Genderless mechanical locking and quick change device

Abstract

The present application relates to a kind of genderless mechanical locking and quick change device, including interface base as device main body, retaining ring, extrusion ring, locking pin, guide pin, driving ring, cam roller;Driving ring is arranged inside interface base, driving ring and three cam rollers are connected, cam roller protrudes outside interface base, cam roller surface simultaneously with the cam groove on retaining ring and extrusion ring contact, guide pin limits retaining ring and extrusion ring rotation in locking process, play the role of guide, driving ring is rotated by rotation and drives cam roller, cam roller is driven retaining ring and extrusion ring by cam groove, complete locking action.The structure of the present application is not divided into male and female, with higher connection strength and locking tolerance capacity, can be used to realize driving using smaller space.The butt joint of interface base can be carried out under the condition that 0 °, 120 ° and 240 ° three axial rotation angles are axially rotated, realize multi-angle connection.

Description

Technical Field

[0001] This invention belongs to the field of mechanical equipment technology, specifically relating to a genderless mechanical locking and quick-change device. Background Technology

[0002] Mechanical interface locking connections refer to a connection method that uses friction to fix the surfaces of parts together. Current locking and quick-change devices often place the electrical connector in a separate space outside the mechanical interface, resulting in low space utilization and making the exposed connector vulnerable to damage. The spring-loaded pin contacts used in the electrical connectors are also fragile and require protection. Existing large-area capture-type interfaces are unsuitable for small robotic arms, requiring significant space for actuation and limiting their use. Existing small interface connection methods include hook-lock, claw-type, and pin-type, but these have complex structures, insufficient connection strength, low tolerance for errors after connection, and are unsuitable for male-female interface structures.

[0003] Therefore, there is an urgent need for a genderless mechanical locking and quick-change device with high connection strength and error tolerance, capable of being driven in a small space, and with a male-female interface base structure for easy adaptation. The electrical connector is installed at the center of the mechanical locking and quick-change device to prevent damage to the protruding surface of the spring pin. The device can achieve electrical connection at different angles, increasing connection versatility. Summary of the Invention

[0004] To solve the above-mentioned technical problems, this invention proposes a genderless mechanical locking and quick-change device.

[0005] This invention relates to a genderless mechanical locking and quick-change device, comprising an interface base 7 as the main body of the device, a retaining ring 10, a compression ring 11, a locking pin 8, a guide pin 9, a drive ring 13, and cam rollers 14. The drive ring 13 is disposed inside the interface base 7 and is connected to the three cam rollers 14. The cam rollers 14 extend outside the interface base 7, and their surfaces simultaneously contact the cam grooves on the retaining ring 10 and the compression ring 11. The guide pins 9 restrict the rotation of the retaining ring 10 and the compression ring 11 during the locking process, thus providing a guiding function. The drive ring 13 rotates to drive the cam rollers 14 to rotate, and the cam rollers 14 drive the retaining ring 10 and the compression ring 11 through the cam grooves to complete the locking action.

[0006] Furthermore, the mating surface of the interface base 7 is composed of three raised petal-shaped structures and matching recessed structures, arranged alternately in a circular pattern.

[0007] Furthermore, the outer side of the petal-shaped structure is inclined, and it is connected by mutual compression with the locking pin 8.

[0008] Furthermore, the drive ring 13 is driven by the servo motor 20. The servo motor 20 outputs torque to the small bevel gear 19 and then to the large bevel gear 17. One end of the small bevel gear 19 is fixed on the small bevel gear auxiliary double-end fixed bearing 18, and the other end is fixed on the output shaft of the servo motor 20.

[0009] Furthermore, the large bevel gear 17 and the drive ring 13 are fixedly connected, and three evenly distributed drive ring main bearings 16 are sandwiched between the large bevel gear 17 and the drive ring 13. The drive ring main bearings 16 are V-groove bearings.

[0010] Furthermore, a drive ring main bearing raceway 15 is provided on the outer side of the drive ring main bearing 16, which is in contact with it. The V-groove of the drive ring main bearing 16 and the circular cross section of the drive ring main bearing raceway 15 are matched to ensure the stable operation of the drive ring 13.

[0011] Furthermore, three auxiliary bearings 12 are evenly distributed on the upper surface of the drive ring 13 to provide auxiliary stabilization.

[0012] Furthermore, an electrical ring 5 is provided on the upper part of the interface base 7. An active end electrical connection circuit board 3 is fixed on the surface of the electrical ring 5. The electrical ring 5 contacts the drive ring 13 through three electrical ring push bearings 6 evenly distributed at the bottom. Three electrical ring guide posts 4 are provided on the outer side of the electrical ring 5 to ensure that the electrical ring 5 moves linearly up and down along the axial direction.

[0013] Furthermore, the active terminal electrical connection circuit board 3 is divided into six sectors, each sector having only a male or female connector, and the six sectors are arranged with male and female connectors in an alternating pattern.

[0014] Furthermore, the docking of the interface base 7 is performed from three axial rotation angles: 0°, 120°, and 240°.

[0015] Beneficial effects

[0016] The genderless mechanical locking and quick-change device of this invention exhibits high connection strength and locking tolerance during locking connections. The interface base structure is male-female, facilitating easy adaptation and showing great promise for expanded applications. The device can be driven within a small space, leaving space in the center for subsequent installation of other structures, resulting in high space utilization. Regarding electrical connections, the interface base can be mated at three angles: 0°, 120°, and 240° axial rotation, enabling multi-angle connections. Attached Figure Description

[0017] Figure 1 This is an exploded view of the genderless mechanical locking and quick-change device and passive docking interface of the present invention.

[0018] Figure 2aThis is a structural diagram of the genderless mechanical locking and quick-change device before locking connection in this invention.

[0019] Figure 2b This is a cross-sectional view of the locking connection of the genderless mechanical locking and quick-change device of the present invention.

[0020] Figure 2c This is an overall structural diagram of the genderless mechanical locking and quick-change device of the present invention during the locking process.

[0021] Figure 2d This is a cross-sectional view of the locking process of the genderless mechanical locking and quick-change device of the present invention.

[0022] Figure 2e This is a structural diagram of the overall structure of the genderless mechanical locking and quick-change device after locking connection according to the present invention.

[0023] Figure 2f This is a cross-sectional view of the genderless mechanical locking and quick-change device after locking connection according to the present invention.

[0024] Figure 3 This is a cross-sectional view of the electrical connection circuit board of the genderless mechanical locking and quick-change device of the present invention.

[0025] Figure 4a This is a structural diagram of the genderless mechanical locking and quick-change device and the electric gripper locking connection of the present invention.

[0026] Figure 4b This is a structural diagram of the genderless mechanical locking and quick-change device and the electric gripper locking connection of the present invention.

[0027] The component numbers in the diagram are as follows:

[0028] Passive interface 1, passive end electrical connection circuit board 2, active end electrical connection circuit board 3, electrical ring guide post 4, electrical ring 5, electrical ring push bearing 6, interface base 7, locking pin 8, guide pin 9, retaining ring 10, compression ring 11, drive ring auxiliary bearing 12, drive ring 13, cam roller 14, drive ring main bearing raceway 15, drive ring main bearing 16, large bevel gear 17, small bevel gear auxiliary double-end fixed bearing 18, small bevel gear 19, servo motor 20, bottom cover 21, electric gripper 22. Detailed Implementation

[0029] The following combination Figure 1 Sections 4 and 5 will provide a detailed description of this implementation method.

[0030] This invention relates to a genderless mechanical locking and quick-change device. Two genderless mechanical locking and quick-change devices can be connected face-to-face via their respective interface bases, serving as connecting components between robotic arms and between a robotic arm and an actuator. The structure of a single genderless mechanical locking and quick-change device is as follows: Figure 1As shown, it includes: a bottom cover 21, a servo motor 20, a small bevel gear 19, a small bevel gear auxiliary double-ended fixed bearing 18, a large bevel gear 17, a drive ring main bearing 16, a drive ring main bearing raceway 15, a cam roller 14, a drive ring 13, a drive ring auxiliary bearing 12, a compression ring 11, a retaining ring 10, a guide pin 9, a locking pin 8, an interface base 7, an electrical ring push bearing 6, an electrical ring 5, an electrical ring guide post 4, and an active end electrical connection circuit board 3. Additionally, in... Figure 1 It contains a passive interface 1 and a passive terminal electrical connection circuit board 2, which facilitates the explanation of the locking method and locking process.

[0031] This invention uses an interface base 7 as the main body of the device. The mating surface of the interface base 7 is not flat, but is composed of three raised petal-shaped structures and matching recessed structures, arranged alternately in a circular pattern. This structure ensures that the mating surfaces of the active and passive mating ends have the same shape, and the structure is genderless; this genderless connection characteristic is called "genderless". The outer side of the raised petal-shaped structures is inclined, used to press against the locking pin 8 during connection to complete the connection. The drive ring 13 is located inside the interface base 7 and is connected to three cam rollers 14. The cam rollers 14 extend outside the interface base 7, and their surfaces simultaneously contact the cam grooves on the retaining ring 10 and the pressing ring 11. During the locking process, the retaining ring 10 and the pressing ring 11 move linearly along their axes, and the guide pin 9 restricts the rotation of the retaining ring 10 and the pressing ring 11, serving a guiding function. The guide pin 9 is preferably cylindrical. The drive ring 13 rotates to drive the cam roller 14 to rotate, and the cam roller 14 drives the retaining ring 10 and the compression ring 11 through the cam groove to complete the locking action. This structure can achieve the drive in a small space, leaving space in the center for subsequent installation of other structures, which is highly efficient in terms of space utilization. At the same time, the one-to-two spatial cam design can complete complex actions with a minimal number of drives.

[0032] The drive ring 13 is driven by a servo motor 20. The servo motor 20 outputs torque to the small bevel gear 19, which is then transmitted to the large bevel gear 17. One end of the small bevel gear 19 is fixed to the small bevel gear auxiliary double-ended fixed bearing 18, and the other end is fixed to the output shaft of the servo motor 20. The large bevel gear 17 is fixedly connected to the drive ring 13. Three evenly distributed drive ring main bearings 16 are sandwiched between the large bevel gear 17 and the drive ring 13. The drive ring main bearings 16 are V-groove bearings. A drive ring main bearing raceway 15 is provided on the outer side of the drive ring main bearing 16, which contacts the raceway 15. The V-groove of the drive ring main bearing 16 and the circular cross-section of the drive ring main bearing raceway 15 fit together to ensure the stable operation of the drive ring 13. This structure also achieves the effect of reducing weight and size. Three drive ring auxiliary bearings 12 are evenly distributed on the upper surface of the drive ring 13, which play an auxiliary stabilizing role.

[0033] An electrical ring 5 is provided on the upper part of the interface base 7. An active end electrical connection circuit board 3 is fixed on the surface of the electrical ring 5. The cross-sectional view of the electrical connection circuit board is shown below. Figure 3 As shown, the electrical ring 5 contacts the bearing 6 and drive ring 13 via three evenly distributed electrical rings at its bottom. Three evenly distributed electrical ring guide posts 4 are provided on the outer side of the electrical ring 5 to ensure that the electrical ring 5 moves linearly up and down along the axial direction. The material of the electrical ring guide posts 4 is preferably aluminum. The active end electrical connection circuit board 3 is divided into six sectors, each sector having only a male or female connector. The six sectors are arranged with male and female connectors in a staggered pattern, ensuring that the male and female connectors of all sectors can be connected after mating. Inside the circuit board, the equipotential contacts within each sector are short-circuited. This allows the interface base 7 to be mated from three axial rotation angles: 0°, 120°, and 240°, improving the flexibility of the connection.

[0034] Working Principle: The genderless mechanical locking and quick-change device of this invention has three steps during locking: first, the interface base 7 and the passive interface 1 are aligned; second, the retaining ring 10 and the compression ring 11 rise simultaneously to prepare for locking; and third, the compression ring 11 rises alone to complete the locking. The following is a detailed description: At the start of locking, the interface base 7 and the passive interface 1 are aligned face-to-face by a robotic arm. Because the tolerance flap on the surface of the interface base 7 is a sloped structure, the passive interface 1 can be passively corrected by the sloped shape in case of errors, thus correcting parallel misalignment and angular deviation. After alignment, the drive ring 13 rotates, causing the cam roller 14 to rotate. Because the retaining ring 10 and the compression ring 11 have cam grooves with a consistent initial stroke and an inclination, the cam roller 14 drives the retaining ring 10 and the compression ring 11 to rise synchronously through the cam grooves. The rectangular groove on the upper part of the retaining ring 10, which accommodates the locking pin 8, rises, allowing the outer slope of one flap of the passive interface 1 to appear in front of the locking pin 8, preparing for compression locking. Then, the drive ring 13 continues to rotate, driving the cam roller 14 to rotate. At this time, because the cam groove of the retaining ring 10 becomes horizontal, the retaining ring 10 no longer rises, while the cam groove of the compression ring 11 remains inclined, so the compression ring 11 continues to rise. Through the compression of the inclined portion of the locking pin 8 inside the compression ring 11, the locking pin 8 is pressed forward and tightly pressed against the outer inclined surface of the passive mating interface 1, achieving the purpose of locking. At this time, the pressure generated by the passive mating interface 1 on the locking pin 7 is transmitted to the interface base 7 through the retaining ring 10 and the guide pin 9. Because the locking pin 8 has a cylindrical shape, it can be tightened by the downward compression component of the inclined surface of the locking pin 8 when the passive mating interface 1 is not completely in contact with the interface base 7, thus having a certain tolerance. The last stroke of the cam groove is horizontal, which enables self-locking, that is, after locking, the force applied from the compression ring 11 cannot make the drive ring 13 rotate, ensuring connection safety.

[0035] After the mechanical connection is completed, the electrical connection is immediately established, enabling signal and power transmission between the interface base 7 and the passive interface 1. The main component for the electrical connection movement is the electrical ring 5, located on the upper part of the interface base 7, with an active-end electrical connection circuit board 3 fixed to its surface. The electrical ring 5 contacts the drive ring 13 through three evenly distributed electrical ring push bearings 6 at its bottom, while three evenly distributed electrical ring guide posts 4 ensure that the electrical ring 5 moves linearly up and down along the axial direction with each movement. The drive ring 13 has three protrusions with beveled surfaces. During the connection process, after the cam groove of the retaining ring 10 becomes horizontal, the contact surface between the electrical ring push bearing 6 and the drive ring 13 changes from a plane to a bevel, causing the electrical ring 5 to move upward, ultimately successfully connecting the active-end electrical connection circuit board 3 and the passive-end electrical connection circuit board 2. The bottom cover 22 is used to enclose the drive ring 13, drive ring main bearing 16, large bevel gear 17, small bevel gear 19, and servo motor 20 inside the interface base 7, and pre-drilled holes are provided on the bottom cover 22 for wiring.

[0036] Example 1

[0037] This embodiment consists of the genderless mechanical locking and quick-change device of the present invention and an electric gripper 22 adapted to the device, wherein the mating surface of the electric gripper has the same shape as the mating surface of the interface base 7. This device can be connected to the end of a small robotic arm, enabling the robotic arm to connect to the electric gripper 22 and thus gain the ability to perform gripping operations.

[0038] After the robotic arm aligns the interface base 7 with the pre-placed electric gripper 22, the interface drive ring 13 rotates, driving the retaining ring 10 and the pressing ring 11 sequentially via the cam roller 14. This pushes the locking pin 8, pressing the interface bevel of the electric gripper 22 to achieve connection, and the self-locking capability ensures a safe connection. Electrical connection is immediately established after connection, and the power and signal transmission of this device control the movement of the electric gripper 22 to complete the gripping action. If the connection angle is changed, axial rotation connection can be performed from three angles: 0°, 120°, and 240°. The electrical transmission effect after connection is the same, and the gripping action can be completed in all three angles.

[0039] The above description of the present invention is only a preferred embodiment of the present invention and is not intended to limit the implementation of the present invention. Those skilled in the art can easily make corresponding modifications or alterations based on the main concept and spirit of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of protection claimed in the claims.

Claims

1. A genderless mechanical locking and quick-change device, characterized in that, The device includes an interface base (7) as the main body, a retaining ring (10), a compression ring (11), a locking pin (8), a guide pin (9), a drive ring (13), and cam rollers (14). The drive ring (13) is located inside the interface base (7) and is connected to three cam rollers (14). The cam rollers (14) extend out of the interface base (7). An electrical ring (5) is provided on the upper part of the interface base (7). An active end electrical connection circuit board (3) is fixed on the surface of the electrical ring (5). The electrical ring (5) contacts the drive ring (13) through three evenly distributed electrical ring push bearings (6) at the bottom. Three evenly distributed electrical ring guide posts (4) are provided on the outer side of the electrical ring (5) to ensure that the electrical ring (5) moves linearly up and down along the axial direction. The surface of the cam rollers (14) contacts the cam grooves on the retaining ring (10) and the compression ring (11) at the same time. The locking pin (8) is located on the side wall of the retaining ring (10), and the guide pin (9) is located on the interface base (7). The retaining ring (10) and the squeezing ring (11) have grooves on the side wall of the base (7) and through which the retaining ring (10) and the squeezing ring (11) are located. The upper part of the retaining ring (10) has a rectangular groove for accommodating the locking pin (8). The squeezing ring (11) is sleeved on the outside of the retaining ring (10). The squeezing ring (11) squeezes the locking pin (8) forward by contacting the inclined part of the locking pin (8) inside. The retaining ring (10) and the squeezing ring (11) have cam grooves on their upper parts that are inclined in the same direction in the front part of the stroke. During the locking process, the retaining ring (7) The cam groove of 10 becomes horizontal, while the cam groove of the extrusion ring (11) remains inclined. The last stroke of the cam grooves of the retaining ring (10) and the extrusion ring (11) is horizontal. The guide pin (9) restricts the rotation of the retaining ring (10) and the extrusion ring (11) during the locking process, and plays a guiding role. The drive ring (13) drives the cam roller (14) to rotate by rotating. The cam roller (14) drives the retaining ring (10) and the extrusion ring (11) through the cam groove to complete the locking action.

2. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, The mating surface of the interface base (7) consists of three raised petal-shaped structures and a recessed structure that matches the raised structures, arranged in an alternating circumferential pattern.

3. The genderless mechanical locking and quick-change device according to claim 2, characterized in that, The outer side of the petal-shaped structure is inclined, and it is connected by mutual compression with the locking pin (8).

4. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, The drive ring (13) is driven by the servo motor (20). The servo motor (20) outputs torque to the small bevel gear (19) and then to the large bevel gear (17). One end of the small bevel gear (19) is fixed on the small bevel gear auxiliary double-end fixed bearing (18), and the other end is fixed on the output shaft of the servo motor (20).

5. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, The large bevel gear (17) and the drive ring (13) are fixedly connected. Three evenly distributed drive ring main bearings (16) are sandwiched between the large bevel gear (17) and the drive ring (13). The drive ring main bearings (16) are V-groove bearings.

6. The genderless mechanical locking and quick-change device according to claim 5, characterized in that, A drive ring main bearing raceway (15) is provided on the outside of the drive ring main bearing (16) and it contacts the V groove of the drive ring main bearing (16) and the circular cross section of the drive ring main bearing raceway (15) to ensure the stable operation of the drive ring (13).

7. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, Three auxiliary bearings (12) of the drive ring (13) are evenly distributed on the upper surface of the drive ring (13) to play an auxiliary stabilizing role.

8. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, The active terminal electrical connection circuit board (3) is divided into six sectors, each sector has only a male or female connector, and the six sectors are arranged in a cross pattern of male and female connectors.

9. The genderless mechanical locking and quick-change device according to claim 1, characterized in that, The docking of the interface base (7) is performed from three axial rotation angles: 0°, 120° and 240°.

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