Integrated mechanism of mechanical arm and live working tool

Abstract

The present application provides a mechanism integrating a robot arm and a live working tool, including: a male connector, which is used to be connected to the robot arm, the male connector is a tubular structure, and a driving shaft is arranged in the male connector; a female connector, which is detachably connected to the male connector, the female connector is a tubular structure, and a transmission shaft is arranged in the female connector, and the transmission shaft is connected to the driving shaft by transmission; a tool holder, which is detachably connected to the female connector, and a working tool is arranged on the tool holder; both the male connector and the female connector are provided with a signal source port and a power supply port that can be docked. The mechanism can realize the automatic placement and replacement of a single or multiple tools fixed on the tool holder by the robot arm, and at the same time realize automatic locking and unlocking through the male connector and the female connector, taking into account the convenience of replacing the tool and the stability of the tool fixing. The male connector and the female connector are also provided with a signal source and a power supply that can be docked, so as to realize the integration of the robot arm and the power supply and control of the tool, and reduce the volume, weight and cost of the tool.

Description

Technical Field

[0001] The present invention belongs to the field of electromechanical technology, and in particular relates to a mechanism for integrally connecting a mechanical arm with an electric working tool. 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 independent battery, motor, control circuit and other drive and communication systems, which increases the size and weight of the tool at the end of the robotic arm, and the working efficiency is low. It is not suitable for the complex working environment of the distribution line. Summary of the invention

[0004] In view of this, an object of the present invention is to provide an integrated mechanism of a robot arm and a live working tool to solve or overcome at least one technical problem existing in the prior art.

[0005] The present application provides a mechanical arm and live working tool integrated mechanism, comprising:

[0006] A male connector, which is used to connect to the robot arm, the male connector is a tubular structure, and a driving shaft is arranged inside the male connector;

[0007] A female connector is detachably connected to the male connector. The female connector is a tubular structure. A transmission shaft is disposed inside the female connector. The transmission shaft is in transmission connection with the drive shaft.

[0008] A tool bracket, which is detachably connected to the female connector, and a working tool is arranged on the tool bracket;

[0009] Wherein, the male connector and the female connector are both provided with a signal source port and a power supply port capable of docking.

[0010] Furthermore, the male connector comprises:

[0011] A robot arm connection port, which is provided at the first end of the male connector, and the robot arm connection port is used to connect to the robot arm;

[0012] A male connector butt joint end, which is provided at the second end of the male connector, and the male connector butt joint end is used for butting with the female connector;

[0013] A wedge-shaped self-locking device is used to lock the docking between the male connector and the female connector.

[0014] Furthermore, the wedge-shaped self-locking device comprises:

[0015] Lock heads are arranged in pairs, and the paired lock heads are respectively inserted into the male connector butt end, and one end of each lock head extending into the male connector butt end is wedge-shaped, and each lock head can be slidably arranged along the male connector butt end, and the sliding directions of each lock head are opposite, and the sliding directions of the two lock heads are perpendicular to the axial direction of the male connector butt end;

[0016] Pulley, the two pulleys are rotatably arranged on each of the lock heads,

[0017] The two ends of the two springs are respectively connected to the two lock heads, and the two springs are respectively arranged on one side of the male connector butt end.

[0018] Furthermore, each of the locks comprises:

[0019] A lock handle, on which at least one through hole is formed, and the pulley is rotatably disposed in the lock handle;

[0020] A locking rod has a rectangular cross section, is connected to the locking handle, and one end of the locking rod is wedge-shaped and extends into the male joint.

[0021] Furthermore, the female connector comprises:

[0022] A female connector butt end, which is arranged at the first end of the female connector, and a first limiting groove is provided on the female connector butt end along its circumference, and the female connector butt end can coaxially extend into the male connector;

[0023] A second limiting groove is arranged between the first end and the second end of the female connector. The second limiting groove is arranged along the circumference of the female connector. The second limiting groove is used to connect the tool bracket.

[0024] Furthermore, the tool support comprises:

[0025] A carrying plate, on which a working tool is fixed;

[0026] A clamp, which is fixed to the bearing plate, and is used to be clamped on the female connector;

[0027] An unlocking member is arranged below the clamp on the supporting plate, and the unlocking member includes two support rods, each of which is provided with an inclined slide rail, and the unlocking member is used to push open the wedge-shaped self-locking device on the male joint.

[0028] Furthermore, the clamp and the unlocking member are both connected to the supporting plate via bolts, and a plurality of the clamps and the unlocking member are detachably connected to the supporting plate.

[0029] Furthermore, the signal source port includes:

[0030] a plurality of signal source contacts disposed in the female connector;

[0031] A signal source contact pin matching each of the signal source contacts is arranged in the male connector, and the bottom end of each of the signal source contact pins is coaxially connected to the cavity of each signal source contact pin via a spring.

[0032] Furthermore, the signal source contact and the signal source contact pin include a serial transmission port and a serial reception port respectively.

[0033] Furthermore, the power port includes:

[0034] a power contact disposed in the female connector;

[0035] A power contact pin matching the power contact point is arranged in the male connector, and the bottom end of each power contact pin is coaxially connected to the cavity of each power contact pin via a spring;

[0036] Wherein, the power contact and the power contact pin respectively include a power port and a ground port.

[0037] The beneficial effects of this application are:

[0038] The integrated mechanism of the mechanical arm and live working tool provided by the present application can realize the automatic placement and replacement of a single or multiple tools fixed on the tool holder by the mechanical arm, and realize automatic locking and unlocking through the male and female connectors, taking into account the convenience of replacing tools and the stability of tool fixation. The male and female connectors are also provided with a signal source and a power supply that can be docked, realizing the integration of power supply and control of the mechanical arm and the tool, greatly reducing the size, weight and cost of the tool. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] The above and other objects, features and advantages of the present invention will become more apparent through the following description of the embodiments of the present invention with reference to the accompanying drawings.

[0040] Figure 1 It is a schematic diagram of the three-dimensional structure of the integrated mechanism of the mechanical arm and the live working tool provided in an embodiment of the present invention;

[0041] Figure 2 is a front view of an integrated mechanism of a mechanical arm and a live working tool provided according to an embodiment of the present invention;

[0042] Figure 3 is a schematic cross-sectional view of a male connector and a female connector provided in an embodiment of the present invention;

[0043] Figure 4 It is a schematic diagram of the top structure of a male connector provided according to an embodiment of the present invention.

[0044] Among them, 1-mechanical arm, 2-male connector, 3-female connector, 4-tool holder, 5-drive shaft, 6-transmission shaft;

[0045] 21-wedge-shaped self-locking device, 211-locking handle, 212-locking rod, 213-spring, 214-pulley;

[0046] 31-first groove, 32-second groove;

[0047] 41 - carrying plate, 42 - clamp, 43 - unlocking piece. DETAILED DESCRIPTION

[0048] Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. In each of the accompanying drawings, the same elements are represented by the same or similar reference numerals. For the sake of clarity, the various parts in the accompanying drawings are not drawn to scale.

[0049] refer to Figures 1 to 4 The present application provides an integrated mechanism of a robot arm and a live working tool (hereinafter referred to as "the mechanism"), comprising: a male connector 2, which is used to be connected to a robot arm 1, the male connector 2 is a tubular structure, and a driving shaft 5 is arranged inside the male connector 2; a female connector 3, which can be detachably connected to the male connector 2, the female connector 3 is a tubular structure, and a transmission shaft 6 is arranged inside the female connector 3, and the transmission shaft 6 is transmission-connected to the driving shaft 5; a tool bracket 4, which can be detachably connected to the female connector 3, and a working tool is arranged on the tool bracket 4; both the male connector 2 and the female connector 3 are provided with a signal source port and a power port that can be connected.

[0050] In this embodiment, at least one working tool is provided on the tool support 4, and the robot arm 1 performs working operations through the working tool. It should be understood that the working tools include multiple types to meet various working requirements. In the first aspect, the mechanism can realize a single action function, such as tightening bolts, clamping wires and cutting wires, etc. Specifically, the power transmission connection mode of the drive shaft 5 and the transmission shaft 6 realizes the working function of a single action through the working tool with specific functions that can be matched on the female connector 3. In the second aspect, it can have a feedback control function for complex operations. Specifically, the working tool is powered by a power supply, and instructions are sent and received through a signal source, so as to complete various complex control functions, such as completing a specific length of wire stripping operations, and installing drainage clamps, etc.

[0051] The following will explain the mechanism in detail through its specific structure.

[0052] In this embodiment, the male connector 2 includes: a robotic arm connection port, which is provided at the first end of the male connector 2, and the robotic arm connection port is used to connect with the robotic arm 1; a male connector docking end, which is provided at the second end of the male connector 2, and the male connector docking end is used to dock with the female connector 3; a wedge-shaped self-locking device 21, which is used to lock the docking between the male connector 2 and the female connector 3.

[0053] The mechanical arm connection port is fixed to the mechanical arm 1, and the drive shaft 5 in the male connector 2 is connected to the output end of the motor at the end of the mechanical arm 1. It should be understood that the drive shaft 5 is rotatably arranged in the male connector 2, and specifically, a bearing can be arranged to facilitate the rotation of the drive shaft 5. The second end of the male connector 2 is the connector docking end, and docking with the female connector 3 is achieved through a wedge-shaped self-locking device 21.

[0054] refer to Figure 4 The wedge-shaped self-locking device 21 includes: a pair of lock heads, the pair of lock heads are respectively inserted into the male connector butt end, one end of each lock head extending into the male connector butt end is wedge-shaped, each lock head can be slidably arranged along the male connector butt end, the sliding directions of each lock head are opposite, and the sliding directions of the two lock heads are perpendicular to the axial direction of the male connector butt end; a pulley 214, two pulleys 214 are respectively rotatably arranged on each lock head, a pair of springs 213, the two ends of the two springs 213 are respectively connected to the two lock heads, and the two springs 213 are respectively arranged on one side of the male connector butt end.

[0055] In this embodiment, the wedge-shaped self-locking device 21 can lock and unlock the female connector 3. Two lock heads are provided in the wedge-shaped self-locking device 21, each of which includes: a lock handle 211, on which at least one through hole is opened, and the pulley 214 is rotatably arranged in the lock handle 211; a lock rod 212, whose cross section is rectangular, and the lock rod 212 is connected to the lock handle 211, and one end of the lock rod 212 is wedge-shaped and extends into the male connector 2. Two springs 213 are symmetrically connected to the two lock handles 211, so that the two lock handles 211 are pulled close to each other to achieve locking of the female connector 3.

[0056] The female connector 3 includes: a female connector butt end, which is arranged at the first end of the female connector 3, and a first limiting groove 31 is opened on the female connector butt end along its circumference, and the female connector butt end can coaxially extend into the male connector 2; a second limiting groove 32, which is arranged between the first end and the second end of the female connector 3, and the second limiting groove 32 is arranged along the circumference of the female connector 3, and the second limiting groove 32 is used to connect the tool bracket 4.

[0057] The diameter of the female joint butt end is smaller than the inner diameter of the male joint butt end, so that the female joint butt end can be inserted into the male joint butt end, and the first limiting groove 31 on the female joint butt end can also be inserted into the male joint 2, and the female joint butt end can push open the wedge-shaped locking rods 212 of the two wedge-shaped self-locking devices 21, so that the spring 213 stores energy, and the two locking rods 212 are tightened under the action of the spring 213, and the two locking rods 212 can be inserted into the first limiting groove 31 under the action of the spring 213 to lock the female joint 3. The relatively close ends of the two locking rods 212 are wedge-shaped, which facilitates the female joint 3 to be inserted into the male joint 2 and easily pushes the two locking rods 212 away from each other.

[0058] In this embodiment, reference Figures 1 to 3 The tool support 4 includes: a carrier plate 41, on which a working tool is fixed; a clamp 42, which is fixed on the carrier plate 41, and the clamp 42 is used to be clamped on the female connector 3; an unlocking member 43, which is arranged below the clamp 42 on the carrier plate 41, and the unlocking member 43 includes two support rods, each of which is provided with an inclined slide rail, and the unlocking member 43 is used to push open the wedge-shaped self-locking device 21 on the male connector 2. Specifically, the clamp 42 is used to be clamped into the second groove to achieve the fixing of the tool support 4 to the second groove on the female connector 3.

[0059] The two supporting rods of the unlocking member 43 can push the two locking heads of the wedge-shaped self-locking device 21 away from each other, thereby unlocking the female connector 3 and the male connector 2. The specific operation of the unlocking member 43 to unlock is as follows: when the male connector 2 and the female connector 3 are in a locked state, the male connector 2 continues to be pushed toward the female connector 3, and the unlocking member 43 on the female connector 3 pushes against the two pulleys 214 on the wedge-shaped self-locking device 21, so that the two pulleys 214 move away from each other, thereby making the two locking handles 211 relatively away from each other, thereby unlocking the female connector 3 and the male connector 2.

[0060] The clamp 42 and the unlocking member 43 are both connected to the supporting plate 41 via bolts, and a plurality of the clamps 42 and the unlocking member 43 are detachably connected to the supporting plate 41, so that they can be fixed at the position of a working tool to be used, making it convenient for the robot arm 1 to carry out picking up, placing and replacing tools.

[0061] In this embodiment, the signal source port includes: a plurality of signal source contacts arranged in the female connector 3; a signal source contact pin matched with each of the signal source contacts arranged in the male connector 2, and the bottom end of each of the signal source contact pins is coaxially connected to the cavity of each signal source contact pin via a spring 213. The signal source contacts and the signal source contact pins respectively include a serial transmission port and a serial reception port.

[0062] The power port includes: a power contact arranged in the female connector 3; a power contact pin arranged in the male connector 2 and matching the power contact, and the bottom end of each power contact pin is coaxially connected to the cavity of each power contact pin via a spring 213; wherein the power contact and the power contact pin respectively include a power port and a ground port.

[0063] The mechanism provides power to the working tool through the power port, and transmits signals to the working tool through a plurality of signal source contact pins and signal source contacts, thereby being able to control the working tool to perform complex operations.

[0064] As those skilled in the art should understand, through holes can be opened in the axial direction of the male connector 2 and the female connector 3 to install each contact pin and each contact point, and when the male connector 2 and the female connector 3 are docked, precise docking of the contact pins and the contacts can be achieved.

[0065] The integrated mechanism of the mechanical arm and live working tool provided in the present application can realize the automatic placement and replacement of a single or multiple tools fixed on the tool holder 4 by the mechanical arm 1, and realize automatic locking and unlocking through the male connector 2 and the female connector 3, taking into account the convenience of replacing tools and the stability of tool fixing. The male connector 2 and the female connector 3 are also provided with a signal source and a power supply that can be connected, realizing the integration of the mechanical arm 1 and the power supply and control of the tool, greatly reducing the size, weight and cost of the tool.

[0066] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0067] Finally, it should be noted that: Obviously, the above embodiments are only examples for clearly explaining the present invention, and are not intended to limit the implementation methods. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived from this are still within the scope of protection of the present invention.

Claims

1. A mechanical arm and live working tool integrated mechanism, characterized in that: include: A male connector, which is used to connect to the robot arm, the male connector is a tubular structure, and a driving shaft is arranged inside the male connector; A female connector, which is detachably connected to the male connector, the female connector is a tubular structure, a transmission shaft is arranged inside the female connector, and the transmission shaft is in transmission connection with the drive shaft; A tool bracket, which is detachably connected to the female connector, and a working tool is arranged on the tool bracket; Wherein, the male connector and the female connector are both provided with a signal source port and a power port capable of docking; The male connector comprises: A mechanical arm connection port, which is provided at the first end of the male connector, the mechanical arm connection port is used to connect with the mechanical arm, the drive shaft is rotatably disposed in the male connector, and a bearing is provided between the two; A male connector butt joint end, which is provided at the second end of the male connector, and the male connector butt joint end is used for butting with the female connector; A wedge-shaped self-locking device, which is used to lock the male connector and the female connector; The wedge-shaped self-locking device comprises: Lock heads are arranged in pairs, and the paired lock heads are respectively inserted into the male connector butt end, and one end of each lock head extending into the male connector butt end is wedge-shaped, and each lock head can be slidably arranged along the male connector butt end, and the sliding directions of each lock head are opposite, and the sliding directions of the two lock heads are perpendicular to the axial direction of the male connector butt end; Pulley, the two pulleys are rotatably arranged on each of the lock heads, A pair of springs, the two ends of the two springs are respectively connected to the two lock heads, and the two springs are respectively arranged on one side of the male connector butt end; Each of the locks comprises: A lock handle, on which at least one through hole is formed, and the pulley is rotatably disposed in the lock handle; A locking rod, whose cross section is rectangular, is connected to the locking handle, and one end of the locking rod is wedge-shaped and extends into the male connector; two springs are symmetrically connected to the two locking handles so that the two locking handles are pulled close to each other to achieve locking of the female connector; The female connector comprises: A female connector butt end, which is arranged at the first end of the female connector, and a first limiting groove is provided on the female connector butt end along its circumference, and the female connector butt end can coaxially extend into the male connector; A second limiting groove, which is arranged between the first end and the second end of the female connector, the second limiting groove is arranged along the circumference of the female connector, and the second limiting groove is used to connect the tool support; The diameter of the female joint butt end is smaller than the inner diameter of the male joint butt end, the female joint butt end can be inserted into the male joint butt end, and the first limit groove on the female joint butt end can also be inserted into the male joint, the female joint butt end can push open the wedge-shaped locking rods of the two wedge-shaped self-locking devices, so that the spring stores energy, the two locking rods are tightened under the action of the spring, and the two locking rods can extend the locking rods into the first limit groove under the action of the spring to achieve locking of the female joint; the two locking rods are wedge-shaped at one end that is relatively close to each other; the tool bracket includes: A carrying plate, on which a working tool is fixed; A clamp, which is fixed on the bearing plate, and is used to be clamped in the second groove of the female connector; An unlocking member is arranged below the clamp on the carrying plate, the unlocking member comprises two supporting rods, each of the supporting rods is provided with an inclined slide rail, and the unlocking member is used to push open the wedge-shaped self-locking device on the male joint; when the male joint and the female joint are in a locked state, the male joint continues to be pushed toward the female joint, and the unlocking member on the female joint pushes against the two pulleys on the wedge-shaped self-locking device, so that the two pulleys are back-to-back and away from each other, thereby making the two locking handles relatively away from each other, thereby realizing the unlocking of the female joint and the male joint; The clamp and the unlocking member are both connected to the carrier plate via bolts, and a plurality of the clamps and the unlocking members are detachably connected to the carrier plate; the signal source port comprises: a plurality of signal source contacts disposed in the female connector; A signal source contact pin matching each of the signal source contacts is arranged in the male connector, and the bottom end of each of the signal source contact pins is coaxially connected to the cavity of each signal source contact pin via a spring; the signal source contact and the signal source contact pin respectively include a serial transmission port and a serial reception port; The power port comprises: a power contact disposed in the female connector; A power contact pin matching the power contact point is arranged in the male connector, and the bottom end of the power contact pin is coaxially connected to the power contact pin cavity via a spring; Wherein, the power contact and the power contact pin respectively include a power port and a ground port.

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