Direct plug-pull type quick-change mechanism between hand part and arm of manipulator

Abstract

The invention discloses a direct plug-pull type quick change mechanism between a hand and an arm of a manipulator. The hand comprises a paw and a hand connecting piece, the arm comprises a driving piece and an arm connecting piece, the paw is connected with the driving piece through a transmission device, the hand connecting piece is connected with the arm connecting piece, a hand barrel is arranged at one end of the hand connecting piece, an arm barrel is arranged at one end of the arm connecting piece, the direct plug-pull type quick change mechanism further comprises a connecting barrel, the first end of the connecting barrel is connected with the hand barrel, and the second end of the connecting barrel and one end of the arm barrel are respectively provided with magnetic rings which correspond to each other and attract each other. The connecting barrel is connected with the hand barrel, the connecting barrel is connected with the arm barrel through the magnetic rings, and the direct plug-pull type quick change function between the hand and the arm can be realized by utilizing the attractive force characteristic of the magnetic rings, so that the process is quick and efficient when the hand of the manipulator is replaced, and meanwhile, automatic or remote control replacement operation can be conveniently realized.

Description

technical field [0001] The invention relates to a partial structure of a manipulator, in particular to a direct plug-in quick-change mechanism between a manipulator hand and an arm. Background technique [0002] A manipulator is an automatic or manual operation device that can imitate certain movement functions of the human hand and arm to grasp, carry objects or operate tools. The actuator of the manipulator is divided into a hand, an arm, and a torso. The hand is installed at the front end of the arm, and the torso is a bracket for installing the arm, the power source, and various actuators. The hand of the manipulator includes a gripper for gripping objects and a hand connector for connecting with the arm. The arm of the manipulator includes a drive for driving the movement of the gripper and an arm connector for connecting with the hand. The claw and the driving part are connected to each other through the transmission device, and the hand connecting part and the arm co...

AI Technical Summary

Problems solved by technology

[0003] Industrial manipulators, especially manipulators used in special industries, due to the differences in operating objects, cause a phenomenon that the hands cannot meet the requirements of various clamping objects.

[0004] The hand and arm of traditional manipulators are generally connected in a relatively fixed way, such as threaded connection, clip connection, etc. The former is connected and disassembled by threaded rotation and locking, and the latter is inserted first and then rotated to lock or rotate The connection is realized by snapping and locking. Regardless of the connection method, it needs to be rotated and locked to achieve a stable connection, and it needs to be rotated to loosen to realize disassembly, which makes it time-consuming and laborious to replace the manipulator. Strict alignment between the head and the arm is required to ensure the strict alignment of the hole position or positioning mechanism to achieve a stable connection, which further increases the difficulty of connection and reduces the replacement efficiency

[0005] In addition, with the expansion of the application scenarios of manipulators, in order to complete more efficient and safer industrial tasks, the hand replacement of manipulators increasingly needs to have the function of automation or remote operation. To realize automation or remote replacement of hands on the basis of structure, precise rotation control operation is required, which is difficult to achieve, or even if it can be realized, the structure will be more complicated, the cost will be more expensive, and the replacement efficiency will be difficult to improve

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