A driving force interface device

Abstract

The present invention provides a driving force interface device, including: a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; a first limiting groove is provided on the female connector to cooperate with the male connector; a second limiting groove is provided above the first limiting groove; an elastic self-locking mechanism is provided at the first end of the male connector, and the second end of the male connector is connected to the driving mechanism to move toward the female connector under the drive of the driving mechanism; the self-locking device is provided on one side of the female connector to lock with the second limiting groove; the spreading mechanism is provided below the self-locking device, so that the elastic self-locking mechanism moves toward the first limiting groove and locks with it under the action of elastic force. In the present invention, by providing the first limiting groove and the second limiting groove on the female connector, the spreading mechanism applies a spreading force to the elastic self-locking mechanism, so that the elastic self-locking mechanism is locked with the second limiting groove after being separated from the spreading mechanism, thereby ensuring a reliable connection between the mechanical arm and the tool to be taken.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical manufacturing, and in particular to a driving force interface device. Background Art

[0002] The distribution network is at the end of the power system and is directly connected to the user's equipment. Its reliability plays a very important role in the reliability of the entire power supply. At present, live working has become one of the important means to ensure the safe and reliable operation of the distribution network. However, the distribution network lines are usually complex, some lines have short phase distances, and the safety distance is insufficient. There are many safety hazards in manual live working. With the development of cutting-edge technologies in machinery, electronics, computers, sensors, artificial intelligence, and bionics, robots are increasingly widely used in all walks of life. The development and promotion of live working robots to replace manual work in distribution network live working is the inevitable direction of technological development.

[0003] At present, live-working robots all use industrial robotic arms to connect working tools with specific functions to complete various working steps, such as using wire stripping tools to complete the insulated wire stripping step, using clamping tools to complete the wire grabbing step, using wiring tools to complete the drainage wire clamp installation step, and using sleeve tools to complete the bolt tightening step. The robotic arm and the tool are usually connected by a manipulator grasping or flange threaded hole. The grasping connection has problems such as unstable control and easy falling off. The screw fixation has problems such as difficulty in automatically and quickly taking and placing the tool and requiring manual replacement. At the same time, since there is only mechanical fixation between the robotic arm and the tool, the robotic arm only sends the tool to a specific working position, and the tool still needs to be equipped with an independent battery and motor drive system, which increases the size and weight of the tool at the end of the robotic arm, and the working efficiency is low, which is not suitable for the compact working environment of the distribution line. Summary of the invention

[0004] In view of this, the present invention proposes a driving force interface device, which aims to solve the problem that tools are easily dropped when the existing robot arm takes tools and the efficiency is low.

[0005] The present invention proposes a driving force interface device, comprising: a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; wherein:

[0006] The female connector is provided with a first limiting groove for cooperating with the male connector; the female connector is provided with a second limiting groove at a position above the first limiting groove for cooperating with the self-locking device;

[0007] The first end of the male connector is provided with an elastic self-locking mechanism for cooperating with the first limiting groove, and the second end of the male connector is connected to the driving mechanism for moving toward the female connector under the drive of the driving mechanism to dock with the female connector;

[0008] The self-locking device is arranged on one side of the female connector, and is used to lock with the second limiting groove, and when the male connector contacts the female connector, the female connector is released under the action of the male connector;

[0009] The spreading mechanism is arranged below the self-locking device, and is used to spread the elastic self-locking mechanism when the male connector is in continuous contact with the female connector, so that the elastic self-locking mechanism moves toward the first limiting groove under the action of elastic force and is locked with the first limiting groove, thereby completing the docking of the male connector and the female connector.

[0010] Further, in the above-mentioned driving force interface device, the male connector comprises: a base, a hollow top column and an elastic self-locking mechanism;

[0011] The top of the hollow top column is provided with a plurality of bosses for engaging with the female connector;

[0012] The elastic self-locking mechanism is slidably arranged on the side wall of the hollow top column in a horizontal direction;

[0013] The driving mechanism is arranged below the base, and the hollow top column passes through the hollow part of the base and is connected with the driving mechanism.

[0014] Further, in the above-mentioned driving force interface device, the elastic self-locking mechanism comprises: two buckles and two elastic members;

[0015] The two buckles are arranged opposite to each other, and an extrusion portion is formed between the two buckles. The contour of the extrusion portion is adapted to the shape of the end of the female connector to be connected, so that the two buckles are opened to both sides under the action of the end;

[0016] Two elastic members are respectively connected between the two ends of the two buckles to limit the displacement of the two buckles;

[0017] The two buckles are respectively provided with protruding structures corresponding to each other, which are used to interact with the outer side of the expansion mechanism, so that the two buckles move toward each other under the elastic force of the elastic member and are locked with the first limiting groove.

[0018] Furthermore, in the above-mentioned driving force interface device, through holes are opened on the side walls of the hollow top column at positions corresponding to the two buckles, so as to fix the buckles and provide sliding channels for the buckles.

[0019] Furthermore, in the above driving force interface device, the male connector further comprises: a first transmission shaft; wherein,

[0020] The first transmission shaft passes through the hollow portion of the hollow top column and is connected to the output shaft of the driving mechanism.

[0021] Further, in the above-mentioned driving force interface device, the female connector comprises: a cylinder;

[0022] The first limiting groove is formed on the side wall of the cylinder at one end close to the male connector along the circumferential direction;

[0023] A first convex ring portion is coaxially arranged on the cylinder above the first limiting groove, and a plurality of slots are provided on the side wall of the first convex ring portion, and each of the slots is open at both ends, and is matched with the boss on the male connector to provide a movement channel for the boss;

[0024] A second convex ring portion is coaxially arranged on the cylinder body above the first convex ring portion, and the second limiting groove is formed between the second convex ring portion and the first convex ring portion.

[0025] Furthermore, in the above driving force interface device, the female connector further comprises: a second transmission shaft; wherein,

[0026] The second transmission shaft passes through the cylinder, and the second transmission shaft cooperates with the first transmission shaft of the male connector to achieve power transmission between the male connector and the female connector.

[0027] Furthermore, in the above-mentioned driving force interface device, the self-locking device comprises: two buckle bodies arranged opposite to each other; wherein,

[0028] The two buckle bodies are connected to form a clamping portion, and each buckle body is provided with a corresponding self-locking protrusion, and the two self-locking protrusions cooperate with each other to lock with the second limiting groove on the female connector from both sides.

[0029] Furthermore, in the above-mentioned driving force interface device, the spreading mechanism comprises: two inclined rails arranged opposite to each other; wherein,

[0030] The distance between the two inclined rails is matched with the distance between the two buckles in the elastic self-locking mechanism, so that when the male connector continues to move toward the female connector, the two buckles can contact the outer sides of the two inclined rails.

[0031] Furthermore, the above-mentioned driving force interface device also includes: a bearing plate; wherein the self-locking device and the spreading mechanism are respectively connected to the upper and lower sides of the bearing plate.

[0032] In the present invention, a first limit groove and a second limit groove are provided on the female connector, and an elastic self-locking mechanism is provided on the male connector. The locking of the female connector and the self-locking device is achieved by cooperating between the second limit groove and the self-locking device on one side of the female connector. When the male connector applies a force to the self-locking device, the self-locking device unlocks the female connector. Further, an opening force is applied to the elastic self-locking mechanism by the opening mechanism, so that the elastic self-locking mechanism is locked with the second limit groove after being separated from the opening mechanism, thereby ensuring a reliable connection between the robot arm and the tool to be taken, and realizing automatic locking and unlocking of the robot arm and the end tool. This can effectively prevent the problem of the tool being easy to fall off due to unstable connection when the robot arm is taking the tool, and at the same time improve the efficiency of the robot arm in taking the end tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0034] Figure 1 A schematic diagram of the structure of a driving force interface device provided by an embodiment of the present invention;

[0035] Figure 2 An exploded view of a driving force interface device provided by an embodiment of the present invention;

[0036] Figure 3 is a top view of a male connector according to an embodiment of the present invention;

[0037] Figure 4 is another top view of the male connector according to the embodiment of the present invention;

[0038] Figure 5 A schematic diagram of the structure of a female connector and a bearing plate in a driving force interface device provided by an embodiment of the present invention;

[0039] Figure 6 A cross-sectional view of a driving force interface device provided by an embodiment of the present invention;

[0040] Figure 7 This is a schematic diagram of the docking process of the male connector and the female connector in an embodiment of the present invention;

[0041] Figure 8 This is a schematic diagram of the completion of docking of the male connector and the female connector in an embodiment of the present invention. DETAILED DESCRIPTION

[0042] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0043] See also Figure 1 The driving force interface device of the embodiment of the present invention comprises: a female connector 1, a self-locking device 2, a spreading mechanism 3, a male connector 4 and a driving mechanism 5; wherein the female connector 1 is provided with a first limiting groove 11 for cooperating with the male connector 4; the female connector 1 is provided with a second limiting groove 12 at a position above the first limiting groove 11 for cooperating with the self-locking device 2; the first end of the male connector 4 is provided with an elastic self-locking mechanism 42 for cooperating with the first limiting groove 11, and the second end of the male connector 4 is connected to the driving mechanism 5 for moving toward the female connector 1 under the drive of the driving mechanism 5. Movement to dock with the female connector 1; the self-locking device 2 is arranged on one side of the female connector 1, so as to lock with the second limiting groove 12, and when the male connector 4 contacts with the female connector 1, the female connector 1 is released under the action of the male connector 4; the spreading mechanism 3 is arranged below the self-locking device 2, so as to spread the elastic self-locking mechanism 42 when the male connector 4 is in continuous contact with the female connector 1, so that the elastic self-locking mechanism 42 moves toward the first limiting groove 11 under the action of the elastic force and locks with the first limiting groove 11, thereby completing the docking of the male connector 4 with the female connector 1.

[0044] Specifically, the female connector 1 may be a columnar or cylindrical structure, and the side wall thereof is provided with a first limiting groove 11 and a second limiting groove 12 from bottom to top, respectively, and the first limiting groove 11 and the second limiting groove 12 are arranged at intervals to be locked with the male connector 4 and the self-locking device 2, respectively, to achieve the docking of the female connector 1 and the male connector 4. The first limiting groove 11 and the second limiting groove 12 may both be annular grooves.

[0045] A top column structure can be provided in the middle of the male connector 4, so that when the driving mechanism 5 drives it to move toward the female connector 1 and contact the female connector 1, the self-locking device 2 locked on one side of the female connector 1 can be pushed open. An elastic self-locking mechanism 42 is provided on the male connector 4 at the periphery of the top column structure, and the elastic self-locking mechanism 42 is located below the top of the top column structure, so that when the male connector 4 continues to move toward the female connector 1 and continues to contact the female connector 1, it is subjected to the opening force applied by the opening mechanism 3 and when the driving mechanism 5 drives the entire male connector 4 to leave the opening mechanism 3, it recovers its deformation, moves toward the first limiting groove 11 and locks with the first limiting groove 11, and completes the docking of the male connector 4 and the female connector 1. In this embodiment, the driving mechanism 5 can be a motor.

[0046] It is well known to those skilled in the art that the function of the male connector 4 and the female connector 1 is to realize the connection between the two structures. In this embodiment, there is no limitation on the structure to be connected. Specifically, in an application scenario in this embodiment, the male connector 4 can be connected to the robotic arm 7 through the driving mechanism 5, and one end of the female connector 1 can be connected to the tool to be taken, such as an electric end tool, and the other end is connected to the male connector 4. In this way, the robotic arm can pick up, place and replace the tool to be taken.

[0047] There can be multiple self-locking devices 2, and multiple opening mechanisms 3, each of which is arranged below the corresponding self-locking device 2, and the two can be fixed on the same connector or on different connectors, depending on the actual application scenario. The self-locking device 2 and the opening mechanism 3 can be arranged in pairs to cooperate with each other to achieve locking and unlocking of the male connector 4 and the female connector 1.

[0048] Preferably, the present embodiment comprises: a carrying plate 6; wherein the self-locking device 2 and the opening mechanism 3 are respectively connected to the upper and lower sides of the carrying plate 6. Each self-locking device 2 and the corresponding opening mechanism 3 can be arranged on the same side of the carrying plate 6, one above and one below. That is to say, multiple groups of tools to be taken can be installed on the carrying plate 6 to realize the taking, placing and replacement of the tools to be taken.

[0049] See also Figure 2 In this embodiment, the self-locking device 2 includes: two buckle bodies 21 arranged opposite to each other; wherein, the two buckle bodies 21 are connected to each other to form a clamping portion, and each of the buckle bodies 21 is correspondingly provided with a self-locking protrusion 211, and the two self-locking protrusions cooperate with each other to lock with the second limiting groove 12 on the female connector 1 from both sides.

[0050] Specifically, the two buckle bodies 21 can be fixed on the bearing plate 6 by bolts. The clamping part formed by the two buckle bodies 21 can be a claw-like structure. A self-locking protrusion is provided in the middle of the claw to clamp with the second limiting groove 12 on the female connector 1. The buckle body 21 can be an elastic member to automatically pop out under the top force applied by the top column structure on the male connector 4 to release the female connector 1.

[0051] Continue reading Figure 2 The spreading mechanism 3 includes: two inclined rails 31 arranged opposite to each other; wherein, the spacing between the two inclined rails 31 is adapted to the spacing between the two buckles 421 in the elastic self-locking mechanism 42, so that when the male connector 4 continues to move toward the female connector 1, the two buckles 421 can contact the outer sides of the two inclined rails 31.

[0052] Specifically, the two inclined rails 31 are connected to the bearing plate 6 by bolts, and can also be connected to the bearing plate 6 by the slots 131. A spreading channel is formed between the two inclined rails 31, and the width of the spreading channel can be greater than or equal to the distance between the two buckles 421 on the elastic self-locking mechanism 42. The inner side of each inclined rail 31 close to the spreading channel is a planar structure, and the outer wall of the inclined rail 31 has an inclined surface at one end away from the bearing plate 6, and the wall close to the bearing plate 6 is a step-shaped structure.

[0053] It can be obviously concluded from the above that the driving force interface device provided in the present embodiment, by setting a first limit groove 11 and a second limit groove 12 on the female connector 1, and setting an elastic self-locking mechanism 42 on the male connector 4, the second limit groove 12 cooperates with the self-locking device 2 on one side of the female connector 1 to realize the locking of the female connector 1 and the self-locking device 2, and when the male connector 4 applies a force to the self-locking device 2, the self-locking device 2 unlocks the female connector 1, and further applies a spreading force to the elastic self-locking mechanism 42 through the spreading mechanism 3, so that the elastic self-locking mechanism 42 is locked with the second limit groove 12 after being separated from the spreading mechanism 3, thereby ensuring the reliable connection between the robot arm 7 and the tool 8 to be taken, realizing the automatic locking and unlocking of the robot arm and the end tool 8, which can effectively prevent the problem of the tool falling off due to unstable connection when the robot arm takes the tool, and at the same time improve the efficiency of the robot arm in taking the end tool.

[0054] See also Figure 2 , Figure 3 and Figure 4The male connector 4 includes: a base 40, a hollow top column 41 and an elastic self-locking mechanism 42; a plurality of bosses 411 are arranged on the top of the hollow top column 41 for engaging with the female connector 1; the elastic self-locking mechanism 42 is slidably arranged on the side wall of the hollow top column 41 along the horizontal direction; the driving mechanism 5 is arranged below the base 40, and the hollow top column 41 passes through the hollow part of the base 40 and is connected to the driving mechanism 5.

[0055] Specifically, the base 40 may be a flange structure with a plurality of connection holes formed in the circumference thereof. The drive mechanism 5 is disposed below the base 40, and the connection between the male connector 4 and the drive mechanism 5 may be realized by bolts. The hollow top column 41 may be a columnar structure such as a round or square structure, and the elastic self-locking mechanism 42 may be sleeved on the outer wall of the hollow top column 41. A boss 411 may be provided on both sides of the top of the hollow top column 41 to engage with the slot 131 on the side wall of the female connector 1. On the one hand, the boss 411 may push open the self-locking protrusion of the self-locking device 2 when the male connector 4 approaches the female connector 1 to unlock the female connector 1; on the other hand, it may also prevent the problem of self-rotation that the hollow top column 41 is prone to occur after docking with the female connector 1.

[0056] The elastic self-locking mechanism 42 can be arranged in the horizontal direction ( Figure 2 The cross-sectional direction of the hollow top column 41 is slidably connected to the hollow top column 41.

[0057] Continue reading Figure 3 and Figure 4 The elastic self-locking mechanism 42 includes: two buckles 421 and two elastic members 422; the two buckles 421 are arranged opposite to each other, and an extrusion portion is formed between the two buckles 421, and the contour of the extrusion portion is adapted to the shape of the end of the female connector 1 to be connected, so that the two buckles 421 are opened to both sides under the action of the end; the two elastic members 422 are respectively connected between the two ends of the two buckles 421 to limit the displacement of the two buckles 421; the two buckles 421 are respectively provided with protruding structures 4211 corresponding to each other, which are used to interact with the outer side of the opening mechanism 3, so that the two buckles 421 move toward each other under the elastic force of the elastic members 422 and lock with the first limiting groove 11. In order to reduce weight, a number of weight-reducing holes are distributed on the buckles 421.

[0058] Specifically, the extrusion portion may be in the shape of an arc, and its axis is colinear with the axis of the hollow top column 41. The buckle 421 may be in the shape of a wedge, a triangle, a rectangle, etc., and the elastic member 422 may be a spring. The buckle 421 may include: a connecting portion and a clamping portion, wherein the connecting portion is connected to the hollow top column 41, and the clamping portion is arranged at one end of the connecting portion away from the hollow top column 41. The connecting portion is the end of the two buckles 421 that are close to each other, and the end surface of the connecting portion close to the center of the hollow top column 41 has an arc-shaped end surface, and the arc-shaped end surfaces of the two connecting portions are close to form an extrusion portion to adapt to the docking end of the female connector 1, so that under the extrusion of the end of the female connector 1, it opens to both sides under the action of the two elastic members 422. In this embodiment, the connecting portion may be composed of a connecting plate, or may be composed of two connecting rods arranged at intervals, and the end surfaces of the connecting plate and the connecting rod close to the center of the hollow top column 41 may both have arc end surfaces.

[0059] The two buckles 421 are provided with protruding structures 4211 at their respective positions near the outer edges. The protruding structures 4211 may be rollers, and the protruding structures 4211 may be supported against the base 40 via a connecting shaft. The spacing between the two protruding structures 4211 may be slightly smaller than the spacing between the two inclined rails 31 of the opening mechanism 3.

[0060] In order to realize the sliding connection between the elastic self-locking member and the hollow top column 41, a through hole a is opened at a position corresponding to the two buckles 421 on the side wall of the hollow top column 41 to fix the buckles 421 and provide a sliding channel for the buckles 421. The size of the two through holes can be adapted to that of the buckles 421, and more specifically, the through holes can be square holes.

[0061] Furthermore, the male connector 4 also includes: a first transmission shaft 43; wherein the first transmission shaft 43 is inserted into the hollow part of the hollow top column 41 and connected to the output shaft of the driving mechanism 5. Correspondingly, the female connector 1 is also provided with a second transmission shaft, which is inserted into the cylinder 10 of the female connector 1, and the second transmission shaft cooperates with the first transmission shaft 43 of the male connector 4 to realize power transmission between the male connector 4 and the female connector 1, so as to provide a power source for the end tool 8 connected to the end of the female connector 1, so that the end tool 8 does not need to be configured with a power supply and a motor and other drive systems, and only needs to design a suitable mechanical transmission structure to complete the operation functions such as wire stripping, wire clamping, wire clamp installation, and bolt tightening, which greatly reduces the volume, weight and cost of the end tool 8.

[0062] Combination Figure 2 , 5and 6, the female connector 1 comprises: a cylinder 10; a first limiting groove 11 is circumferentially provided on the side wall of the cylinder 10 at one end close to the male connector 4; a first convex ring portion 13 is coaxially provided on the cylinder 10 above the first limiting groove 11, a plurality of retaining grooves 131 are provided on the side wall of the first convex ring portion 13, and each of the retaining grooves 131 is open at both ends, and is matched with the boss 411 on the male connector 4 to provide a movement channel for the boss 411; a second convex ring portion 14 is coaxially provided on the cylinder 10 above the first convex ring portion 13, and a second limiting groove 12 is formed between the second convex ring portion 14 and the first convex ring portion 13.

[0063] Specifically, the upper end of the cylinder 10 can be connected to the device to be connected (such as the tool 8 to be taken) through a flange. The end surface of the cylinder 10 close to the first limiting groove 11 is provided with a chamfered corner to apply an extrusion force to the two buckles 421 on the elastic self-locking mechanism 42 of the male connector 4. The spacing between the first convex ring portion 13 and the first limiting groove 11 can be determined according to actual conditions. The card groove 131 on the first convex ring portion 13 is arranged in a one-to-one correspondence with the boss 411 on the hollow top column 41 of the male connector 4. In this embodiment, there are two card grooves 131, and the two card grooves 131 are relatively arranged on both sides of the first convex ring portion 13 to provide a movement channel for the boss 411 when the male connector 4 continues to contact with the female connector 1, so that the boss 411 can push open the self-locking device 2 locked in the second limiting groove 12 of the female connector 1. The second convex ring portion 14 is coaxially arranged with the first convex ring portion 13 , and the inner and outer diameters of the two can be kept consistent. The longitudinal widths of the first convex ring portion 13 and the second convex ring portion 14 can be the same or different. For example, the longitudinal width of the first convex ring portion 13 can be greater than the longitudinal width of the second convex ring portion 14 .

[0064] The female connector 1 also includes: a second transmission shaft 15; wherein the second transmission shaft 15 is passed through the cylinder 10, and the second transmission shaft 15 cooperates with the first transmission shaft 43 of the male connector 4 to realize power transmission between the male connector 4 and the female connector 1.

[0065] See also Figure 7 and Figure 8Taking the robot arm taking the end electric tool as an example, the use process of the driving force interface device in this embodiment is as follows: the male connector 4 is installed on the top of the robot arm 7, the female connector 1 is installed in the electric tool 8 and locked by the self-locking device on the carrier plate 6, the motor on the robot arm 7 is moved to the bottom of the carrier plate 6, and the male connector 4 is moved to the bottom of the same vertical line as the female connector 1 on the carrier plate 6, the motor drives the robot arm 7 to move upward, so that the male connector 4 moves upward and docks with the female connector 1, because the elastic self-locking mechanism 42 of the male connector 4 is subjected to the pressure of the rounded surface of the lower end of the female connector 1, it slides to both sides of the hollow top column 41 and opens, so that the female connector 1 continues to dock with the male connector 4, and when the male connector 4 continues to rise, the hollow top column 41 of the male connector 4 Part of the boss 411 continues to rise along the slot 131 on the female connector 1 until it contacts the self-locking device 2 and applies outward pressure to it, thereby unlocking the self-locking device 2 at the female connector 1. When the male connector 4 continues to move upward and contacts the female connector 1, the protruding structure 4211 on the elastic self-locking mechanism 42 contacts the outer sides of the two inclined rails 31 of the expansion mechanism 3, and is continuously opened by the expansion effect of the two inclined rails 31. Afterwards, the motor drives the mechanical arm 7 to move horizontally outward, so that the roller leaves the inclined rail 31 of the expansion mechanism 3. Because the buckles 421 on both sides are subjected to the tension of the tension spring, they move toward the center of the hollow top column 41, and the buckles 421 are inserted into the second limit groove 12 to complete self-locking. From then on, the mechanical arm 7 completes the unlocking and self-locking functions during the storage and retrieval process of the end tool.

[0066] In summary, the driving force interface device provided in the present embodiment provides a first limit groove and a second limit groove on the female connector, and an elastic self-locking mechanism on the male connector, and the second limit groove cooperates with the self-locking device on one side of the female connector to achieve locking of the female connector and the self-locking device, and when the male connector applies a force to the self-locking device, the self-locking device unlocks the female connector, and further applies a spreading force to the elastic self-locking mechanism through the spreading mechanism, so that the elastic self-locking mechanism is locked with the second limit groove after being separated from the spreading mechanism, thereby ensuring a reliable connection between the robot arm and the tool to be taken, and realizing automatic locking and unlocking of the robot arm and the end tool, and further, through the connection of the first transmission shaft and the second transmission shaft, the transmission connection between the male connector and the female connector is realized, thereby realizing power transmission from the robot arm to the end tool, thereby eliminating the power source at the tool end and reducing the volume and weight of the tool.

[0067] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A driving force interface device, It is characterized in that include: Female connector, self-locking device, spreading mechanism, male connector and driving mechanism; wherein, The female connector is provided with a first limiting groove for cooperating with the male connector; the female connector is provided with a second limiting groove at a position above the first limiting groove for cooperating with the self-locking device; The first end of the male connector is provided with an elastic self-locking mechanism for cooperating with the first limiting groove, and the second end of the male connector is connected to the driving mechanism for moving toward the female connector under the drive of the driving mechanism to dock with the female connector; The elastic self-locking mechanism comprises: two buckles and two elastic members; wherein the two buckles are arranged opposite to each other and an extrusion portion is formed between the two buckles, and the contour of the extrusion portion is adapted to the shape of the end of the female connector to be connected, so that the two buckles are opened to both sides under the action of the end; Two elastic members are respectively connected between the two ends of the two buckles to limit the displacement of the two buckles; the two buckles are respectively provided with protruding structures corresponding to each other to interact with the outer side of the opening mechanism, so that the two buckles move toward each other under the elastic force of the elastic members and are locked with the first limiting groove; The self-locking device is arranged on one side of the female connector, and is used to lock with the second limiting groove, and when the male connector contacts the female connector, the female connector is released under the action of the male connector; The spreading mechanism is arranged below the self-locking device, and includes two inclined rails arranged opposite to each other. When the driving mechanism drives the male connector to continuously contact the female connector, the two protruding structures on the elastic self-locking mechanism contact the outer sides of the two inclined rails of the spreading mechanism, and are subjected to the spreading force of the two inclined rails, so that the two buckles open outward. Afterwards, the driving mechanism drives the mechanical arm to move horizontally outward, so that the protruding structure leaves the inclined rails of the spreading mechanism. Because the buckles on both sides are subjected to the pulling force of the elastic member, they move toward the center of the hollow top column of the male connector and are inserted into the first limiting groove to complete the docking of the male connector and the female connector.

2. The driving force interface device according to claim 1, It is characterized in that The male connector comprises: a base, a hollow top column and an elastic self-locking mechanism; The top of the hollow top column is provided with a plurality of bosses for engaging with the female connector; The elastic self-locking mechanism is slidably arranged on the side wall of the hollow top column in a horizontal direction; The driving mechanism is arranged below the base, and the hollow top column passes through the hollow part of the base and is connected with the driving mechanism.

3. The driving force interface device according to claim 2, It is characterized in that Through holes are provided on the side wall of the hollow top column at positions corresponding to the two buckles, so as to fix the buckles and provide sliding channels for the buckles.

4. The driving force interface device according to claim 2, It is characterized in that The male connector further includes: a first transmission shaft; wherein, The first transmission shaft passes through the hollow portion of the hollow top column and is connected to the output shaft of the driving mechanism.

5. The driving force interface device according to claim 1, It is characterized in that The female connector comprises: a barrel; The first limiting groove is formed on the side wall of the cylinder at one end close to the male connector along the circumferential direction; A first convex ring portion is coaxially arranged on the cylinder above the first limiting groove, and a plurality of slots are provided on the side wall of the first convex ring portion, and each of the slots is open at both ends, and is matched with the boss on the male connector to provide a movement channel for the boss; A second convex ring portion is coaxially arranged on the cylinder body above the first convex ring portion, and the second limiting groove is formed between the second convex ring portion and the first convex ring portion.

6. The driving force interface device according to claim 5, It is characterized in that The female connector further includes: a second transmission shaft; wherein, The second transmission shaft passes through the cylinder, and the second transmission shaft cooperates with the first transmission shaft of the male connector to achieve power transmission between the male connector and the female connector.

7. The driving force interface device according to any one of claims 1 to 6, It is characterized in that The self-locking device comprises: two buckle bodies arranged opposite to each other; wherein, The two buckle bodies are connected to form a clamping portion, and each buckle body is provided with a corresponding self-locking protrusion, and the two self-locking protrusions cooperate with each other to lock with the second limiting groove on the female connector from both sides.

8. The driving force interface device according to any one of claims 1 to 6, It is characterized in that The distance between the two inclined rails is matched with the distance between the two buckles in the elastic self-locking mechanism, so that when the male connector continues to move toward the female connector, the two buckles can contact the outer sides of the two inclined rails.

9. The driving force interface device according to any one of claims 1 to 6, It is characterized in that Also includes: A load-bearing plate; wherein The self-locking device and the spreading mechanism are respectively connected to the upper and lower sides of the bearing plate.

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