CN116533275A - Robot hand quick change device and robot - Google Patents
Robot hand quick change device and robot Download PDFInfo
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- CN116533275A CN116533275A CN202310596156.XA CN202310596156A CN116533275A CN 116533275 A CN116533275 A CN 116533275A CN 202310596156 A CN202310596156 A CN 202310596156A CN 116533275 A CN116533275 A CN 116533275A
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- 230000008859 change Effects 0.000 title claims description 25
- 230000009471 action Effects 0.000 claims description 6
- 230000001154 acute effect Effects 0.000 claims description 4
- 230000005489 elastic deformation Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 4
- 238000013461 design Methods 0.000 abstract description 10
- 230000000694 effects Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Classifications
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot hand quick-change device and a robot, wherein the quick-change device comprises: the execution piece is provided with at least one guide groove and a limit groove; the rotary support is an annular frame, the inner wall of the rotary support is provided with a limiting surface, and the rotary support is provided with at least one guide post, and the guide post and the guide groove are in guide limit; the retainer is arranged in the rotary bracket and is provided with a through limiting hole; the limiting piece is arranged on the limiting surface, the limiting piece can move between the rotating support and the retainer, a part of the limiting piece stretches into the limiting hole, and the executing piece and the retainer can be switched between a locking state and an unlocking state. The quick-change device can realize locking or unlocking of the execution piece and the retainer, is simple and convenient in quick-change operation, has simple overall structural design, limits in two directions of the axial direction and the circumferential direction, and can not shake or fall off after locking.
Description
Technical Field
The invention relates to the technical field of robot manufacturing, in particular to a robot hand quick-changing device and a robot.
Background
The mechanical arm tail end quick-change device can achieve mechanical locking and electric unlocking, and has important application in mechanical arms. At present, the whole structure of the existing mechanical arm locking structure is complex, the assembly and processing are difficult, and the quick-change operation is complex. And the mechanical arm is provided with a gap after being locked, so that shaking is easy to cause. The existing mechanical arm is not enough in locking degree, falls off under heavy load, and is not provided with a locking mechanism, so that the mechanical arm is easy to fall off after power failure.
Disclosure of Invention
The invention aims to provide a robot hand quick-change device and a novel technical scheme of a robot, which at least can solve the problems of complex structure, difficult assembly and processing, complex quick-change operation, easy shaking, falling and the like in the prior art.
In a first aspect of the present invention, there is provided a robot hand quick-change device comprising:
the actuating piece is an annular structural piece, at least one guide groove is formed in the actuating piece, a limiting groove is further formed in the actuating piece, and the guide groove and the limiting groove are distributed at intervals in the axial direction of the actuating piece;
the rotary support is an annular frame, a limiting surface is arranged on the inner wall of the rotary support, at least one guide post is arranged on one end of the rotary support, which faces the executing piece, and the guide post and the guide groove are in guide limiting;
the retainer is arranged in the rotary bracket, and a through limiting hole is formed in the outer circumferential surface of the retainer;
the limiting piece is arranged on the limiting surface, the limiting piece is positioned between the rotating bracket and the retainer, the limiting piece is movable between the rotating bracket and the retainer, a part of the limiting piece stretches into the limiting hole, the executing piece and the retainer are switchable between a locking state and an unlocking state, and the limiting piece is positioned at a first position of the limiting surface under the condition that the executing piece and the retainer are in the locking state, and a part of the limiting piece stretches out of the limiting hole and is in limiting connection with the limiting groove; and under the condition that the executing piece and the retainer are in the unlocking state, the limiting piece is positioned at the second position of the limiting surface, the limiting piece is positioned in the limiting hole, and the limiting piece is separated from the limiting groove.
Optionally, the guide slot is a plurality of, the guide post is a plurality of, every the guide post respectively with corresponding one the guide slot is connected, in order to carry out the spacing in circumference to the executive component with the runing rest.
Optionally, the limiting groove is an annular groove opposite to the end surface of the guide groove, which is far away from the executing piece.
Optionally, the limiting part is a ball, when the retainer rotates relative to the rotating bracket, the ball can roll along the limiting surface under the action of the retainer, and when the executing part and the retainer are in the locking state, the ball is positioned at the first position of the limiting surface, and one part of the ball extends out of the limiting hole and is in limiting connection with the limiting groove; when the executing piece and the retainer are in the unlocking state, the ball is located at the second position of the limiting surface, the ball is located in the limiting hole, and the ball is separated from the limiting groove.
Optionally, the number of the limiting parts is multiple, the number of the limiting holes is multiple, the limiting holes are distributed at intervals along the circumferential direction of the retainer, and each limiting hole respectively accommodates a corresponding limiting part, so that the limiting parts extend out of or are accommodated in the limiting holes.
Optionally, the limiting surfaces are multiple, the limiting surfaces are distributed at intervals along the inner wall of the rotating bracket in the circumferential direction, and each limiting surface corresponds to one limiting piece.
Optionally, the limiting surface at least comprises a first inclined surface and a second inclined surface, the inclination of the second inclined surface is larger than that of the first inclined surface, and when the limiting part is positioned on the first inclined surface, the executing part and the retainer are in the unlocking state; when the limiting piece is positioned on the second inclined plane, the executing piece and the retainer are in the locking state.
Optionally, a protruding section is provided on the second inclined plane to limit the limiting piece from freely sliding from the second inclined plane to the first inclined plane.
The robot hand quick change device of optionally described, further comprising: the elastic piece, the one end of elastic piece with the holder is connected, the other end of elastic piece with the runing rest is connected, the executive piece with the holder is in when locking the state, the elastic piece is in tensile state, the executive piece with the holder is in when the unblock state, the elastic piece resumes elastic deformation.
Optionally, the number of the elastic pieces is multiple, the multiple elastic pieces are distributed at intervals, and an included angle between two adjacent elastic pieces on an extension line in the length direction is an acute angle.
Optionally, a stop part is arranged in the rotating bracket, the stop surface is close to the stop part, the stop part is used for setting a bearing, and the retainer is connected with the rotating bracket through the bearing.
Optionally, the inner wall of the side of the rotating bracket facing away from the actuator is provided with insections, and the robot hand quick-change device further comprises:
the motor bracket is arranged on the end face of one side of the retainer, which is opposite to the executing piece;
the motor is provided with a driving gear, the motor is arranged on the motor support, and the driving gear is meshed with the insection.
Optionally, the robot hand quick-change device is characterized by further comprising:
the circuit board is arranged on the motor bracket;
the first Hall device is arranged on the circuit board;
the second Hall devices are arranged on the circuit board, and the first Hall devices and the second Hall devices are distributed at intervals;
the interference piece is arranged on the rotating bracket, a magnet is arranged on the interference piece, and the first Hall device corresponds to the magnet when the executing piece and the retainer are in the locking state so as to detect that the executing piece and the retainer are in the locking state; and under the condition that the executing piece and the retainer are in the unlocking state, the second Hall device corresponds to the magnet so as to detect that the executing piece and the retainer are in the unlocking state.
Optionally, the robot hand quick-change device is characterized by further comprising:
the shell is internally provided with an installation cavity and is used for accommodating the rotary bracket;
the fixing piece is connected with the motor bracket;
and one side of the fixing ring is connected with the fixing piece, and the other side of the fixing ring is connected with the shell.
In a second aspect of the present invention, a robot is provided, including the robot hand quick-change device described in the above embodiment.
According to the robot hand quick-change device, the guide groove is formed in the executing piece and is of an asymmetric design, so that the installation direction of the fixture is set to be constant during assembly, and the fool-proof effect is achieved. Through setting up the guide post on the runing rest, the guide of the executive component of being convenient for and runing rest is spacing, and the relative runing rest of restriction executive component rotates in circumference. Through set up the spacing groove on the executive component, set up spacing hole on the holder, simultaneously set up spacing face at the inner wall of runing rest, at the rotatory in-process of holder relative rotation support, drive the locating part and remove between the first position and the second position of spacing face, make the locating part can stretch out or accomodate in spacing hole, thereby make to be connected or break away from between locating part and the spacing groove, realize the locking or the unblock of executive component and holder in the axial, quick change easy and simple to handle, overall structure design is simple, carry out spacingly from axial and circumference two directions, can not appear rocking or the phenomenon that drops after the locking.
Other features of the present invention and its advantages will become apparent from the following detailed description of exemplary embodiments of the invention, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.
Fig. 1 is a structural exploded view of a robot hand quick-change device according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an execution end of a robot hand quick-change device according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a load end of a robot hand quick-change device according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of the load end of a robot hand quick change device according to an embodiment of the present invention;
FIG. 5 is another cross-sectional view of the load end of a robotic hand quick change device according to an embodiment of the invention;
fig. 6 is a cross-sectional view of a rotating bracket of a robot hand quick-change device according to an embodiment of the present invention;
fig. 7 is another cross-sectional view of a rotating bracket of a robot hand quick-change device according to an embodiment of the present invention;
fig. 8 is a further cross-sectional view of a rotating bracket of a robotic hand quick-change device according to an embodiment of the invention;
FIG. 9 is a partially assembled schematic illustration of a load end of a robotic hand quick change device in accordance with an embodiment of the invention;
FIG. 10 is a cross-sectional view of an unlocking of a robot hand quick change device according to an embodiment of the present invention;
FIG. 11 is a cross-sectional view of the locking of the robot hand quick change device according to an embodiment of the present invention;
FIG. 12 is a schematic view of a position detection of a robotic hand quick change device according to an embodiment of the invention;
FIG. 13 is another position detection schematic of a robotic hand quick change device according to an embodiment of the invention;
FIG. 14 is a schematic view of yet another position detection of a robotic hand quick change device according to an embodiment of the invention;
fig. 15 is a schematic structural view of an interference piece of a robot hand quick-change device according to an embodiment of the present invention.
Reference numerals:
an actuator 10; a guide groove 11; a limit groove 12;
a rotating bracket 20; a limiting surface 21; a first inclined surface 211; a second inclined surface 212; a raised section 213; a guide post 22; a stopper 23; the insections 24;
a holder 30; a limiting hole 31;
a stopper 40;
an elastic member 51; a bearing 52; a wiring board 53; a first hall device 54; a second hall device 55; a tamper tab 56; a magnet 57;
a motor bracket 61; a motor 62; a drive gear 63;
a housing 71; a fixing member 72; a fixing ring 73; female terminal 74; male terminal 75.
Detailed Description
Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise.
The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses.
Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of exemplary embodiments may have different values.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description and claims of the present invention, the terms "first," "second," and the like, if any, may include one or more of those features, either explicitly or implicitly. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more. Furthermore, in the description and claims, "and/or" means at least one of the connected objects, and the character "/", generally means that the associated object is an "or" relationship.
In the description of the present invention, it should be understood that, if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are referred to, the positional relationship indicated based on the drawings is merely for convenience of description and simplification of the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the invention.
In the description of the present invention, it should be noted that the terms "mounted," "connected," and "connected" are to be construed broadly, unless otherwise specifically defined and limited. For example, the connection can be fixed connection, detachable connection or integrated connection; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
A robot hand quick-change device according to an embodiment of the present invention is described in detail below with reference to fig. 1 to 15 of the accompanying drawings.
As shown in fig. 1 to 3, the robot hand quick-change device according to the embodiment of the present invention includes an actuator 10, a rotating bracket 20, a holder 30, and a stopper 40.
Specifically, the executing piece 10 is an annular structural piece, at least one guide groove 11 is arranged on the executing piece 10, a limiting groove 12 is further arranged on the executing piece 10, and the guide groove 11 and the limiting groove 12 are distributed at intervals in the axial direction of the executing piece 10. The rotating bracket 20 is an annular frame, the inner wall of the rotating bracket 20 is provided with a limiting surface 21, one end of the rotating bracket 20 facing the executing piece 10 is provided with at least one guide post 22, and the guide post 22 and the guide groove 11 are in guide limiting. The holder 30 is provided in the rotary bracket 20, and a through-hole 31 is provided on the outer peripheral surface of the holder 30.
The limiting piece 40 is arranged on the limiting surface 21, the limiting piece 40 is located between the rotating bracket 20 and the retainer 30, the limiting piece 40 is movable between the rotating bracket 20 and the retainer 30, a part of the limiting piece 40 stretches into the limiting hole 31, the executing piece 10 and the retainer 30 can be switched between a locking state and an unlocking state, the limiting piece 40 is located at a first position of the limiting surface 21 under the condition that the executing piece 10 and the retainer 30 are in the locking state, and a part of the limiting piece 40 stretches out of the limiting hole 31 and is in limiting connection with the limiting groove 12. When the actuator 10 and the retainer 30 are in the unlocked state, the stopper 40 is located at the second position of the stopper surface 21, the stopper 40 is located in the stopper hole 31, and the stopper 40 is disengaged from the stopper groove 12.
In other words, referring to fig. 1 to 3, the robot hand quick-change device according to the embodiment of the present invention is mainly composed of an actuator 10, a rotating bracket 20, a holder 30, and a stopper 40. Wherein, the actuator 10 may be used as an actuator end of a robot (see fig. 2), and the rotating bracket 20, the retainer 30, the limiting member 40, and the like may constitute a load end of the robot (see fig. 3). The actuator 10 may be provided as an annular structural member, at least one guide groove 11 being provided on the actuator 10, the actuator 10 being further provided with a limit groove 12, the guide groove 11 and the limit groove 12 being spaced apart in the axial direction of the actuator 10. The limit groove 12 is close to the rotary bracket 20 relative to the guide groove 11.
As shown in fig. 1, the swivel mount 20 may be provided as a hollow annular mount for electrical connection. The inner wall of the rotating bracket 20 is provided with a limiting surface 21. The holder 30 is disposed within the swivel bracket 20. At least one guide post 22 is arranged at one end of the rotary support 20 facing the executing piece 10, the guide post 22 and the guide groove 11 conduct guide limiting, the executing piece 10 is limited to rotate in the circumferential direction relative to the rotary support 20, and good guide and torque transmission effects are achieved. By arranging the guide post 22 and the guide groove 11, the butt joint assembly of the actuating element 10 and the rotating bracket 20 frame is convenient, and meanwhile, the guide post 22 and the guide groove 11 are matched with each other to play a foolproof role.
Referring to fig. 1, the outer circumferential surface of the holder 30 is provided with a through-stopper hole 31. The stopper 40 is provided on the stopper surface 21 of the rotating bracket 20, and the stopper 40 is provided between the rotating bracket 20 and the holder 30. The stopper 40 is movable between the rotating bracket 20 and the holder 30, and a portion of the stopper 40 protrudes into the stopper hole 31. The actuator 10 and the retainer 30 are switchable between a locked state and an unlocked state, and when the actuator 10 and the retainer 30 are in the locked state, the stopper 40 is located at the first position of the stopper surface 21, as shown in fig. 4, a portion of the stopper 40 extends out of the stopper hole 31, and at this time, the stopper 40 is in a stopper connection with the stopper groove 12, so that the actuator 10 and the retainer 30 are locked in an axial connection. Under the condition that the executing piece 10 and the retainer 30 are in the unlocking state, the limiting piece 40 is located at the second position of the limiting surface 21, as shown in fig. 5, the limiting piece 40 is located in the limiting hole 31, at this time, the limiting piece 40 is separated from the limiting groove 12, a user can quickly separate the executing piece 10 from the retainer 30 to finish quick-change operation, the whole structure is simple in design, limiting is carried out in two directions of the axial direction and the circumferential direction, shaking or falling off cannot occur after locking, connection of a large load is facilitated, and falling off cannot occur after power failure.
In the present invention, as shown in fig. 1 to 3, the end of the actuator 10 may be provided with a female terminal 74, the end of the holder 30 may be provided with a male terminal 75, and electrical conduction may be effectively achieved by connection of the female terminal 74 and the male terminal 75.
Therefore, according to the robot hand quick-change device provided by the embodiment of the invention, the guide groove 11 is formed in the executing piece 10, and the guide column 22 is formed in the rotating support 20, so that the guiding limit of the executing piece 10 and the rotating support 20 is facilitated, the rotating of the executing piece 10 relative to the rotating support 20 in the circumferential direction is limited, the assembling is facilitated, and the foolproof effect is achieved. Through setting up spacing groove 12 on executive component 10, set up spacing hole 31 on holder 30, simultaneously set up spacing face 21 at the inner wall of runing rest 20, at the in-process that holder 30 rotated relative runing rest 20, drive spacing piece 40 and remove between the first position and the second position of spacing face 21, make spacing piece 40 can stretch out or accomodate in spacing hole 31, thereby make and be connected or break away from between spacing piece 40 and the spacing groove 12, realize the locking or the unblock of executive component 10 and holder 30 in the axial, quick change easy and simple to handle, overall structure design is simple, carry out spacingly from axial and circumference two directions, the phenomenon of rocking or droing can not appear after the locking.
According to an embodiment of the present invention, the guide grooves 11 are plural, and the guide posts 22 are plural, and each guide post 22 is connected to a corresponding one of the guide grooves 11, respectively, so as to limit the actuator 10 and the rotating bracket 20 in the circumferential direction.
That is, referring to fig. 1 to 3, the guide groove 11 may be plural, and the guide post 22 may be plural. Each guide post 22 is connected to a corresponding one of the guide grooves 11. The guiding limit of the guide grooves 11 and the guide posts 22 further ensures that the executing piece 10 and the rotating bracket 20 are limited and stable in the circumferential direction, and the fool-proof effect is better. Alternatively, the number of the guide grooves 11 may be three, the number of the guide posts 22 may be three, and the three guide grooves 11 may be distributed asymmetrically on the peripheral surface of the actuator 10, so as to facilitate the constant installation direction of the assembly setting fixture and play a foolproof role. Meanwhile, due to the matching design of the guide groove 11 and the guide post 22, the circumferential rotation of the load end can be prevented, and the rapid assembly of the load and the execution end can be guided.
According to one embodiment of the invention, the limiting groove 12 is an annular groove facing away from the end face of the actuator 10 with respect to the guide groove 11.
Referring to fig. 1, the limiting groove 12 may be designed as an annular groove. The end face of the limiting groove 12, which is far away from the executing piece 10 relative to the guide groove 11, ensures that the limiting groove 12 can be in limiting fit with the limiting piece 40, and realizes locking or unlocking of the robot hand quick-change device.
According to one embodiment of the present invention, as shown in fig. 1, the limiting member 40 is a ball, when the retainer 30 rotates relative to the rotating bracket 20, the ball can roll along the limiting surface 21 under the action of the retainer 30, and when the actuator 10 and the retainer 30 are in a locked state, the ball is located at the first position of the limiting surface 21, and a part of the ball extends out of the limiting hole 31 and is in limiting connection with the limiting groove 12; when the actuator 10 and the retainer 30 are in the unlocked state, the balls are positioned at the second position of the stopper surface 21, the balls are positioned in the stopper hole 31, and the balls are disengaged from the stopper groove 12.
That is, referring to fig. 1, the stopper 40 may be a ball which rolls along the stopper surface 21 under the action of the holder 30 when the holder 30 rotates relative to the rotating bracket 20. When the balls move to the first position of the limiting surface 21, referring to fig. 4 and 11, the balls are partially ejected from the limiting holes 31 by the limiting surface 21 in the rotating bracket 20, so that the balls can be embedded into the limiting grooves 12 of the actuator 10, and the actuator and the retainer 30 are limited and locked in the axial direction through the balls. When the ball moves to the second position of the limiting surface 21, see fig. 5 and 10, the ball rolls back into the limiting hole 31, and at this time, the ball is separated from the limiting groove 12, and the unlocking of the actuator 10 and the retainer 30 is completed. The locking and unlocking modes of the invention are very simple and convenient, and the operation is also simple, thereby being beneficial to improving the quick-change efficiency of the robot hand quick-change device.
In some embodiments of the present invention, the number of the limiting members 40 is plural, the number of the limiting holes 31 is plural, and the plurality of limiting holes 31 are spaced apart along the circumference of the retainer 30, and each limiting hole 31 accommodates a corresponding one of the limiting members 40, so that the limiting member 40 extends out of or is accommodated in the limiting hole 31.
In other words, as shown in fig. 1, the number of the limiting members 40 may be plural, and the number of the limiting holes 31 may be plural. The plurality of limiting holes 31 may be spaced apart along the circumferential direction of the holder 30. Each of the limiting holes 31 can respectively accommodate a corresponding one of the limiting members 40, so that the limiting members 40 can extend out of or be accommodated in the limiting holes 31. Alternatively, the plurality of stoppers 40 may be six balls, and the retainer 30 may have six stopper holes 31 provided on an annular wall thereof to be engaged with the six balls.
The locking action principle of the invention is as follows: when the load end pushes the inner cavity of the execution end, the execution end is rotated, the balls are ejected out of the limit holes 31 by the mechanical structure of the execution end and are embedded into the annular track (limit groove 12) of the load piece, so that the load end cannot move in the axial direction, and the load end is locked.
According to an embodiment of the present invention, the number of the limiting surfaces 21 is plural, and the plurality of limiting surfaces 21 are distributed at intervals in the circumferential direction along the inner wall of the rotating bracket 20, and each limiting surface 21 corresponds to one limiting member 40.
The limiting surface 21 at least comprises a first inclined surface 211 and a second inclined surface 212, the inclination of the second inclined surface 212 is larger than that of the first inclined surface 211, and when the limiting piece 40 is positioned on the first inclined surface 211, the executing piece 10 and the retainer 30 are in an unlocking state; when the limiting member 40 is located on the second inclined plane 212, the actuating member 10 and the retainer 30 are in a locked state.
Optionally, referring to fig. 8, a protruding section 213 is provided on the second inclined surface 212 to limit the free sliding of the limiting member 40 from the second inclined surface 212 to the first inclined surface 211, so that the ball (limiting member 40) slides onto the second inclined surface 212 and is not easy to return to the first inclined surface 211. When the return is needed, a certain force needs to be applied to return. When the limiting member 40 is located on the first inclined surface 211, the actuating member 10 and the retainer 30 are in an unlocked state. When the limiting member 40 is located on the second inclined plane 212, the actuating member 10 and the retainer 30 are in a locked state.
That is, referring to fig. 6 to 8, the limiting surface 21 may be provided in plurality, and the plurality of limiting surfaces 21 may be distributed at intervals in the circumferential direction along the inner wall of the rotating bracket 20. Each limiting surface 21 corresponds to one limiting piece 40, and locking or unlocking of the executing piece 10 and the retainer 30 is achieved through the fact that the limiting pieces 40 move to different positions of the limiting surfaces 21.
The limiting surface 21 at least comprises a first inclined surface 211 and a second inclined surface 212, wherein the inclination of the second inclined surface 212 is larger than that of the first inclined surface 211, and a convex section 213 can be arranged on the second inclined surface 212, so that the ball (the limiting piece 40) slides onto the second inclined surface 212 and is not easy to return to the first inclined surface 211. When the return is needed, a certain force needs to be applied to return. When the limiting member 40 is located on the first inclined surface 211, the actuating member 10 and the retainer 30 are in an unlocked state. When the limiting member 40 is located on the second inclined plane 212, the actuating member 10 and the retainer 30 are in a locked state.
In the present invention, as shown in fig. 6 to 8, the first inclined surface 211 and the second inclined surface 212 may be inclined surfaces other than smooth inclined surfaces or curved inclined surfaces. The limiting surface 21 may further include a third inclined surface and a fourth inclined surface, where the first inclined surface 211 is an unlocking surface, and the second inclined surface 212, the third inclined surface and the fourth inclined surface may move the steel balls to different inclined surfaces according to actual needs, so that the steel balls extend out of the limiting hole 31 to have different sizes, and the locking of the actuating member 10 and the retainer 30 is ensured to be more stable.
In the present invention, there may be four arcs on different slopes on the limiting surface 21, where the first arc is a slope that can eject the ball to guide the ball into a locked state. In the second section of line, there is little protruding pitch arc, and it is difficult to return to first line section to let the ball slip the third line section after, if need returning, need exert certain power can return to first line section. In the third section of arc, the arc is concentric with the central circular surface, and the ball is kept from sliding out. The third section surface is an inclined surface with a larger angle and plays a role in locking the ball. At this time, the actuator 10 and the holder 30 are in a locked state.
According to the design, under the condition of larger load and external vibration interference, even if the gap is enlarged, the balls cannot return to the first section of arc line, so that the load end falls off accidentally.
Of course, the specific shape of the limiting surface 21 is not specifically limited in the present invention, and any design that can achieve locking or unlocking of the actuator 10 and the retainer 30 should fall within the scope of the present invention.
According to an embodiment of the present invention, the robot hand quick-change device further includes: the elastic member 51, one end of the elastic member 51 is connected with the holder 30, the other end of the elastic member 51 is connected with the rotating bracket 20, the elastic member 51 is in a stretched state when the actuator 10 and the holder 30 are in a locked state, and the elastic member 51 is restored to elastic deformation when the actuator 10 and the holder are in an unlocked state.
In other words, referring to fig. 1 and 9, the robot hand quick-change device may further include an elastic member 51, and the elastic member 51 may employ a spring or a tension spring. One end of the elastic member 51 is connected to the holder 30, the other end of the elastic member 51 is connected to the rotating bracket 20, the elastic member 51 is in a stretched state when the actuator 10 and the holder 30 are in a locked state, and the elastic member 51 is restored to elastic deformation when the actuator 10 and the holder are in an unlocked state.
In the unlocked state, the load end is engaged, and a rotational force needs to be applied to deform the tension spring (elastic member 51). When the tension spring is in telescopic tension, the device is in an unlocking state, the ball (the limiting piece 40) is positioned at the deepest part (the position of the first inclined surface 211) of the limiting surface 21, and the ball does not interfere with the limiting hole 31 on the retainer 30 at the load end.
In the locking state, when the load end device is connected, the rotating force disappears, the tension spring is reset to the initial state, at this time, the rotating bracket 20 rotates along with the reset of the tension spring, the balls are pushed to shift to the shallowest position (the second inclined plane 212 or the fourth inclined plane position) of the limiting surface 21, the balls interfere with the limiting holes 31 on the retainer 30 of the load end, the balls are embedded in the limiting grooves 12 of the executing piece 10, and at this time, the load end is locked.
In some embodiments of the present invention, the number of the elastic members 51 is plural, the plural elastic members 51 are spaced apart, and the included angle between two adjacent elastic members 51 on the extension line in the length direction is an acute angle.
That is, as shown in fig. 1 and 9, the number of the elastic members 51 may be plural, the plurality of elastic members 51 may be spaced apart, and the included angle between two adjacent elastic members 51 on the extension line in the length direction may be an acute angle. Alternatively, three elastic members 51 may be provided, and one end of each elastic member 51 is connected to the holder 30 and the other end is connected to the rotating bracket 20. The three elastic members 51 may be distributed at 60 ° to each other in the circumferential direction, and promote the locking holding force.
According to an embodiment of the present invention, referring to fig. 1 and 9, a stop 23 is disposed in the rotating bracket 20, the stop surface 21 is close to the stop 23, the stop 23 is mainly used for disposing a bearing 52, and the retainer 30 may be connected to the rotating bracket 20 through the bearing 52, so as to implement mutual rotation of the retainer 30 and the rotating bracket 20.
According to one embodiment of the invention, the inner wall of the side of the rotating bracket 20 facing away from the actuator is provided with the insection 24, and the robot hand quick-change device further comprises a motor bracket 61 and a motor 62.
Specifically, the motor bracket 61 is provided on an end surface of the holder 30 on a side facing away from the actuator 10. The motor 62 has a drive gear 63, the motor 62 is provided on the motor bracket 61, and the drive gear 63 is meshed with the insection 24.
In other words, as shown in fig. 1, the inner wall of the rotating bracket 20 on the side facing away from the actuator may be provided with the insection 24, and the robot hand quick-change device further includes a motor bracket 61 and a motor 62. Wherein the motor mount 61 is arranged on the end face of the holder 30 facing away from the actuator 10. Referring to fig. 1, 12 and 13, the motor 62 has a driving gear 63, the motor 62 is provided on the motor bracket 61, and the driving gear 63 is engaged with the insection 24. The driving gear 63 of the motor 62 is matched with the insection 24, so that the retainer 30 can be driven to rotate relative to the rotary support 20, and the electric locking or unlocking of the robot hand quick-change device is realized.
According to one embodiment of the present invention, the robot hand quick-change device further includes a circuit board 53, a first hall device 54, a second hall device 55, and an interference piece 56.
Specifically, the wiring board 53 is provided on the motor bracket 61. The first hall device 54 is provided on the wiring board 53. The second hall devices 55 are provided on the wiring board 53, and the first hall devices 54 are spaced apart from the second hall devices 55. The interference piece 56 is arranged on the rotating bracket 20, the magnet 57 is arranged on the interference piece 56, and the first Hall device 54 corresponds to the magnet 57 to detect that the actuator 10 and the retainer 30 are in a locking state when the actuator 10 and the retainer 30 are in a locking state; in the case where the actuator 10 and the holder 30 are in the unlocked state, the second hall device 55 corresponds to the magnet 57 to detect that the actuator 10 and the holder 30 are in the unlocked state.
That is, referring to fig. 1, 13, 14 and 15, the robot hand quick-change apparatus may further include a circuit board 53, a first hall device 54, a second hall device 55 and an interference piece 56. Wherein the circuit board 53 is provided on the motor bracket 61. The first hall device 54 is provided on the wiring board 53. The second hall devices 55 are disposed on the wiring board 53, and the first hall devices 54 are spaced apart from the second hall devices 55. The first hall device 54 and the second hall device 55 are located at two different positions of the wiring board 53. The interference piece 56 is provided on an end surface of the rotating bracket 20, and the magnet 57 is provided on the interference piece 56, and the first hall device 54 corresponds to the magnet 57 to detect that the actuator 10 and the holder 30 are in a locked state when the actuator 10 and the holder 30 are in a locked state. In the case where the actuator 10 and the holder 30 are in the unlocked state, the second hall device 55 corresponds to the magnet 57 to detect that the actuator 10 and the holder 30 are in the unlocked state.
Specifically, the magnet 57 is embedded in the interference piece 56, and two hall devices (a first hall device 54 and a second hall device 55) are provided on the wiring board 53. In a default state, i.e. a locked state, the first hall element may detect a strong magnetic field and the second hall element may be a weak magnetic field.
Referring to fig. 12 to 14, when the motor 62 rotates to drive the interference piece 56 to rotate, when the interference piece 56 rotates to the position of the first hall device 54, the first hall device 54 can detect the change of the magnetic field of the magnet 57 from weak to strong, at this time, the mechanism is in a locking state, the motor 62 can stop working, the device is always in the locking state by the pulling force of the tension spring (the elastic piece 51), and the damage of the motor 62 caused by long-term working state of the motor 62 is solved.
When an unlocked condition is desired, the motor 62 is reversed to trigger the other hall device (second hall device 55), which detects a change in magnetic field, and the mechanism is in a fully unlocked condition with the end device removed. At this time, if the motor 62 is powered off, the device returns to the locking state under the action of the tension spring, and the falling situation after power off can not occur.
According to one embodiment of the present invention, referring to fig. 1, the robot hand quick-change device further includes a housing 71, a fixing piece 72, and a fixing ring 73. Wherein, the housing 71 is provided with a mounting cavity therein, and the housing 71 is used for accommodating the rotating bracket 20 and other structures. The fixing member 72 is connected to the motor bracket 61. One side of the fixing ring 73 is connected with the fixing piece 72, and the other side is connected with the shell 71, so that the robot hand quick-change device is connected with an external structure.
In summary, according to the robot hand quick-change device provided by the embodiment of the invention, electric unlocking and manual unlocking can be realized, the quick-change operation is simple and convenient, the whole structure is simple in design, the limit is carried out in the axial direction and the circumferential direction, and the shaking or falling phenomenon can not occur after the locking.
Of course, other structures of the robot hand quick-change device and the working principle thereof are understood and can be implemented by those skilled in the art, and detailed description thereof is omitted herein.
According to the robot, the robot hand quick-change device comprises the robot hand quick-change device. The robot according to the embodiment of the invention has the corresponding technical effects that the robot can realize electric unlocking and manual unlocking by adopting the robot hand quick-change device, is simple and convenient in quick-change operation, has simple overall structural design, limits in two directions of the axial direction and the circumferential direction, and does not shake or fall off after locking.
Of course, other structures of the robot and its working principle are understood and can be implemented by those skilled in the art, and detailed description thereof is omitted herein.
While certain specific embodiments of the invention have been described in detail by way of example, it will be appreciated by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that modifications may be made to the above embodiments without departing from the scope and spirit of the invention. The scope of the invention is defined by the appended claims.
Claims (15)
1. A robot hand quick change device, comprising:
the actuating piece is an annular structural piece, at least one guide groove is formed in the actuating piece, a limiting groove is further formed in the actuating piece, and the guide groove and the limiting groove are distributed at intervals in the axial direction of the actuating piece;
the rotary support is an annular frame, a limiting surface is arranged on the inner wall of the rotary support, at least one guide post is arranged on one end of the rotary support, which faces the executing piece, and the guide post and the guide groove are in guide limiting;
the retainer is arranged in the rotary bracket, and a through limiting hole is formed in the outer circumferential surface of the retainer;
the limiting piece is arranged on the limiting surface, the limiting piece is positioned between the rotating bracket and the retainer, the limiting piece is movable between the rotating bracket and the retainer, a part of the limiting piece stretches into the limiting hole, the executing piece and the retainer are switchable between a locking state and an unlocking state, and the limiting piece is positioned at a first position of the limiting surface under the condition that the executing piece and the retainer are in the locking state, and a part of the limiting piece stretches out of the limiting hole and is in limiting connection with the limiting groove; and under the condition that the executing piece and the retainer are in the unlocking state, the limiting piece is positioned at the second position of the limiting surface, the limiting piece is positioned in the limiting hole, and the limiting piece is separated from the limiting groove.
2. The robot hand quick change device of claim 1, wherein the number of guide grooves is plural, the number of guide posts is plural, and each guide post is respectively connected with a corresponding one of the guide grooves to limit the actuator and the rotating bracket in circumferential direction.
3. The robot hand quick change device of claim 1, wherein the limiting groove is an annular groove opposite to the end surface of the guide groove away from the actuator.
4. The quick robot hand changing device according to claim 1, wherein the limiting member is a ball, the ball is rotatable along the limiting surface under the action of the retainer when the retainer rotates relative to the rotating bracket, the ball is located at the first position of the limiting surface when the actuator and the retainer are in the locked state, and a part of the ball extends out of the limiting hole and is in limiting connection with the limiting groove; when the executing piece and the retainer are in the unlocking state, the ball is located at the second position of the limiting surface, the ball is located in the limiting hole, and the ball is separated from the limiting groove.
5. The quick robot hand changing device according to claim 1, wherein the number of the limiting members is plural, the number of the limiting holes is plural, the plurality of the limiting holes are distributed at intervals along the circumferential direction of the holder, and each of the limiting holes accommodates a corresponding one of the limiting members, so that the limiting members are protruded or accommodated in the limiting holes.
6. The quick robot hand changing device according to claim 1, wherein the number of the limiting surfaces is plural, the plurality of limiting surfaces are distributed at intervals in the circumferential direction along the inner wall of the rotating bracket, and each limiting surface corresponds to one limiting piece.
7. The quick robot hand changing device of claim 6, wherein the limiting surface comprises at least a first inclined surface and a second inclined surface, the second inclined surface has a gradient greater than that of the first inclined surface, and the actuator and the holder are in the unlocked state when the limiting member is positioned on the first inclined surface; when the limiting piece is positioned on the second inclined plane, the executing piece and the retainer are in the locking state.
8. The robot hand quick change device of claim 7, wherein the second ramp has a raised section thereon to limit the free sliding of the stop member from the second ramp to the first ramp.
9. The robotic hand quick change device of claim 1, further comprising: the elastic piece, the one end of elastic piece with the holder is connected, the other end of elastic piece with the runing rest is connected, the executive piece with the holder is in when locking the state, the elastic piece is in tensile state, the executive piece with the holder is in when the unblock state, the elastic piece resumes elastic deformation.
10. The quick robot hand changing device according to claim 9, wherein the number of the elastic members is plural, the plural elastic members are distributed at intervals, and an included angle between two adjacent elastic members on an extension line in a length direction is an acute angle.
11. The quick robot hand changing device according to claim 1, wherein a stop portion is provided in the rotating bracket, the stop portion is provided near the stop portion, the stop portion is used for providing a bearing, and the retainer is connected with the rotating bracket through the bearing.
12. The robot hand quick change device of claim 1, wherein the inner wall of the rotating bracket on the side facing away from the actuator is provided with insections, and the robot hand quick change device further comprises:
the motor bracket is arranged on the end face of one side of the retainer, which is opposite to the executing piece;
the motor is provided with a driving gear, the motor is arranged on the motor support, and the driving gear is meshed with the insection.
13. The robotic hand quick change device of claim 12, further comprising:
the circuit board is arranged on the motor bracket;
the first Hall device is arranged on the circuit board;
the second Hall devices are arranged on the circuit board, and the first Hall devices and the second Hall devices are distributed at intervals;
the interference piece is arranged on the rotating bracket, a magnet is arranged on the interference piece, and the first Hall device corresponds to the magnet when the executing piece and the retainer are in the locking state so as to detect that the executing piece and the retainer are in the locking state; and under the condition that the executing piece and the retainer are in the unlocking state, the second Hall device corresponds to the magnet so as to detect that the executing piece and the retainer are in the unlocking state.
14. The robotic hand quick change device of claim 12, further comprising:
the shell is internally provided with an installation cavity and is used for accommodating the rotary bracket;
the fixing piece is connected with the motor bracket;
and one side of the fixing ring is connected with the fixing piece, and the other side of the fixing ring is connected with the shell.
15. A robot comprising a robot hand quick change device according to any one of claims 1-14.
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| CN202310596156.XA CN116533275A (en) | 2023-05-24 | 2023-05-24 | Robot hand quick change device and robot |
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| CN202310596156.XA CN116533275A (en) | 2023-05-24 | 2023-05-24 | Robot hand quick change device and robot |
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Cited By (1)
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| CN116533218A (en) * | 2023-05-24 | 2023-08-04 | 上海智元新创技术有限公司 | Quick-dismantling device and robot |
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