Quick locking device for large floating mass robot end tool
By using the rolling engagement structure of the guide cone seat and the locking engagement mechanism, the problem of rapid locking of the end effector of a large floating volume robot is solved, enabling flexible connection in low-precision docking scenarios, reducing docking accuracy requirements and production costs.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-08-05
- Publication Date
- 2026-03-10
AI Technical Summary
Existing robotic arm end-effector locking devices struggle to achieve flexible, quick-change tool connections under large-amplitude conditions, especially in scenarios where docking precision requirements are not high, and cannot meet larger tolerance requirements.
The structure employs a rolling fit between the guide cone seat and the locking mechanism. The large floating tolerance is achieved through the rolling fit between the locking steel ball and the guide steel ball. The sliding mating surface of the guide steel ball and the inclined surface design of the locking steel ball are used to achieve guidance and positioning during the locking process, thereby reducing the requirements for docking accuracy.
It enables rapid locking of the end effector of the robot under large floating conditions, reduces the docking accuracy requirements, has a simple structure, is easy to manufacture and has low cost, and is suitable for scenarios with large axial floating.
Smart Images
Figure CN115157296B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to a mechanical hand end tool locking device, in particular to a large floating amount of mechanical hand end tool quick locking device. BACKGROUND
[0002] The commonly used mechanical hand end tool quick change locking device mainly includes a locking base at the mechanical hand and a locking matching mechanism of the end tool. Figure 7 The locking base is provided with a guide mechanism matched with the end tool, such as a guide shaft designed on the locking base, and the end tool is provided with a guide hole matched with the guide shaft. At the same time, the locking base is also provided with a locking shaft, the locking shaft is provided with a plurality of locking balls, and the end tool is provided with a locking groove. When the locking shaft is inserted into the end tool to reach the limit, the locking ball is automatically clamped into the locking groove, so as to realize the precise connection quick change of the mechanical hand end tool. It can be seen that the existing end tool locking device relies on high-precision mechanical hand to realize precise positioning. However, in the actual production practice, the scene of using mechanical hand with large tolerance (large floating amount) is often encountered, in which the docking precision of the mechanical hand is relatively low compared with the high-precision case, but it needs to be able to realize flexible application, that is, it needs to have appropriate tolerance ability. SUMMARY
[0003] In order to solve the problem that low-precision mechanical hand can also realize quick change tool, a large floating amount of mechanical hand end tool quick locking device is proposed.
[0004] The large floating amount of mechanical hand end tool quick locking device includes a locking base at the mechanical hand and a locking matching mechanism of the end tool. The locking matching mechanism of the end tool includes a locking matching body. The locking base includes a power mechanism, a guide cone seat, and a locking core driven by the power mechanism. The locking core is located inside the guide cone seat. The locking core and the locking matching body form a rolling matching docking structure through locking steel balls and guide steel balls. The guide steel balls are located below the locking steel balls.
[0005] The uniqueness of the present application is that the locking base at the mechanical hand and the locking matching mechanism of the end tool can realize large floating amount to eliminate the large error of the two docking devices before docking; for example, before docking, it is not necessary to precisely correspond the locking base at the mechanical hand and the locking matching mechanism of the end tool, because the guide cone seat on the mechanical hand and the locking matching mechanism have a sliding docking surface; furthermore, when the locking device performs the locking action and the locking ball is located between the locking ball groove and the third boss (at this time, the locking ball is not in the locking state), the guide ball is located between the guide ball groove and the fourth boss at this time and the guide ball has a tendency to move along the guide groove, so that the guide ball can move along the guide groove, thereby leading or guiding the locking device to continue to move downward, so that the depth or axial insertion amount of the mechanical hand to the end tool is larger, and large floating amount tolerance is realized. And because the connecting surface of the first boss and the locking ball groove has a smooth inclined surface, when the locking device continues to perform the locking action, the locking ball starts to move along the smooth inclined surface until the locking ball reaches the table surface of the first boss, the outer peripheral surface of the guide cone seat completely matches the guide cone hole, at this time, the locking ball is fixed in the locking groove, and the locking device as a whole realizes positioning.
[0006] The present application realizes the function of guiding first and then locking through the cooperation of the two groups of steel balls, guides in the radial direction through the cone hole, and has a large tolerance in the axial direction. The present application can greatly reduce the precision requirement of the docking mechanism, has a simple structure, is easy to manufacture, is convenient to operate, has low production and use cost, and can be well applied to the locking matching scene with large requirement for axial floating amount but not high requirement for docking precision. BRIEF DESCRIPTION OF DRAWINGS
[0007] Figure 1 It is a state diagram before the locking device of the present application performs the locking action.
[0008] Figure 2 It is a state diagram when the locking device of the present application performs the locking action.
[0009] Figure 3 It is another state diagram when the locking device of the present application performs the locking action.
[0010] Figure 4 It is another state diagram when the locking device of the present application performs the locking action.
[0011] Figure 5 It is a final state diagram when the locking device of the present application realizes the locking action.
[0012] Figure 6 It is a first boss structure diagram.
[0013] Figure 7The schematic diagram of the fast-changing locking device of the high-precision mechanical hand end tool of the prior art.
[0014] Cylinder locking intake 1, cylinder 2, cylinder piston 3, cylinder release intake 4, guide cone seat 5, guide cone hole 6, locking groove 7, guide groove 8, locking core 9, locking steel ball 10, guide steel ball 11, locking matching body 12, first boss 13, second boss 14, third boss 15, fourth boss 16, locking steel ball groove 17, guide steel ball groove 18, flat surface structure 19, convex head structure 20, locking base 100, locking matching mechanism 200, locking base 300 in the prior art, locking matching mechanism 400 in the prior art. DETAILED DESCRIPTION
[0015] The following examples are further illustrations of the present application as an explanation of the technical content of the present application, but the essential content of the present application is not limited to the following examples, and those skilled in the art can and should know that any simple change or replacement based on the essential spirit of the present application should belong to the protection scope required by the present application.
[0016] The accompanying drawings are incorporated into Figure 1 The fast locking device of the large floating amount mechanical hand end tool of the present application, including a locking base 100 and a locking matching mechanism 200, the locking matching mechanism 200 including a locking matching body 12, the locking base 100 including a cylinder 2, a guide cone seat 5, and a locking core 9 driven by a cylinder piston 3, the locking core 9 being located inside the guide cone seat 5, the locking core 9 and the locking matching body 12 forming a rolling matching butt joint structure through a plurality of locking steel balls 10 and a plurality of guide steel balls 11 uniformly distributed along the circumference of the locking core 9, the guide steel balls 11 being located below the locking steel balls 10, the upper part of the cylinder 2 being provided with a cylinder locking intake 1, and the lower part of the cylinder 2 being provided with a cylinder release intake 4. The guide cone seat 5 is provided with a locking steel ball hole and a guide steel ball hole for accommodating the locking steel balls 10 and the guide steel balls 11 respectively, the outer periphery of the locking core 9 is provided with a locking steel ball groove 17 and a guide steel ball groove 18, the locking steel ball groove and the guide steel ball groove forming a second boss 14, the upper part of the locking steel ball groove being provided with a first boss 13, the first boss 13 being in sliding butt joint with the inner surface of the guide cone seat 5, realizing the axial guidance of the locking core; the guide cone hole 6 and the locking groove 7 form a third boss 15, and the locking groove 7 and the guide groove 8 form a fourth boss 16. The inner peripheral surface of the locking matching body 12 is sequentially provided with the guide cone hole 6, the locking groove 7, and the guide groove 8 from top to bottom, the guide cone hole 6 being in sliding cooperation with the outer peripheral surface of the guide cone seat 5, realizing the guidance of the locking matching body. The locking groove 7 is used to receive the locking steel balls 10, and the guide groove 8 is used to receive the guide steel balls 11. Figure 2When the locking device is in the locking action and the locking steel ball 10 is located between the locking steel ball groove 17 and the third convex platform 15, the guide steel ball 11 is located between the guide steel ball groove 18 and the fourth convex platform 16 and has a tendency to move along the guide groove 8. The width of the locking steel ball groove 17 should be greater than the width of the guide steel ball groove 18, for example, the width of the locking steel ball groove 17 is 2.5mm and the width of the guide steel ball groove 18 is 1.5mm. Figure 3 When the locking device is in the locking action, the guide steel ball 11 first rolls out of the guide steel ball groove 18 to the second convex platform 14, at this time, the locking steel ball 10 is still in the locking steel ball groove 17, when the guide steel ball 11 reaches the second convex platform 14, the locking steel ball 10 slowly rolls out of the locking steel ball groove 17 to the first convex platform 13. When the locking steel ball 10 just leaves the bottom surface of the locking steel ball groove 17 and moves along the inclined surface of the locking steel ball groove 17 to the first convex platform 13, the guide steel ball 11 rolls on the second convex platform 14.
[0017] As shown in Fig. 1, the locking device comprises a locking base 100, a locking core 9, a cylinder 2, a cylinder piston 3, a guide cone 4 and a mechanical hand 5. Figure 5 When the locking device is in the locking action, the guide steel ball 11 passes the inclined surface of the guide steel ball groove 18 to reach the second convex platform 14, the guide steel ball 11 enters the guide groove 8, and the guide steel ball 11 is constrained in the space between the guide steel ball hole, the second convex platform 14 and the guide groove 8. When the locking steel ball 10 passes the inclined surface of the locking steel ball groove 17 to reach the first convex platform 13, the locking steel ball 10 enters the locking groove 7, and the locking steel ball 10 is locked in the space between the locking steel ball hole, the first convex platform 13 and the locking groove 7.
[0018] As shown in Fig. 1, the locking device comprises a locking base 100, a locking core 9, a cylinder 2, a cylinder piston 3, a guide cone 4 and a mechanical hand 5. Figure 6 The first convex platform 13 comprises a convex head structure 20 and a small plane structure 19, the convex head structure 20 can realize the function of tightly pressing the locking steel ball 10 during the downward movement of the locking core 9, and the small plane structure 19 can realize the function of preventing the rebound of the locking core 9 under the action of the internal force to cause the locking failure. In addition, in order to further prevent the rebound of the locking core 9, a compression spring with a certain elastic force can also be arranged between the cylinder piston 3 and the top wall of the cylinder 2, the elastic force of the compression spring can play a certain role on the locking core 9, thereby preventing the influence of the accidental pressure relief of the cylinder on the rebound and the locking release, and the compression spring ensures the function of the locking core 9 in preventing the release and safety protection.
[0019] The working principle of the present application is as follows: Figure 1 Before the locking device is in the locking action, the locking steel ball is located in the locking steel ball groove position, and the guide steel ball is located in the guide steel ball groove position. When the locking device is in the locking action, the locking base 100 moves downward, at this time, the cylinder is not inflated, because the guide cone and the locking cooperation mechanism have a sliding butt joint surface, the guide cone and the locking cooperation mechanism slide and move, and the guide cone is guided in the radial direction through the conical surface. When the locking steel ball 10 is located between the locking steel ball groove and the third convex platform 15, the guide steel ball 11 is located between the guide steel ball groove and the fourth convex platform 16 and has a tendency to move along the guide groove 8, for example, the width of the locking steel ball groove 17 is 2.5mm and the width of the guide steel ball groove 18 is 1.5mm. Figure 2As shown, at this time, the air cylinder is filled with air, the air cylinder piston 3 moves downward to drive the locking core 9 to move, the guide steel ball groove provided on the locking core 9 exerts pressure on the guide steel ball, so that the guide steel ball 11 continues to move along the guide groove 8; with the continuous downward movement of the locking core 9 and the locking base 100, the guide steel ball is extruded by the second boss 14 on the locking core 9, so as to move to the direction of the guide groove 8 on the locking matching mechanism 200, at this time, the locking steel ball is extruded by the first boss 13 on the locking core 9 and the continuous downward movement of the locking base 100, so that the locking steel ball also gradually moves to the direction of the locking groove 7 on the locking matching mechanism 200, as shown. Figures 3-4 As shown, the guide steel ball is no longer extruded by the second boss 14, and the locking steel ball has not yet reached the locking position; the locking core 9 and the locking base 100 continue to move downward, and the locking steel ball moves along the inclined surface of the locking steel ball groove 17 on the locking core 9 to the direction of the first boss 13; when the locking steel ball 10 passes the inclined surface of the locking steel ball groove 17 and reaches the first boss 13, the locking steel ball 10 enters the locking groove 7, and the locking steel ball 10 is locked in the space between the locking steel ball hole, the first boss 13 and the locking groove 7, so as to realize the locking state, as shown. Figure 5 As shown. During the entire locking process, the locking matching mechanism 200 can be stationary. Of course, in actual application, the locking device also needs to be configured with some other conventional components such as a guide pin assembly (including a guide pin and a guide hole), which can better realize the position docking of the locking base 100 (provided with a guide pin) and the locking matching mechanism 200 (provided with a guide hole corresponding to the guide pin), so as to adapt to the use of rotation or transverse action.
[0020] The applicant needs to explain that the drawings of the present application are designed to express the content of the technical scheme of the present application, but the content expressed is not the scope defined by the present application. For example, the locking steel ball described in the present application is not only one, but also several layers of guide steel balls are provided on the outer periphery of the locking core. Similarly, in order to make the locking device deeper into the locking matching mechanism or to make the locking device have a larger axial tolerance, several layers of guide steel balls can be designed on the outer periphery of the locking core. These are obvious and should also belong to the design concept of the present application. Therefore, the technical content described is not used to limit the essential protection scope of the present application. The essential protection scope of the present application should be subject to the description in the claims. Those skilled in the art should know that any modification, equivalent replacement and improvement made on the basis of the essential spirit of the present application should be within the essential protection scope of the present application.
Claims
1. A quick locking device for a large floating mass manipulator end tool, comprising a locking base (100) and a locking matching mechanism (200), characterized in that, The locking fitting mechanism (200) comprises a locking fitting body (12), the locking base (100) comprises a power mechanism, a guide cone base (5) and a locking core (9) driven by the power mechanism, the locking core (9) is located inside the guide cone base (5), the locking core (9) and the locking fitting body (12) form a rolling fitting butt joint structure through a locking steel ball (10) and a guide steel ball (11), and the guide steel ball (11) is located below the locking steel ball (10). The guide cone base (5) is provided with a locking steel ball hole and a guide steel ball hole for accommodating the locking steel ball (10) and the guide steel ball (11) respectively, the locking core (9) is provided with a locking steel ball groove (17) and a guide steel ball groove (18) on an outer periphery, a second convex platform (14) is formed between the locking steel ball groove (17) and the guide steel ball groove (18), a first convex platform (13) is arranged above the locking steel ball groove (17), and the first convex platform (13) is in sliding butt joint with an inner surface of the guide cone base (5). An inner peripheral surface of the locking fitting body (12) is provided with a guide cone hole (6), a locking groove (7) and a guide groove (8) from top to bottom, the guide cone hole (6) is in sliding fitting with an outer peripheral surface of the guide cone base (5), the locking groove (7) is used for receiving the locking steel ball (10), and the guide groove (8) is used for receiving the guide steel ball (11); a third convex platform (15) is formed between the guide cone hole (6) and the locking groove (7), and a fourth convex platform (16) is formed between the locking groove (7) and the guide groove (8); when the locking steel ball (10) is located between the locking steel ball groove (17) and the third convex platform (15), the guide steel ball (11) is located between the guide steel ball groove (18) and the fourth convex platform (16) and has a tendency to move along the guide groove (8).
2. The quick locking device of claim 1, wherein The width of the locking steel ball groove (17) is greater than the width of the guide steel ball groove (18); when the guide steel ball (11) rolls away from the guide steel ball groove (18) to the second convex platform (14), the locking steel ball (10) is still in the locking steel ball groove (17); when the guide steel ball (11) reaches the second convex platform (14), the locking steel ball (10) rolls away from the locking steel ball groove (17) and rolls to the first convex platform (13).
3. The quick locking device of claim 1, wherein When the locking steel ball (10) passes the inclined surface of the locking steel ball groove (17) and reaches the first convex platform (13), the locking steel ball (10) enters the locking groove (7), and the locking steel ball (10) is locked in the space between the locking steel ball hole, the first convex platform (13) and the locking groove (7).
4. The quick locking device of claim 3, wherein The first convex platform (13) comprises a convex head structure (20) and a facet structure (19).
5. The quick locking device of claim 1, wherein The power mechanism is a pneumatic mechanism, which comprises a pneumatic cylinder (2) and a pneumatic cylinder piston (3), the upper portion of the pneumatic cylinder (2) is provided with a pneumatic cylinder locking air inlet (1), and the lower portion of the pneumatic cylinder (2) is provided with a pneumatic cylinder unblocking air inlet (4).
6. The quick locking device of claim 5, wherein A compression spring is arranged between the pneumatic cylinder piston (3) and the top wall of the pneumatic cylinder (2).
Citation Information
Patent Citations
Zero-point positioner structure for production assembly line
CN114083469A
Instrument hookup mechanism of manipulator and manipulator
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