A quick-change tool locking structure for an aerial work robot

Abstract

The present invention relates to the technical field of working at heights, and discloses a quick-change tool carrying structure for a working-at-heights robot, which is characterized in that: it includes a fixed bracket, a guide rail is arranged on the fixed bracket, and a plurality of C-shaped trays are detachably arranged along the direction of the guide rail. The C-shaped trays are used for carrying tools, and a fastening claw hand cooperating with the tools is arranged below the C-shaped trays. The fastening claw hand is connected to an elastic locking mechanism, and the elastic locking mechanism is used to drive the fastening claw hand to open or retract so as to lock or unlock the tools placed in the C-shaped trays. The whole device has a simple structure, low cost and is convenient for popularization and application.

Description

Technical Field

[0001] The present invention belongs to the technical field of aerial work equipment, and particularly relates to a quick-change tool carrying structure for an aerial work robot. Background Art

[0002] The tool library is an important auxiliary device for a robot workstation. It is mainly used to store various working tools required during the operation of the robot, and assist the robot to complete the quick replacement of various tools by using a quick-change device. Conventional robot tool libraries mainly store tools simply without the need to fully fix the tools. With the continuous emergence of various new robots on the market, such as aerial work robots, underwater work robots, etc., due to their special working environments and complex attitude changes, the simply fixed tools are easily detached, resulting in tool damage or inability to perform quick replacement. Therefore, a more professional tool library device is needed for aerial work robots, underwater work robots, etc. Summary of the Invention

[0003] The present invention provides a quick-change tool carrying structure for an aerial work robot. With the elastic locking mechanism jointly constituted by a telescopic mechanism and a locking mechanism, the opening or retraction of the fastening claw hand is realized, so as to more stably fix the tool inside the C-shaped tray, prevent the angle change of the C-shaped tray 2 caused by the attitude adjustment of the aerial robot, and cause the tool 3 to fall off, with higher safety. At the same time, it is more conducive to the quick-change device to perform the quick change between the main tray and the sub-tray, and the operation efficiency is higher. In addition, the whole device has a simple structure, low cost, and is convenient for popularization and application.

[0004] The present invention can be realized by the following technical solutions:

[0005] A quick-change tool carrying structure for an aerial work robot, comprising a fixed bracket, on which a guide rail is provided, along the direction of the guide rail, a plurality of C-shaped trays are detachably arranged, the C-shaped trays are used to carry tools, a fastening claw hand matched with the tool is arranged below the C-shaped trays, the fastening claw hand is connected with an elastic locking mechanism, and the elastic locking mechanism is used to drive the opening or retraction of the fastening claw hand to realize the locking or unlocking of the tool placed in the C-shaped tray.

[0006] Further, the fastening claw hand comprises a movable part and a fixed part which are rotatably connected, a baffle is arranged in the inner space of the fixed part, the elastic locking mechanism comprises a telescopic mechanism, the telescopic mechanism passes through the fixed part and is respectively connected with the baffle and the movable part, and a locking mechanism is further arranged thereon.

[0007] The telescopic mechanism is used to drive the opening or retraction of the movable part, and at the same time drive the baffle to move towards or away from the fixed part, so as to facilitate the tool to enter the fastening claw hand and retract the movable part or leave the fastening claw hand and open the movable part. The locking mechanism is used to lock or unlock the retracted movable part.

[0008] Furthermore, the telescopic mechanism includes a first push rod and a second push rod sleeved together. The free end of the second push rod is connected to the fixed bracket. The free end of the first push rod is connected to the baffle. Its non-free end is connected to the movable part through a flexible steel wire and is also connected to the fixed bracket through a first return spring. The first return spring is sleeved on the second push rod. A locking mechanism is arranged on the non-free end of the first push rod. A second return spring is arranged between the movable part and the fixed part. The first return spring is used to drive the first push rod and the baffle connected thereto to reset. The second return spring is used to drive the movable part to reset;

[0009] The tool entering the fastening claw hand pushes the baffle to move towards the fixed part, drives the first push rod to move towards the fixed bracket, the first return spring is compressed, and at the same time drives the movable part to retract. The second return spring is stretched, and the locking mechanism is used to lock the first push rod;

[0010] The locking mechanism releases the lock on the movable end. The tool gradually leaves the fastening claw hand. The compressed first return spring gradually resets, drives the baffle to gradually move away from the fixed part and the fixed bracket through the first push rod. At the same time, the stretched second return spring gradually resets, driving the movable part to gradually open.

[0011] Furthermore, the movable part is provided with two symmetrical arc-shaped parts. The fixed part is in a semi-circular shape, and U-shaped parts are arranged at both ends. One end of each of the two arc-shaped parts is provided with an inverted T-shaped part that cooperates with the U-shaped part. The U-shaped part and the inverted T-shaped part are rotatably connected. One end of the second return spring is connected to the inverted T-shaped part, and the other end is connected to the fixed part.

[0012] Furthermore, the baffle is arc-shaped, and a notch corresponding to the baffle is arranged on the inner wall of the middle part of the fixed part.

[0013] Furthermore, the locking mechanism includes a check member with a portal structure. The upper part of the check member is elastic and is sleeved on the end of the non-free end of the first push rod. The lower part of the check member is connected to the fixed bracket through a driving unit. A gradually changing protrusion is also arranged on the non-free end of the first push rod. The gradually changing protrusion is in a horn shape, and its large head is arranged at the end far from the non-free end. The driving unit is used to control the opening degree of the check member.

[0014] The movement of the first push rod towards the fixed bracket causes the check member to gradually move from the end of the non-free end towards the large head of the tapered protrusion until it passes over the tapered protrusion and gets stuck on the side of the large head, achieving locking.

[0015] The driving unit controls the opening of the check member to be larger than the large head of the tapered protrusion. The first return spring in the compressed state drives the first push rod in the direction away from the fixed bracket, causing the check member to move over the tapered protrusion to the end of the non-free end, releasing the locking. At this time, the driving unit controls the opening of the check member to cooperate with the end of the non-free end.

[0016] Furthermore, the check member includes two semi-circular elastic members arranged oppositely. Both elastic members are made of steel material. Their upper parts are both provided with arc-shaped elastic sheet structures for cooperating with the first push rod, and their lower parts are both connected to the driving unit. The driving unit is designed based on the cam drive principle and is used to control the distance between the two elastic members.

[0017] The beneficial technical effects of the present invention are as follows:

[0018] (1) The position of the C-shaped tray on the guide rail can be flexibly adjusted according to the shape and size of the tool, with higher space utilization rate, and can maximize the storage capacity of the tool library.

[0019] (2) With the help of the C-shaped tray, the tool is initially fixed, and then the elastic locking mechanism drives the opening or retraction of the fastening claw hand to achieve secondary locking of the tool, avoiding problems such as tool angle change and tool dropping caused by the attitude adjustment of the aerial robot, with higher safety, and can meet the requirements of operations in complex working conditions such as underwater and high altitude.

[0020] (3) The telescopic mechanism of the elastic locking mechanism can be used to open or retract the fastening claw hand, and the locking mechanism can lock the retracted fastening claw hand, which is more conducive to the stable quick change between the main plate and the sub-plate of the quick change device, improving the quick change speed and having higher operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is the overall structural schematic diagram of the present invention;

[0022] Figure 2 is the structural schematic diagram of the cooperation between the fastening claw hand and the elastic locking mechanism of the present invention;

[0023] Figure 3(a) is the schematic diagram of the state where the fastening claw hand of the present invention is retracted;

[0024] Figure 3(b) is the schematic diagram of the state where the fastening claw hand of the present invention is opened;

[0025] Figure 4 is the structural schematic diagram of the check member of the present invention;

[0026] Among them, 1 - guide rail, 2 - C-shaped tray, 3 - tool, 4 - fastening jaw, 401 - movable part, 402 - fixed part, 5 - baffle, 6 - first push rod, 601 - tapered protrusion, 7 - second push rod, 8 - flexible steel wire, 9 - first return spring, 10 - second return spring, 11 - check member, 1101 - elastic member. Specific embodiments

[0027] The specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings and preferred embodiments.

[0028] As Figures 1-4 shown, the present invention provides a quick-change tool carrying structure for an aerial work robot, including a fixed bracket, on which a guide rail 1 is provided, and a plurality of C-shaped trays 2 are detachably arranged along the direction of the guide rail 1. Each C-shaped tray 2 is used to carry a tool 3, and a fastening jaw 4 cooperating with the tool 3 is arranged below it. The fastening jaw is connected to an elastic locking mechanism, and the elastic locking mechanism is used to drive the opening or retraction of the fastening jaw 4 to lock or unlock the tool 3 placed in the C-shaped tray 2, so as to safely fix the tool 3 inside the C-shaped tray 2, prevent the angle change of the C-shaped tray 2 caused by the attitude adjustment of the aerial robot, and cause the tool 3 to fall. At the same time, it is more conducive to the quick change between the main disk and the auxiliary disk of the quick-change device, and the operation efficiency is higher. Specifically as follows:

[0029] The fastening jaw 4 includes a movable part 401 and a fixed part 402 that are rotatably connected. A baffle 5 is arranged in the internal space of the fixed part 402. The elastic locking mechanism includes a telescopic mechanism that passes through the fixed part 402 and is respectively connected to the baffle 5 and the movable part 401. A locking mechanism is also arranged thereon. The telescopic mechanism is used to drive the opening or retraction of the movable part 401, and at the same time drive the baffle 5 to move towards or away from the fixed part 402, so as to facilitate the tool 3 to enter the fastening jaw 4 and retract the movable part 401, or leave the fastening jaw 4 and open the movable part 401. The locking mechanism is used to lock or unlock the retracted movable part 401.

[0030] The telescopic mechanism includes a first push rod 6 and a second push rod 7 sleeved together. The free end of the second push rod 7 is connected to the fixed bracket. The free end of the first push rod 6 is connected to the baffle 5. Its non-free end is connected to the movable part 401 through a flexible steel wire 8 and is also connected to the fixed bracket through a first return spring 9. The first return spring 9 is sleeved on the second push rod 7. A locking mechanism is provided at the non-free end of the first push rod 6. A second return spring 10 is provided between the movable part 401 and the fixed part 402. The first return spring 9 is used to drive the first push rod 6 and the baffle 5 connected thereto to reset. The second return spring 10 is used to drive the movable part 401 to reset.

[0031] The opening of the C-shaped tray 2 is provided with a guiding channel for mating with the tool 3, which facilitates the tool 3 to enter the C-shaped tray 2 and carry the tool 3. The non-opening part of the C-shaped tray 2 is fixed on the guide rail 1 through bolts, which facilitates adjusting the position of the C-shaped tray 2 on the guide rail 1 according to actual needs.

[0032] In this way, when placing the tool 3 into the C-shaped tray 2, the tool 3 entering the fastening jaw 4 will push the baffle 5 to move towards the direction close to the fixed part 402, driving the first push rod 6 connected to the baffle 5 to move towards the fixed bracket. The corresponding first return spring 9 is compressed. At the same time, it drives the movable part 401 to rotate and retract through the flexible steel wire 8, causing the second return spring 10 to be stretched, and locking is carried out by means of the locking mechanism, so that the tool 3 can be firmly locked within the fastening jaw 4, and the cooperation between the tool 3 and the C-shaped tray 2 can be made closer and the safety is higher.

[0033] When the tool 3 needs to be taken out, after the main disk of the robot end quick-change device is connected to the sub-disk on the corresponding tool, first use the locking mechanism to release the locking of the movable part 401. The tool 3 gradually leaves the fastening jaw 4, and the compressed first return spring 9 gradually resets, driving the baffle 5 to gradually move away from the fixed part 402 and the fixed bracket through the first push rod 6. At the same time, the stretched second return spring 10 gradually resets, driving the movable part 401 to gradually open, facilitating the taking out of the tool 3.

[0034] The movable part 401 of the fastening gripper 4 is provided with two symmetrical arc-shaped members, and the fixed part 402 is in a semi-circular shape. They jointly form an open circular shape, which is arranged corresponding to the C-shaped tray 2 up and down. Both ends of the fixed part 402 are provided with U-shaped parts, that is, with two ears, and one end of each of the two arc-shaped members is provided with an inverted T-shaped part that cooperates with the U-shaped part. In this way, the U-shaped part and the inverted T-shaped part can be rotatably connected together through a rotating shaft. Then, one end of the second return spring 10 is connected to the inverted T-shaped part, and the other end is connected to the fixed part 402. When the second return spring 10 is in a natural elongation state, the corresponding movable part 401 is in an open state. Thus, when the telescopic mechanism drives the movable part 401 to retract, the return tension of the second return spring 10 can be used to promote the opening of the movable part 401.

[0035] Since the fixed part 402 is arc-shaped, a notch corresponding to the baffle 5 is provided on the inner wall of the middle part thereof. The baffle 5 can also be designed to be arc-shaped, so as to facilitate the tool 3 to be placed inside the fastening gripper 4. At the same time, an opening for the flexible steel wire 8 to pass through is provided on the fixed part 402. There are two flexible steel wires 8, and they are symmetrically arranged. One end of each is connected to the non-free end of the first push rod, and the other end passes through the opening and is connected to the inner wall of the elastic member, which is convenient for pulling the elastic member to realize the retraction operation.

[0036] The locking mechanism includes a check member 11 in a portal structure. The upper part of the check member 11 is elastic and is sleeved on the end of the non-free end of the first push rod 6. The lower part of the check member 11 is connected to the fixed bracket through a driving unit. A gradually changing protrusion 601 is also provided at the non-free end of the first push rod 6. The gradually changing protrusion 601 is in a horn shape, and its large head is arranged away from the end of the non-free end. The driving unit is used to control the opening degree of the check member 11. In this way, when the tool 3 is placed, the first push rod 6 moves in the direction of the fixed bracket. Due to the elastic deformation of the check member 11, the check member 11 gradually moves from the end of the non-free end to the large head of the gradually changing protrusion 601 until it gets stuck on the side of the large head after passing over the gradually changing protrusion 601. At this time, even if the first return spring 9 has a restoring elastic force, the first push rod 6 will not move in the reverse direction, thus realizing the locking of the movable part 401 and avoiding the shaking of the tool 3 inside the fastening gripper 4 or the C-shaped tray 2 when the robot adjusts its posture, with higher safety.

[0037] When the tool 3 needs to be taken out, the driving unit controls the opening of the check member 11 to be larger than the large head of the gradually changing protrusion 601. The first return spring 9 in a compressed state drives the first push rod 6 in the direction away from the fixed bracket, so that the check member 11 moves over the gradually changing protrusion 601 to the end of the non-free end to release the lock. At this time, the driving unit controls the opening of the check member 11 to cooperate with the end of the non-free end, so as to prepare for the next locking.

[0038] Such as Figure 4As shown, we can design the check member 11 as two semi-circular elastic members 1101 arranged oppositely. Both of the two elastic members 1101 are made of steel material. Their upper parts are set as arc-shaped elastic sheet structures that cooperate with the first push rod 6, so that they have a certain elasticity. Driven by the first push rod 6, they use elastic deformation to cross the gradient protrusion 601 and then automatically return to their original state to achieve locking. The lower parts of the elastic members 1101 are both connected to the driving unit. The driving unit can be designed based on the principle of cam drive and is used to control the distance between the two elastic members 1101. For example, a cam is arranged between the two elastic members. The central axis of the cam is connected to the servo motor through gear drive. By virtue of the asymmetry of the cam, driving the cam to rotate by the servo motor can achieve the relative movement between the two elastic members. Of course, a lead screw drive structure, the principle of electromagnetic adsorption, etc. can also be used to achieve this.

[0039] Although the specific embodiments of the present invention have been described above, those skilled in the art should understand that these are only examples. Without departing from the principle and essence of the present invention, various changes or modifications can be made to these embodiments. Therefore, the protection scope of the present invention is defined by the appended claims.

Claims

1. A quick-change tool carrying structure for an aerial work robot, characterized in that: It includes a fixed bracket, on which a guide rail is provided, and a plurality of C-shaped trays are detachably arranged along the direction of the guide rail. The C-shaped trays are used to carry tools, and a fastening jaw hand cooperating with the tools is arranged below the C-shaped trays. The fastening jaw hand is connected to an elastic locking mechanism, and the elastic locking mechanism is used to drive the fastening jaw hand to open or retract, so as to lock or unlock the tools placed in the C-shaped trays. The fastening jaw hand includes a movable part and a fixed part that are rotatably connected. A baffle is arranged in the inner space of the fixed part. The elastic locking mechanism includes a telescopic mechanism. The telescopic mechanism passes through the fixed part and is respectively connected to the baffle and the movable part, and a locking mechanism is also arranged thereon. The telescopic mechanism is used to drive the movable part to open or retract, and at the same time drive the baffle to move towards or away from the fixed part, so as to facilitate the tools to enter the fastening jaw hand and make the movable part retract, or leave the fastening jaw hand and make the movable part open. The locking mechanism is used to lock or unlock the retracted movable part. The telescopic mechanism includes a first push rod and a second push rod sleeved together. The free end of the second push rod is connected to the fixed bracket, the free end of the first push rod is connected to the baffle, and its non-free end is connected to the movable part through a flexible steel wire and is also connected to the fixed bracket through a first return spring. The first return spring is sleeved on the second push rod. A locking mechanism is arranged on the non-free end of the first push rod. A second return spring is arranged between the movable part and the fixed part. The first return spring is used to drive the first push rod and the baffle connected thereto to reset, and the second return spring is used to drive the movable part to reset. The tools entering the fastening jaw hand push the baffle to move towards the fixed part, drive the first push rod to move towards the fixed bracket, the first return spring is compressed, and at the same time drive the movable part to retract, the second return spring is stretched, and the first push rod is locked by means of the locking mechanism. The locking mechanism releases the locking of the movable end, the tools gradually leave the fastening jaw hand, the compressed first return spring gradually resets, drives the baffle to gradually move away from the fixed part and the fixed bracket through the first push rod, and at the same time the stretched second return spring gradually resets, driving the movable part to gradually open. The locking mechanism includes a check member with a portal structure. The upper part of the check member is elastic and is sleeved on the end of the non-free end of the first push rod. The lower part of the check member is connected to the fixed bracket through a driving unit. A gradually changing protrusion is also arranged on the non-free end of the first push rod. The gradually changing protrusion is in a horn shape, and its large head is arranged at the end far from the non-free end. The driving unit is used to control the opening degree of the check member. The movement of the first push rod towards the fixed bracket makes the check member gradually move from the end of the non-free end towards the large head of the gradually changing protrusion until it passes over the gradually changing protrusion and gets stuck on the side of the large head to achieve locking. The driving unit controls the opening of the check member to be larger than the large head of the tapered protrusion. The first return spring in the compressed state drives the first push rod in a direction away from the fixed bracket, causing the check member to move past the tapered protrusion to the end of the non-free end, unlocking it. At this time, the driving unit controls the opening of the check member to return to cooperate with the end of the non-free end.

2. The quick-change tool carrying structure for an aerial work robot according to claim 1, characterized in that: The movable part is provided with two symmetric arc-shaped members. The fixed part is semi-circular, and both ends thereof are provided with U-shaped parts. One end of each of the two arc-shaped members is provided with an inverted T-shaped part that cooperates with the U-shaped part. The U-shaped part and the inverted T-shaped part are rotatably connected. One end of the second return spring is connected to the inverted T-shaped part, and the other end is connected to the fixed part.

3. The quick-change tool carrying structure for an aerial work robot according to claim 1, characterized in that: The baffle is arc-shaped, and a notch corresponding to the baffle is provided on the inner wall of the middle part of the fixed part.

4. The quick-change tool carrying structure for an aerial work robot according to claim 1, characterized in that: The check member includes two relatively arranged semi-circular elastic members. Both of the two elastic members are made of steel material. The upper parts thereof are both provided with arc-shaped elastic sheet structures that cooperate with the first push rod, and the lower parts thereof are both connected to the driving unit. The driving unit is designed based on the principle of cam transmission and is used to control the distance between the two elastic members.

Images