 国机智能技术研究院有限公司 | A kind of robot fast replacing device and tail house |
| DE202019106078U1 (en) * | 2019-10-31 | 2019-11-15 | Hsu-Pin Chuang | Quick change structure for a robot arm |
| CN111300465B (en) * | 2020-02-06 | 2023-07-21 | 北京凡川智能机器人科技有限公司 | But terminal instrument's of quick replacement interface for robot |
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