CN112338954B - Mechanical arm claw replacing mechanism and control method thereof - Google Patents
Mechanical arm claw replacing mechanism and control method thereof Download PDFInfo
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- CN112338954B CN112338954B CN202011267184.XA CN202011267184A CN112338954B CN 112338954 B CN112338954 B CN 112338954B CN 202011267184 A CN202011267184 A CN 202011267184A CN 112338954 B CN112338954 B CN 112338954B
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- mechanical arm
- male end
- female end
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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 provides a mechanical arm claw-changing mechanism, which comprises: the mechanical arm male end comprises a male end controller, an assembly in-place detector and a connecting fixing piece, wherein the male end controller is electrically connected with the assembly in-place detector, and the assembly in-place detector is used for detecting the assembly state of the mechanical arm male end; the mechanical arm female end comprises an electronic card lock; when the mechanical arm claw replacing mechanism is in an assembled state, the electronic card lock is clamped and fixed with the connecting and fixing part, and the male end of the mechanical arm is fixedly connected with the female end of the mechanical arm through the connecting and fixing part; when the mechanical arm male end and the mechanical arm female end of the mechanical arm claw replacing mechanism are disassembled, the male end controller controls the electronic card lock to unlock, and the connecting fixing piece and the electronic card lock can be freely disassembled. According to the invention, the assembly in-place detector is adopted, so that the male end controller can detect the assembly state between the male end and the female end of the mechanical arm, and the use danger caused by the incomplete assembly between the male end and the female end of the mechanical arm is avoided.
Description
Technical Field
The invention relates to a mechanical arm claw changing mechanism, and belongs to the field of mechanical intelligent manufacturing.
Background
The mechanical arm is used as mechanical grabbing equipment, has high flexibility, can replace manual work to carry and transfer articles, and has an important function in intelligent production. In the actual use process of the mechanical arm, corresponding mechanical claws need to be installed according to the type of an object to be carried. And need use connecting pieces such as bolt to carry out complicacy between traditional gripper and the arm and fix, still need adjustment circuit structure after the equipment to ensure that the gripper can normally work, though can adopt between current gripper and the arm that the public end of arm, the female end of arm link to each other, nevertheless can't detect whether assemble between the public end of arm, the female end of arm and target in place, easily lead to the public end of arm, the female end separation of arm in the arm use, cause and use danger.
Disclosure of Invention
The invention provides a mechanical arm claw changing mechanism and a control method thereof, which are used for realizing quick and simple replacement of a mechanical arm and a mechanical claw.
The invention provides a mechanical arm claw-changing mechanism, which comprises:
the mechanical arm male end comprises a male end controller, an assembly in-place detector and a connecting fixing piece, wherein the male end controller is electrically connected with the assembly in-place detector, and the assembly in-place detector is used for detecting whether the mechanical arm male end is in an assembly state;
the mechanical arm female end comprises an electronic card lock, and the electronic card lock is used for being clamped and fixed with the connecting fixing piece;
when the mechanical arm claw replacing mechanism is in an assembled state, the electronic card lock is clamped and fixed with the connecting fixing piece, the male end of the mechanical arm is fixedly connected with the female end of the mechanical arm through the connecting fixing piece, and the assembled-to-position detector detects that the male end of the mechanical arm is in an assembled state;
when the male end of the mechanical arm and the female end of the mechanical arm in the mechanical arm claw replacing mechanism are disassembled, the electronic card lock is controlled to be unlocked, and the connecting fixing piece and the electronic card lock can be freely disassembled.
Further, when the mechanical arm male end and the mechanical arm female end are assembled, the male end controller is wirelessly or wiredly connected with the electronic card lock.
Further, the public end of arm still includes the electro-magnet, the electro-magnet links to each other with public end controller electrical property, the female end of arm is equipped with and is used for with the adsorbed metal structure of electro-magnet.
Further, the public end of arm still includes power module, power module links to each other with public end controller electrical property, the female end of arm still includes power supply circuit, power supply circuit is used for the female end power supply of arm, when the public end of arm was assembled with the female end of arm, power supply circuit links to each other with power module electrical property.
Furthermore, the power supply module comprises an output contact group, the power supply circuit comprises an input contact group, and when the male end of the mechanical arm is assembled with the female end of the mechanical arm, the output contact group is abutted to the input contact group.
Further, the output contact set is composed of at least two output probes.
Further, the assembly-in-place detector is one or more of a photoelectric detector, a magnetic induction detector and a limit switch.
When the claw needs to be replaced, the male end controller controls the electronic card lock to unlock, so that the clamping state between the electronic card lock and the connecting fixing piece is released, and the male end of the mechanical arm and the female end of the mechanical arm can be freely separated.
When the male end of the mechanical arm and the female end of the mechanical arm are assembled, the in-place assembly detector detects whether the male end of the mechanical arm and the female end of the mechanical arm are assembled in place, the in-place assembly detector sends a signal to the male end controller, and the male end controller controls the electromagnet to work, so that the male end of the mechanical arm and the female end of the mechanical arm are tightly adsorbed.
When the male end of the mechanical arm and the female end of the mechanical arm are assembled, the in-place assembly detector detects whether the male end of the mechanical arm and the female end of the mechanical arm are assembled in place or not, the in-place assembly detector sends a signal to the male end controller, and the male end controller supplies power to the female end of the mechanical arm through the power supply module and the power supply circuit.
Compared with the prior art, the invention has the advantages that the assembly in-place detector is adopted, so that the male end controller can detect the assembly state between the male end and the female end of the mechanical arm, the use danger caused by the improper installation between the male end and the female end of the mechanical arm is avoided, and the use safety of the male end and the female end of the mechanical arm is improved. Meanwhile, the connecting fixing piece is adopted, the clamping lock is matched, the detachable connection between the male end of the mechanical arm and the female end of the mechanical arm is realized, and the mechanical arm has the advantages of convenience in replacement and safety in use.
Drawings
FIG. 1 is a perspective view of an embodiment of the present invention;
FIG. 2 is a schematic view of a male end of a robotic arm according to an embodiment of the present invention;
FIG. 3 is a schematic side view of an assembly of a female end of a robot arm and a male end of the robot arm according to an embodiment of the present invention;
FIG. 4 is a schematic view of an internal structure of a female end of a robot arm according to an embodiment of the present invention;
FIG. 5 is a schematic view of a female-end electronic card lock of a robot arm according to an embodiment of the present invention;
FIG. 6 is a schematic view of an unlocked state of the electronic card lock at the female end of the robot arm according to the embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments.
The embodiment of the invention discloses a mechanical arm claw changing mechanism, which comprises the following components as shown in figures 1 and 3:
the mechanical arm male end 1 comprises a male end controller 11, an assembly in-place detector 12 and a connecting fixing piece 13, wherein the male end controller 11 is electrically connected with the assembly in-place detector 12, and the assembly in-place detector 12 is used for detecting whether the mechanical arm male end 1 is in an assembly state;
the mechanical arm female end 2, the mechanical arm female end 2 includes electronic card lock 21, electronic card lock 21 is used for blocking with connecting fixed part 13.
When the mechanical arm claw replacing mechanism is in an assembled state, the electronic card lock 21 is clamped and fixed with the connecting fixing piece 13, the mechanical arm male end 1 is fixedly connected with the mechanical arm female end 2 through the connecting fixing piece 13, and the assembly-in-place detector 12 detects that the mechanical arm male end 1 is in an assembled state;
when the mechanical arm claw changing mechanism is disassembled, the electronic card lock 21 is controlled to be unlocked, and the connecting fixing piece 13 and the electronic card lock 21 can be freely disassembled.
Optionally, the assembly-in-place detector 12 is one or more of a photo detector, a magnetic induction detector, and a limit switch.
The in-place assembly detector 12 is configured to detect an assembly state of the robot arm male end 1, that is, whether the robot arm male end 1 is in place with the robot arm female end 2. If the mechanical arm male end 1 and the mechanical arm female end 2 are assembled in place, the assembly-in-place detector 12 generates a signal and sends the signal to the male end controller 11, and the male end controller 11 determines that the mechanical arm male end 1 and the mechanical arm female end 2 are assembled in place.
If the in-position detector 12 is a photoelectric detector 12, for example, the infrared sensor 12 is shown in fig. 2, the infrared sensor 12 is installed on the male end 1 of the robot arm, the infrared sensor 12 includes an infrared signal emitter 121 and an infrared signal receiver 122, a detection area is defined between the infrared signal emitter 121 and the infrared signal receiver 122, whether the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place or not is detected, a blocking piece 26 is arranged at the position, corresponding to the infrared sensor 12, of the female end 2 of the mechanical arm, if the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place, the blocking member 26 of the mechanical arm female end 2 is inserted between the infrared signal transmitter 121 and the infrared signal receiver 122 to block the transmission of the infrared signal, so that the infrared signal receiver 122 loses the infrared signal, and the infrared signal receiver 122 sends a signal to the male end controller 11, thereby achieving the effect of in-place assembly detection.
If the in-place assembly detector 12 is a magnetic induction detector, taking a hall sensor as an example, the hall sensor and the permanent magnet are respectively installed on the male end 1 of the mechanical arm and the female end 2 of the mechanical arm, and if the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place, the hall sensor senses the magnetic force of the permanent magnet, and then the hall sensor sends a signal to the male end controller 11, so that the in-place assembly detection effect is achieved.
If the assembly in-place detector 12 is a limit switch, the limit switch is installed on the male end 1 of the mechanical arm, and if the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place, the female end 2 of the mechanical arm is abutted to the limit switch to trigger the limit switch, so that the male end controller 11 obtains a signal, and the effect of assembly in-place detection is achieved.
As shown in fig. 1 and 2, the connecting fixture 13 includes three latches 131, the electronic latch 21 is installed in the mechanical arm female end 2, the mechanical arm female end 2 is provided with through holes 22 at positions corresponding to the latches 131, when assembling, the latches 131 are inserted into the through holes 22 and fastened to the latches 21, and the mechanical arm male end 1 and the mechanical arm female end 2 are assembled in place. The public end controller 11 is a control chip, can select DSP, MCU, MPU, realizes the interactive control function.
Optionally, as shown in fig. 3 and 4, when the robot male end 1 is assembled with the robot female end 2, the male end controller 11 is connected with the electronic card lock 2 wirelessly or in a wired manner.
Wherein, the public end controller 11 and the electronic card lock 2 can be provided with wireless communication devices, so that the public end controller 11 and the electronic card lock 2 are wirelessly connected; the male end controller 11 and the electronic card lock 2 can also adopt a plug-in type circuit structure (such as a conductive probe) to realize the wired connection between the mechanical arm male end 1 and the mechanical arm female end 2, thereby achieving the control effect of the male end controller 11 on the electronic card lock 21.
As shown in fig. 3 and 4, the mechanical arm female end 2 comprises a housing 23, a through hole 22 is arranged on the housing 23, the electronic lock 21 comprises a return spring 211, a card member 212 and a lock electromagnet 213, the card member 212 is slidably mounted on the housing 23, the card member 212 is connected with the housing 23 through the return spring 211, and the lock electromagnet 213 is mounted on one side of the card member 212.
During assembly, the bolt 131 of the male end 1 of the mechanical arm is inserted into the through hole 22, and the clamping piece 212 is clamped with the bolt 131 under the action of the spring 211, so that the male end 1 of the mechanical arm is fixedly connected with the female end 2 of the mechanical arm.
As shown in fig. 5 and 6, when the claw needs to be replaced, the male end controller 11 controls the electronic latch 21, the latch electromagnet 213 works, the latch 212 compresses the spring 211 under the action of magnetic force, so that the latch 212 is separated from the latch 131, unlocking is realized, and the mechanical arm male end 1 and the mechanical arm female end 2 can be freely separated.
Optionally, as shown in fig. 1, the mechanical arm male end 1 further includes an electromagnet 14, the electromagnet 14 is electrically connected to the male end controller 11, and the mechanical arm female end 2 is provided with a metal structure for adsorbing the electromagnet 14.
The housing 23 of the mechanical arm female end 2 can be made of steel and can be adsorbed to the electromagnet 14.
When the male end 1 of the mechanical arm is assembled with the female end 2 of the mechanical arm, the in-place assembling detector 12 detects whether the male end 1 of the mechanical arm is assembled with the female end 2 of the mechanical arm in place or not, the male end 1 of the mechanical arm is assembled with the female end 2 of the mechanical arm in place, the in-place assembling detector 12 sends a signal to the male end controller 11, the male end controller 11 controls the electromagnet 14 to work, and the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are tightly adsorbed.
According to the invention, the electromagnet with strong suction force is adopted, optionally, the electromagnet with the suction force reaching 30KG or more, and when the robot works, the fixing effect between the male end 1 and the female end 2 of the mechanical arm is enhanced by utilizing the magnetic force of the electromagnet, so that the robot can bear larger tension force.
Optionally, as shown in fig. 1 and fig. 3, the male end 1 of the mechanical arm further includes a power supply module 15, the power supply module 15 is electrically connected to the male end controller 11, the female end 2 of the mechanical arm further includes a power supply circuit 24, the power supply circuit 24 is used for supplying power to the female end 2 of the mechanical arm, when the male end 1 of the mechanical arm is assembled with the female end 2 of the mechanical arm, the power supply circuit 24 is electrically connected to the power supply module 15, so as to supply power to the female end 2 of the mechanical arm.
As shown in fig. 1 and 3, the power supply circuit 24 is used as a power supply structure and is provided with a circuit switching module, which can receive power supplied by the power supply module at the male end 1 of the mechanical arm and then supply power to the mechanical claw and the electronic card lock 21.
Specifically, as shown in fig. 1 and 3, the power supply module 15 includes an output contact set 15, and as shown in fig. 5, the power supply circuit 24 includes an input contact set 25 (located on the back of the robot female end 2 in fig. 3), and when the robot male end 1 is assembled with the robot female end 2, the output contact set 15 abuts against the input contact set 25.
Specifically, as shown in fig. 1 and 3, the output contact group 15 is composed of at least two output probes.
As shown in fig. 1 and 3, the output contact group 15 is composed of 4 output probes, two of the output probes are responsible for supplying power to the mechanical arm female end 2, the other two output probes are responsible for signal transmission to realize interaction with the mechanical arm female end 2, and the input contact group is provided with an application conductive structure. When the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled, the output probe is abutted with the conductive structure to conduct electricity.
According to the embodiment of the invention, the power supply circuit and the power supply module are easily connected by adopting the output contact group consisting of the output probes, so that the assembly and disassembly between the male end and the female end of the mechanical arm are convenient.
In the embodiment of the invention, when the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled, the in-place assembly detector 12 detects whether the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place, and when the male end 1 of the mechanical arm and the female end 2 of the mechanical arm are assembled in place, the in-place assembly detector 12 sends a signal to the male end controller 11, and the male end controller 11 supplies power to the female end 2 of the mechanical arm through the power supply circuit 24 by the power supply module 15.
In the embodiment of the invention, the male end 1 of the mechanical arm is positioned on the mechanical arm, and the female end 2 of the mechanical arm is positioned on the mechanical claw.
In the installation gripper process, when the gripper correctly joined in the arm, infrared sensor 12 was sheltered from, showed that arm public end (arm) and arm female end (gripper) have been in the assembled state, and at this moment, MCU (main control chip) control output probe did the power supply to power supply circuit 24, reached the power supply effect. The electromagnet 14 is controlled to be electrified, so that the male end (mechanical arm) of the mechanical arm and the female end (mechanical claw) of the mechanical arm are attracted.
After the output probe at the male end of the mechanical arm is abutted to the input contact group at the female end of the mechanical arm, current is input to the female end of the mechanical arm from the male end of the mechanical arm, and therefore power is supplied to the mechanical claw. And meanwhile, a power supply circuit at the female end of the mechanical arm is also responsible for supplying power to the clamping electromagnet.
Finally, it should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the same, and although the present invention is described in detail with reference to the above-mentioned embodiments, it should be understood by those skilled in the art that the modifications and equivalents of the specific embodiments of the present invention can be made by those skilled in the art after reading the present specification, but these modifications and variations do not depart from the scope of the claims of the present application.
Claims (10)
1. The mechanical arm claw changing mechanism is characterized by comprising:
the mechanical arm male end comprises a male end controller, an assembly in-place detector and a connecting fixing piece, wherein the male end controller is electrically connected with the assembly in-place detector, and the assembly in-place detector is used for detecting whether the mechanical arm male end is in an assembly state;
the mechanical arm female end comprises an electronic card lock, and the electronic card lock is used for being clamped and fixed with the connecting fixing piece;
when the mechanical arm claw replacing mechanism is in an assembling state, the electronic card lock is clamped and fixed with the connecting fixing piece, the male end of the mechanical arm is fixedly connected with the female end of the mechanical arm through the connecting fixing piece, and the assembling arrival position detector detects that the male end of the mechanical arm is in the assembling state;
when the mechanical arm male end and the mechanical arm female end in the mechanical arm claw changing mechanism are disassembled, the electronic card lock is controlled to be unlocked, and the connecting fixing piece and the electronic card lock can be freely disassembled;
the male end of the mechanical arm further comprises an electromagnet, the electromagnet is electrically connected with the male end controller, and the female end of the mechanical arm is provided with a metal structure used for being adsorbed by the electromagnet;
when the male end of the mechanical arm is assembled with the female end of the mechanical arm, the assembly in-place detector detects whether the male end of the mechanical arm is assembled with the female end of the mechanical arm in place or not, the male end of the mechanical arm is assembled with the female end of the mechanical arm in place, the assembly in-place detector sends a signal to the male end controller, the male end controller controls the electromagnet to work, and the male end of the mechanical arm and the female end of the mechanical arm are tightly adsorbed.
2. The mechanical arm jaw-changing mechanism of claim 1, wherein said male end controller is connected to said electronic card lock wirelessly or by wire when said male end of said mechanical arm is assembled with said female end of said mechanical arm.
3. The mechanical arm claw changing mechanism according to claim 1 or 2, wherein the mechanical arm male end further comprises a power supply module, the power supply module is electrically connected with the male end controller, the mechanical arm female end further comprises a power supply circuit, the power supply circuit is used for supplying power to the mechanical arm female end, and when the mechanical arm male end and the mechanical arm female end are assembled, the power supply circuit is electrically connected with the power supply module.
4. The mechanical arm claw changing mechanism according to claim 3, wherein the power supply module comprises an output contact set, the power supply circuit comprises an input contact set, and when the male end of the mechanical arm is assembled with the female end of the mechanical arm, the output contact set abuts against the input contact set.
5. The mechanical arm gripper changing mechanism of claim 4, wherein the output contact set comprises at least 2 output probes.
6. The mechanical arm claw changing mechanism according to claim 1, wherein the assembly-in-place detector is one or more of a photoelectric detector, a magnetic induction detector and a limit switch.
7. The mechanical arm jaw-changing mechanism of claim 1, wherein said connecting fixture is three pins, the electronic latch is installed in the female end of the mechanical arm, the female end of the mechanical arm is provided with through holes at corresponding positions of the pins, when assembling, the pins are inserted into the through holes and fastened with the electronic latch, and the male end of the mechanical arm and the female end of the mechanical arm are assembled in place.
8. The mechanical arm claw-changing mechanism according to claim 7, wherein the mechanical arm female end comprises a housing, a through hole is formed in the housing, the electronic latch comprises a return spring, a latch member and a latch electromagnet, the latch member is slidably mounted on the housing, the latch member is connected with the housing through the return spring, and the latch electromagnet is mounted on one side of the latch member.
9. A control method of a claw changing mechanism of a mechanical arm as claimed in claim 1, characterized in that when a claw needs to be changed, the male end controller controls the electronic card lock to unlock, so that the electronic card lock and the connecting fixing member are released from a clamped state, and the male end of the mechanical arm and the female end of the mechanical arm can be freely separated.
10. A control method for a gripper changing mechanism of a mechanical arm according to any one of claims 3 to 5, wherein when the male end of the mechanical arm is assembled with the female end of the mechanical arm, the in-position assembly detector detects whether the male end of the mechanical arm and the female end of the mechanical arm are assembled in place, when the male end of the mechanical arm and the female end of the mechanical arm are assembled in place, the in-position assembly detector sends a signal to the male end controller, and the male end controller supplies power to the female end of the mechanical arm through a power supply circuit by a power supply module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011267184.XA CN112338954B (en) | 2020-11-13 | 2020-11-13 | Mechanical arm claw replacing mechanism and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011267184.XA CN112338954B (en) | 2020-11-13 | 2020-11-13 | Mechanical arm claw replacing mechanism and control method thereof |
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| Publication Number | Publication Date |
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| CN112338954A CN112338954A (en) | 2021-02-09 |
| CN112338954B true CN112338954B (en) | 2022-04-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011267184.XA Active CN112338954B (en) | 2020-11-13 | 2020-11-13 | Mechanical arm claw replacing mechanism and control method thereof |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI796168B (en) * | 2022-03-17 | 2023-03-11 | 台達電子工業股份有限公司 | Gripper base and gripper system |
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| JP2015000449A (en) * | 2013-06-14 | 2015-01-05 | ビー・エル・オートテック株式会社 | Master device for tool changer |
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| CN111730634A (en) * | 2020-04-26 | 2020-10-02 | 广州富港万嘉智能科技有限公司 | Claw replacing mechanism capable of automatically realizing electric connection and manipulator equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR20000005142U (en) * | 1998-08-24 | 2000-03-15 | 정한성 | Indoor humidifier |
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|---|---|---|---|---|
| CN202282504U (en) * | 2011-10-21 | 2012-06-20 | 比亚迪股份有限公司 | Connector |
| JP2015000449A (en) * | 2013-06-14 | 2015-01-05 | ビー・エル・オートテック株式会社 | Master device for tool changer |
| CN109070360A (en) * | 2016-04-28 | 2018-12-21 | 霓达株式会社 | Tool replacing apparatus and tool changing system |
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