A self-locking quick-change structure

Abstract

The present invention provides a self-locking quick-change structure, which relates to the technical field of grabbing and connecting devices. The self-locking quick-change structure of the present invention utilizes a rotating driving part, a rotating wheel and a movable groove on the rotating wheel. The movable part can drive the claw to approach or move away from the part to be connected, and the claw can hook and cooperate with the outer shell to clamp the part to be connected, thereby realizing the capture connection of the part to be connected. On this basis, the first groove portion of the movable groove is arc-shaped and the second groove portion is spiral-shaped. In this way, when the movable part slides in the second groove portion, the first limiting portion and the second limiting portion on the outer shell limit the claw, so that the claw can approach or move away from the part to be connected along the axial direction of the rotating wheel, and when the movable part enters the first groove portion from the second groove portion, the movable part can be limited by the first groove portion to realize self-locking connection, and maintain the connection stability of the quick-change structure when the driving force is disconnected, which is conducive to the robot arm maintaining stable operation for a long time.

Description

Technical Field

[0001] The present invention relates to the technical field of grabbing and connecting devices, and in particular to a self-locking quick-change structure. Background Art

[0002] With the development of control technology, the use of mechanical structures such as robotic arms for grasping operations to replace manual operations has been widely used in industrial manufacturing. In the aerospace field, with the increasing demand for space operations, the use of robotic arms for grasping and connecting has gradually been applied to space operations.

[0003] Currently, when using a robotic arm for grabbing and connecting, in order to improve the efficiency of grabbing and connecting, a quick-change structure is generally set at the end of the robotic arm. The output driving force is quickly connected with the part to be connected through the quick-change structure, making it easier for the robotic arm to capture and move the part to be connected.

[0004] However, after the robotic arm captures the part to be connected through the quick-change structure, it is necessary to maintain continuous connection between the part to be connected and the quick-change structure so that the robotic arm can move the part to be connected to the required position. This requires maintaining continuous output of driving force to maintain the connection stability of the quick-change structure, which in turn causes the robotic arm to consume more energy during operation, which is not conducive to the robotic arm maintaining long-term stable operation through the quick-change structure. Summary of the Invention

[0005] The problem solved by the present invention is how to maintain the connection stability of the quick-change structure when the driving force is disconnected.

[0006] In order to solve the above problems, the present invention provides a self-locking quick-change structure, comprising a rotary drive member, a rotating wheel, a moving member, a hook claw and a housing; the rotary drive member is drivingly connected to the rotating wheel and is used to drive the rotating wheel to rotate around the axial direction of the rotating wheel; the outer peripheral wall of the rotating wheel is provided with a movable groove, and the movable groove includes a first groove portion and a second groove portion, the first groove portion extends along the circumference of the rotating wheel, and the extension direction of the second groove portion intersects the circumference of the rotating wheel; the moving member is at least partially slidably installed in the movable groove; the hook claw is connected to the moving member and is used to hook the member to be connected; the housing is sleeved outside the rotating wheel and is provided with a first limiting portion and a second limiting portion arranged at intervals along the circumference of the rotating wheel, and the hook claw is located between the first limiting portion and the second limiting portion;

[0007] When the rotary driving member drives the rotating wheel to rotate forward, the hook claw abuts against the first limiting portion, and the movable member enters the second groove portion from the first groove portion and moves along the second groove portion, so that the end of the hook claw is away from the shell along the axial direction of the rotating wheel and hooks the part to be connected; when the rotary driving member drives the rotating wheel to rotate reversely, the hook claw abuts against the second limiting portion, and the movable member moves along the second groove portion and enters the first groove portion, so that the end of the hook claw is close to the shell along the axial direction of the rotating wheel and cooperates with the shell to clamp the part to be connected.

[0008] Optionally, the movable groove further includes a third groove portion, the second groove portion is located between the first groove portion and the third groove portion, and an extending direction of the third groove portion is parallel to the circumferential direction of the rotating wheel.

[0009] Optionally, there are multiple hooks, and the multiple hooks are distributed at intervals around the axial direction of the rotating wheel.

[0010] Optionally, the movable part includes an annular part, a rolling wheel and a connecting seat, the annular part is sleeved on the rotating wheel along the axial direction of the rotating wheel, the rolling wheel is located between the rotating wheel and the annular part, and is located in the movable groove, the rolling wheel is connected to the annular part, and is used to roll along the movable groove, the connecting seat is located on the side of the annular part away from the rotating wheel, and is connected to the annular part, and the hook is connected to the connecting seat.

[0011] Optionally, the hook claw includes a hooking portion and a connecting portion, the hooking portion is used to hook the part to be connected, the connecting portion is located between the first limiting portion and the second limiting portion, and is connected to the movable part for rotation around a first direction, and the first direction is perpendicular to the axial direction of the rotating wheel and the radial direction of the rotating wheel; a limiting rod is provided on the first limiting portion and / or the second limiting portion, and a limiting groove is provided on the connecting portion, the limiting groove extends away from the hooking portion along the axial direction of the rotating wheel, and is bent toward the rotating wheel, and the limiting rod is at least partially slidably installed in the limiting groove.

[0012] Optionally, the connecting portion is extended along the axial direction of the rotating wheel, one end of the connecting portion away from the hooking portion is bent toward the rotating wheel, and is connected to the moving member for rotation around the first direction.

[0013] Optionally, the shell includes a shell and a cover plate, the shell is a hollow structure arranged towards the axial opening of the rotating wheel, the rotating drive member and the rotating wheel are both located in the shell, the first limiting portion and the second limiting portion are both located on the shell, the cover plate covers the open end of the shell, the connecting portion passes through the shell, and the cover plate is used to cooperate with the hook portion to clamp the member to be connected.

[0014] Optionally, a mounting groove is provided on the edge of the open end of the shell along the axial opening of the rotating wheel, and the mounting groove passes through the shell along the radial direction of the rotating wheel. A notch is provided on the edge of the cover plate, and the notch and the mounting groove are correspondingly connected along the axial direction of the rotating wheel to form an extension port, and the connecting portion located between the first limiting portion and the second limiting portion passes through the shell through the extension port.

[0015] Optionally, the cover plate is at least partially recessed and / or protruded along the axial direction of the rotating wheel to form a guide structure. When the hooking portion hooks the part to be connected and approaches the cover plate, the guide structure abuts against the end face of the part to be connected facing the cover plate until they are fully fitted.

[0016] Optionally, the self-locking quick-change structure further includes a sensing element, which is provided at the cover plate. When the hooking portion hooks the part to be connected and approaches the cover plate, the sensing element obtains the distance from another sensing element on the part to be connected along the axial direction of the rotating wheel, and / or is electrically connected to the other sensing element on the part to be connected.

[0017] The beneficial effects of the self-locking quick-change structure of the present invention are as follows: a rotating drive member, a rotating wheel, a moving member, a hook and a shell are arranged to form a self-locking quick-change structure, wherein the rotating drive member is drivingly connected to the rotating wheel and is used to drive the rotating wheel to rotate around its own axis, so that the driving force can be output by the rotating drive member to achieve continuous forward or reverse rotation of the rotating wheel around its own axis; and the outer peripheral wall of the rotating wheel is provided with a moving groove, that is, the moving groove is arranged in an arc shape along the wheel surface of the rotating wheel, specifically, the moving groove includes a second groove portion, the extension direction of the second groove portion intersects with the circumference of the rotating wheel, so that the second groove portion is arranged in a spiral shape along the wheel surface of the rotating wheel, at the same time, the hook is connected to the moving member, and is located on the shell and rotates around the rotating wheel. The first and second limiting portions are arranged axially of the wheels at intervals, and the moving member is at least partially slidably installed in the moving groove. In this way, when the rotating driving member drives the rotating wheel to rotate forward or reverse, the rotating wheel transmits the driving force to the hook claw through the moving groove via the moving member, so that the hook claw has a tendency to move around the axial direction of the rotating wheel, but when the hook claw moves around the axial direction of the rotating wheel, it will abut against the first limiting portion or the second limiting portion, so that the hook claw is restricted by the first limiting portion or the second limiting portion and cannot move. At this time, as the moving member moves in the moving groove, when the moving member slides in the second groove portion, since the second groove portion is spirally arranged along the wheel surface of the rotating wheel, the second groove portion is transmitted through the moving member. When the end of the hook claw is away from the shell, it can be hooked and connected. At this time, when the end of the hook claw is close to the shell, it can cooperate with the shell to clamp the part to be connected, thereby realizing the capture of the part to be connected; on this basis, the moving groove also includes a first groove portion, which extends along the circumference of the rotating wheel. When the end of the hook claw is close to the shell along the axial direction of the rotating wheel, the moving part can move along the second groove portion and move The cam is engaged with the crank arm and the crank arm, and the cam arm is engaged with the crank arm, so that the cam arm can be engaged with the crank arm and the crank arm can be engaged with the crank arm, thereby preventing the cam arm from engaging with the crank arm and the crank arm from engaging with the crank arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of the internal structure of a self-locking quick-change structure from one perspective in an embodiment of the present invention;

[0019] Figure 2 This is an exploded structural diagram of a self-locking quick-change structure in an embodiment of the present invention;

[0020] Figure 3 A schematic diagram of the internal structure of the self-locking quick-change structure from another perspective in an embodiment of the present invention;

[0021] Figure 4 Schematic diagram of the structure of the self-locking quick-change structure in an embodiment of the present invention;

[0022] Figure 5 Schematic diagram of the internal structure of the self-locking quick-change structure from another perspective in an embodiment of the present invention.

[0023] Description of reference numerals:

[0024] 1. Rotating driving member; 2. Rotating wheel; 21. Moving groove; 211. First groove portion; 212. Second groove portion; 213. Third groove portion; 3. Moving member; 31. Ring member; 32. Rolling wheel; 33. Connecting seat; 4. Hook; 41. Hooking portion; 42. Connecting portion; 421. Limiting groove; 5. Housing; 51. First limiting portion; 52. Second limiting portion; 53. Limiting rod; 54. Housing; 541. Mounting groove; 55. Cover plate; 551. Notch; 552. Guide structure; 6. Sensing element. DETAILED DESCRIPTION

[0025] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings. Although certain embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be construed as being limited to the embodiments described herein. Instead, these embodiments are provided to provide a more thorough and complete understanding of the present invention. It should be understood that the drawings and embodiments of the present invention are for illustrative purposes only and are not intended to limit the scope of protection of the present invention.

[0026] The Z-axis in the accompanying drawings represents the vertical direction, that is, the up-down position, with the positive direction of the Z-axis representing the top and the reverse direction of the Z-axis representing the bottom. The X-axis in the accompanying drawings represents the horizontal direction and is designated as the front-to-back position, with the positive direction of the X-axis representing the front side and the reverse direction of the X-axis representing the rear side. The Y-axis in the accompanying drawings represents the left-to-right position, with the positive direction of the Y-axis representing the right side and the reverse direction of the Y-axis representing the left side. It should also be noted that the aforementioned Z-axis, Y-axis, and X-axis are merely for the purpose of facilitating the description of the present invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0027] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to"; the term "based on" means "based at least in part on"; the term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "optional embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts of "first", "second", etc. mentioned in the present invention are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "multiple" mentioned in the present invention are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0029] In the related art, the quick-change structure is usually installed at the end of the robotic arm, and the end effector (i.e., the part to be connected) is grasped, locked, and released through automatic action. Existing quick-change devices are usually used in industrial robotic arm scenarios. In the aerospace field, due to the increasing number of application scenarios of robotic arms, the requirements for quick-change are gradually increasing. The existing aerospace robotic arm quick-change requires electric drive, and the motor is used to drive the connecting rod structure for locking connection. However, the connecting rod structure requires continuous output from the motor to maintain the connection, which increases the energy consumption of the robotic arm during operation. When the driving force is disconnected, the connection stability of the quick-change structure cannot be maintained, which is not conducive to the robotic arm maintaining long-term stable operation through the quick-change structure.

[0030] In response to the problems existing in the above-mentioned related technologies, this embodiment provides a self-locking quick-change structure.

[0031] like Figure 1As shown, a self-locking quick-change structure provided by an embodiment of the present invention includes a rotating drive member 1, a rotating wheel 2, a moving member 3, a hook 4 and a shell 5; the rotating drive member 1 is drivingly connected to the rotating wheel 2 and is used to drive the rotating wheel 2 to rotate around the axis of the rotating wheel 2; the outer peripheral wall of the rotating wheel 2 is provided with a moving groove 21, and the moving groove 21 includes a first groove portion 211 and a second groove portion 212, the first groove portion 211 extends along the circumference of the rotating wheel 2, and the extension direction of the second groove portion 212 intersects with the circumference of the rotating wheel 2; the moving member 3 is at least partially slidably installed in the moving groove 21; the hook 4 is connected to the moving member 3 and is used to hook the member to be connected; the shell 5 is sleeved on the outside of the rotating wheel 2, and is provided with a circumferential direction of the rotating wheel 2 The first limiting portion 51 and the second limiting portion 52 are arranged at intervals, and the hook 4 is located between the first limiting portion 51 and the second limiting portion 52; when the rotary driving member 1 drives the rotating wheel 2 to rotate forward, the hook 4 is against the first limiting portion 51, and the movable member 3 enters the second groove portion 212 from the first groove portion 211 and moves along the second groove portion 212, so that the end of the hook 4 is away from the shell 5 along the axial direction of the rotating wheel 2, and hooks the part to be connected; when the rotary driving member 1 drives the rotating wheel 2 to reverse, the hook 4 is against the second limiting portion 52, and the movable member 3 moves along the second groove portion 212 and enters the first groove portion 211, so that the end of the hook 4 is close to the shell 5 along the axial direction of the rotating wheel 2, and cooperates with the shell 5 to clamp the part to be connected.

[0032] Specifically, if Figure 1 As shown, the axis of the rotating wheel 2 extends along the Z-axis direction, the axial direction of the rotating wheel 2 is the Z-axis direction, and the circumference of the rotating wheel 2 is perpendicular to the axial direction of the rotating wheel 2, that is, the circumference of the rotating wheel 2 is parallel to the XY plane; the rotating drive member 1 can be a separate rotating motor, or it can be a matching structure of a rotating motor and a reducer, and a transmission structure such as a gear can also be added, it is only necessary to ensure that the rotating drive member 1 can be driven and connected to the rotating wheel 2 and can drive the rotating wheel 2 to rotate, wherein the rotating drive member 1 can be located on the outside of the rotating wheel 2 or on the inside of the rotating wheel 2; the end of the hook 4 has a bent hooking structure to realize the hooking of the to-be-connected member, or the end of the hook 4 is adsorbed and connected to the to-be-connected member through a magnetic structure or the like; the housing 5 can be a connecting plate mounted on the robotic arm, or it can be a hollow structure mounted on the robotic arm, and accommodates the rotating drive member 1 and the rotating wheel 2; as shown Figure 1 As shown, the forward rotation of the rotating wheel 2 is a rotation from the positive direction of the X axis to the positive direction of the Y axis around the Z axis, and the reverse rotation of the rotating wheel 2 is a rotation from the positive direction of the Y axis to the positive direction of the X axis around the Z axis.

[0033] In this embodiment, Figure 1 and Figure 2As shown, a self-locking quick-change structure is formed by a rotary drive member 1, a rotating wheel 2, a moving member 3, a hook 4 and a housing 5, wherein the rotary drive member 1 is connected to the rotating wheel 2 and is used to drive the rotating wheel 2 to rotate around its own axis. In this way, the driving force can be output by the rotary drive member 1 to achieve continuous forward or reverse rotation of the rotating wheel 2 around its own axis; and a moving groove 21 is provided on the outer peripheral wall of the rotating wheel 2. The moving groove 21 extends in an arc shape along the wheel surface of the rotating wheel 2. Specifically, the moving groove 21 includes a second groove portion 212, and the second groove portion The extending direction of 212 intersects with the circumference of the rotating wheel 2, so that the second groove portion 212 is arranged in a spiral shape along the wheel surface of the rotating wheel 2. At the same time, the claw 4 is connected to the moving member 3 and is located on the housing 5 and between the first limiting portion 51 and the second limiting portion 52 arranged at intervals along the circumference of the rotating wheel 2, and the moving member 3 is at least partially slidably installed in the moving groove 21. In this way, when the rotating driving member 1 drives the rotating wheel 2 to rotate forward or reverse, the rotating wheel 2 transmits the driving force to the claw 4 through the moving groove 21 via the moving member 3, so that the claw 4 There is a tendency to move around the axial direction of the rotating wheel 2, but the hook 4 will abut against the first limiting portion 51 or the second limiting portion 52 when it moves around the axial direction of the rotating wheel 2, so that the hook 4 is restricted by the first limiting portion 51 or the second limiting portion 52 and cannot move around the axial direction of the rotating wheel 2. At this time, as the moving member 3 moves in the moving groove 21, when the moving member 3 slides in the second groove portion 212, since the second groove portion 212 is spirally arranged along the wheel surface of the rotating wheel 2, the second groove portion 212 is transmitted to the moving member 3. While the hook claw 4 is exerting a force to move about the axial direction of the rotating wheel 2, it is also exerting a force to move along the axial direction of the rotating wheel 2. The movement of the hook claw 4 along the axial direction of the rotating wheel 2 is not restricted, thereby enabling the hook claw 4 to move along the axial direction of the rotating wheel 2, so that the end of the hook claw 4 moves away from or closer to the housing 5 along the axial direction of the rotating wheel 2. When the end of the hook claw 4 moves away from the housing 5, it can move close to the part to be connected to achieve hook connection. At this time, when the end of the hook claw 4 moves close to the housing 5 again, it can cooperate with the housing 5 to clamp the part to be connected, thereby achieving capture of the part to be connected.On this basis, the movable groove 21 also includes a first groove portion 211, and the extension direction of the first groove portion 211 is parallel to the circumference of the rotating wheel 2, so that the first groove portion 211 is arranged along the wheel surface of the rotating wheel 2 in an arc shape around the axial direction of the rotating wheel 2, and when the end of the claw 4 approaches the shell 5 along the axial direction of the rotating wheel 2, the movable member 3 can move along the second groove portion 212 and enter the first groove portion 211. In this way, when the movable member 3 enters the first groove portion 211, the shell 5 can cooperate with the claw 4 to clamp the member to be connected. At the same time, the groove wall of the first groove portion 211 can move the movable member 3 along the rotating wheel 2. The axial limits on both sides of the moving wheel 2 ensure that even if the rotary drive member 1 no longer outputs driving force, the moving member 3 remains within the first groove 211. That is, when the driving force is disconnected, the groove walls of the first groove 211 can restrict the moving member 3 from axially moving along the rotating wheel 2, thereby preventing the hook 4 from axially moving along the rotating wheel 2. This maintains the stability of the hook 4 and the housing 5 in clamping the connected member. This maintains the connection stability of the self-locking quick-change structure when the driving force is disconnected, thereby facilitating the long-term stable operation of the robotic arm through the self-locking quick-change structure.

[0034] It should be noted that if Figure 5 As shown, the rotation of the rotating wheel 2 is driven by a motor connected to a harmonic reducer, that is, the rotary drive element 1 comprises a motor and a harmonic reducer. The specific structure is described as follows: the motor rotor and the harmonic reducer's wave generator are connected via a high-speed connector. The high-speed connector is connected to an axis locating seat via two deep groove ball bearings and an axis locating seat, allowing rotation relative to the axis locating seat while ensuring directional stability of the rotational driving force output by the rotating drive element 1. The two deep groove ball bearings are spaced apart by two spaced sleeves. The axis locating seat is further connected to the reducer mounting seat, which is connected to the housing 5 to ensure the positioning of the motor rotor and the harmonic reducer's wave generator. Furthermore, the motor rotor is surrounded by a motor stator, which is fixedly connected to the motor mounting seat. The upper portion of the motor mounting seat, along the axial direction of the rotating wheel 2, is connected to the reducer steel wheel. The lower portion of the motor mounting seat, along the axial direction of the rotating wheel 2, is connected to the reducer mounting seat via a connector. This ensures that both the motor rotor and the reducer steel wheel can be connected to the housing 5, ensuring accurate positioning. At this point, the reducer steel wheel is fixed, while the reducer flexspline can output rotation. The reducer flexible wheel and the rotating wheel 2 are connected by bolts, so that when the motor outputs a rotational driving force, the reducer flexible wheel can directly drive the rotating wheel 2 to rotate.

[0035] Alternatively, as Figure 1 and Figure 2 As shown, the movable groove 21 further includes a third groove portion 213 , the second groove portion 212 is located between the first groove portion 211 and the third groove portion 213 , and the extension direction of the third groove portion 213 is parallel to the circumferential direction of the rotating wheel 2 .

[0036] Specifically, the first groove portion 211, the second groove portion 212 and the third groove portion 213 are connected in sequence to form the movable groove 21. The movable groove 21 is first arranged in an arc shape along the wheel surface of the rotating wheel 2 and parallel to the circumference of the rotating wheel 2 to form the first groove portion 211, and then arranged in a spiral shape around the axial direction of the rotating wheel 2 along the wheel surface of the rotating wheel 2 to form the second groove portion 212, and finally arranged in an arc shape along the wheel surface of the rotating wheel 2 and parallel to the circumference of the rotating wheel 2 to form the third groove portion 213.

[0037] In this embodiment, the movable groove 21 further includes a third groove portion 213, wherein the second groove portion 212 is located between the first groove portion 211 and the third groove portion 213, and the extension direction of the third groove portion 213 is parallel to the circumferential direction of the rotating wheel 2, that is, the first groove portion 211, the second groove portion 212 and the third groove portion 213 are arranged in sequence along the axial direction of the rotating wheel 2. In this way, when the rotating driving member 1 drives the rotating wheel 2 to rotate forward, the hook 4 is abutted against the first limiting portion 51, and the movable member 3 can enter the second groove portion 212 from the first groove portion 211 and move along the second groove portion 212, so that under the limiting action of the first limiting portion 51 and the pushing action of the groove wall of the second groove portion 212, the end of the hook 4 can move along the rotating wheel 2. The axial direction of the moving wheel 2 is away from the outer shell 5. As the rotating wheel 2 continues to rotate, the moving part 3 can enter the third groove 213 from the second groove 212. Similar to the function of the first groove 211, the groove wall of the third groove 213 can also limit the moving part 3 on both sides of the axial direction of the rotating wheel 2. At this time, after the rotating driving part 1 disconnects the driving force output, the moving part 3 can remain in the third groove 213, so that the end of the claw 4 remains at a position away from the outer shell 5, which is convenient for keeping the state of capturing the to-be-connected part at any time, so that after the robot arm adjusts the position of the self-locking quick-change structure, there is no need to drive the claw 4 to move, and it can be immediately connected to the to-be-connected part, effectively improving the capture and connection efficiency of the robot arm.

[0038] Alternatively, as Figure 1 and Figure 2 As shown, there are multiple hooks 4 , which are distributed at intervals around the axial direction of the rotating wheel 2 .

[0039] Specifically, if Figure 1 and Figure 2 As shown, there are three hook claws 4, which are evenly spaced around the axial direction of the rotating wheel 2. At the same time, a connecting slot is provided between two adjacent hook claws 4, and the connecting slot can be connected to the hook claw 4 of another self-locking quick-change structure. Such a self-locking quick-change structure can realize the capture of the to-be-connected part by the robotic arm through the corresponding connection with another self-locking quick-change structure on the to-be-connected part, and the two self-locking quick-change structures can be used in any pair regardless of male or female.

[0040] In this embodiment, in order to ensure the connection stability after the robot captures the parts to be connected, Figure 1 and Figure 2 As shown, the hook claws 4 are arranged in plurality, and the plurality of hook claws 4 are distributed at intervals around the axial direction of the rotating wheel 2. With this arrangement, after the hook claws 4 hook the part to be connected, they can not only cooperate with the shell 5 to clamp the part to be connected, but also cooperate with the remaining hook claws 4 to clamp the part to be connected, further improving the connection stability between the self-locking quick-change structure and the part to be connected, and ensuring the connection stability after the robotic arm captures the part to be connected.

[0041] Alternatively, as Figure 2 and Figure 3 As shown, the movable member 3 includes an annular member 31, a rolling wheel 32 and a connecting seat 33. The annular member 31 is sleeved on the rotating wheel 2 along the axial direction of the rotating wheel 2. The rolling wheel 32 is located between the rotating wheel 2 and the annular member 31 and is located in the moving groove 21. The rolling wheel 32 is connected to the annular member 31 and is used to roll along the moving groove 21. The connecting seat 33 is located on the side of the annular member 31 away from the rotating wheel 2 and is connected to the annular member 31. The hook 4 is connected to the connecting seat 33.

[0042] Specifically, if Figure 2 and Figure 3 As shown, the rolling wheel 32 is a bearing, which is installed on the annular member 31 by rotation. The connecting seat 33 is composed of two support plates arranged at intervals around the axial direction of the rotating wheel 2. The end of the hook 4 is located between the two support plates and is connected to the support plates; since there are multiple hooks 4 and they are arranged at intervals around the axial direction of the rotating wheel 2, there are also multiple connecting seats 33 connected to the hooks 4, and multiple connecting seats 33 are arranged at intervals around the axial direction of the rotating wheel 2 on the annular member 31. Of course, the rolling wheel 32 and the movable groove 21 for accommodating the rolling wheel 32 can also be set to multiple, and the multiple rolling wheels 32 and the multiple movable grooves 21 are arranged at intervals around the axial direction of the rotating wheel 2.

[0043] In this embodiment, a ring member 31, a rolling wheel 32 and a connecting seat 33 are provided to form a movable member 3, wherein the ring member 31 is sleeved on the rotating wheel 2 along the axial direction of the rotating wheel 2, and the rolling wheel 32 is located between the ring member 31 and the rotating wheel 2 and is located in the moving groove 21. The rolling wheel 32 is connected to the ring member 31 and is used to roll along the moving groove 21. In this way, when the rotating driving member 1 drives the rotating wheel 2 to rotate, the rolling wheel 32 can move relative to the rotating wheel 2 in the moving groove 21, thereby driving the ring member 31 to move along the rotating wheel 2. axial movement and axial rotation around the rotating wheel 2; on this basis, the connecting seat 33 is located on the side of the annular member 31 away from the rotating wheel 2, and is connected to the annular member 31, and the hook 4 is connected to the connecting seat 33. With this arrangement, when the rotating wheel 2 rotates, the driving force can be transmitted to the hook 4 through the rolling wheel 32 and the annular member 31 via the connecting seat 33. The transmission stability of the driving force is better, and due to the restriction of the first limiting portion 51 or the second limiting portion 52, the stability of the reciprocating movement of the hook 4 along the axial direction of the rotating wheel 2 can also be guaranteed.

[0044] Alternatively, as Figure 1 、 Figure 2 and Figure 5 As shown, the hook claw 4 includes a hooking portion 41 and a connecting portion 42, the hooking portion 41 is used to hook the part to be connected, the connecting portion 42 is located between the first limiting portion 51 and the second limiting portion 52, and is connected to the movable part 3 for rotation around a first direction, and the first direction is perpendicular to the axial direction of the rotating wheel 2 and the radial direction of the rotating wheel 2; a limiting rod 53 is provided on the first limiting portion 51 and / or the second limiting portion 52, and a limiting groove 421 is provided on the connecting portion 42, the limiting groove 421 extends away from the hooking portion 41 along the axial direction of the rotating wheel 2, and is bent toward the rotating wheel 2, and the limiting rod 53 is at least partially slidably installed in the limiting groove 421.

[0045] Specifically, if Figure 1 As shown, the hook portion 41 and the connecting portion 42 cooperate to form an L-shaped structure; Figure 2 As shown, the rotating wheel 2 rotates around the axial direction of the rotating wheel 2. The radial direction of the rotating wheel 2 is parallel to the XY plane, and can be the X-axis direction or the Y-axis direction. The first direction is perpendicular to the axial direction of the rotating wheel 2, that is, parallel to the XY plane and perpendicular to the radial direction of the rotating wheel 2. That is, the first direction is the tangential direction of the outer peripheral wall of the rotating wheel 2. When the radial direction of the rotating wheel 2 is the X-axis direction, the first direction is the Y-axis direction.

[0046] In this embodiment, Figure 1 、 Figure 2 and Figure 5As shown, a hooking portion 41 and a connecting portion 42 are provided to form a hook claw 4, wherein the hooking portion 41 is used to hook the part to be connected, and the connecting portion 42 is located between the first limiting portion 51 and the second limiting portion 52, so that when the rotating wheel 2 rotates, the connecting portion 42 can move along the axial direction of the rotating wheel 2, thereby driving the hooking portion 41 to move along the axial direction of the rotating wheel 2, thereby hooking the part to be connected, and can also cooperate with the housing 5 to clamp the part to be connected. On this basis, the connecting portion 42 is connected to the movable member 3 for rotation around a first direction, and the first direction is perpendicular to the axial direction of the rotating wheel 2 and perpendicular to the radial direction of the rotating wheel 2, and a limiting rod 53 is provided on the first limiting portion 51 and / or the second limiting portion 52, and a limiting groove 421 is provided on the connecting portion 42, which extends away from the hooking portion 41 along the axial direction of the rotating wheel 2 and is bent toward the rotating wheel 2. The limiting rod 53 is at least partially slidably installed in the limiting groove 421. In this way, when the rotating wheel 2 rotates forward, the connecting portion 42 can The limiting rod 53 can slide along the portion of the limiting groove 421 extending along the axial direction of the rotating wheel 2 to ensure the stability of the connecting portion 42 when the connecting portion 42 moves along the axial direction of the rotating wheel 2. As the limiting rod 53 slides in the limiting groove 421, the limiting rod 53 can enter the portion of the limiting groove 421 bent toward the rotating wheel 2 from the portion of the limiting groove 421 extending along the axial direction of the rotating wheel 2. At this time, the groove wall of the limiting groove 421 can generate an extrusion force on the limiting rod 53. Under this extrusion force, if the limiting rod 53 wants to enter, Figure 5 As shown, the connecting portion 42 needs to be rotated about the first direction, so that the connecting portion 42 is inclined relative to the axial direction of the rotating wheel 2, and the hooking portion 41 is away from the rotating wheel 2 along the radial direction of the rotating wheel 2. In this way, the hooking portions 41 of the multiple claws 4 are away from each other, so that the distance between the multiple hooking portions 41 is increased, and the accommodation space between the hooking portions 41 is increased, which effectively improves the capture tolerance of the to-be-connected member, and can be more conducive to the to-be-connected member entering the accommodation space. After the to-be-connected member enters the accommodation space, through the reversal of the rotating wheel 2, the limiting rod 53 can reverse and enter the portion of the limiting groove 421 extending along the axial direction of the rotating wheel 2 again. Due to the squeezing of the limiting rod 53 by the groove wall of the limiting groove 421, the connecting portion 42 is rotated about the first direction, from being inclined relative to the axial direction of the rotating wheel 2 to being parallel to the axial direction of the rotating wheel 2, so that the multiple hooking portions 41 are close to each other, and the to-be-connected member is hooked at the same time. As the connecting portion 42 moves along the axial direction of the rotating wheel 2, it cooperates with the shell 5 to clamp the to-be-connected member.

[0047] Alternatively, as Figure 1 、 Figure 2 and Figure 5 As shown, the connecting portion 42 extends along the axial direction of the rotating wheel 2 , and one end of the connecting portion 42 away from the hooking portion 41 is bent toward the rotating wheel 2 and is connected to the moving member 3 for rotation around the first direction.

[0048] Specifically, if Figure 5As shown, the extension track of the limiting groove 421 is parallel to the extension track of the connecting portion 42 .

[0049] In this embodiment, Figure 1 、 Figure 2 and Figure 5 As shown, the connecting portion 42 is arranged to extend along the axial direction of the rotating wheel 2, and the end of the connecting portion 42 away from the hooking portion 41 is bent toward the rotating wheel 2 and is connected to the movable member 3 for rotation around the first direction. In this way, when the limiting rod 53 can enter the portion of the limiting groove 421 that is bent toward the rotating wheel 2 from the portion extending along the axial direction of the rotating wheel 2, its axial inclination angle relative to the rotating wheel 2 increases, thereby increasing the accommodating space formed after the multiple hooking portions 41 move away from each other, further improving the capture tolerance of the connected parts, and being more conducive to the connected parts entering the accommodating space.

[0050] Alternatively, as Figure 2 and Figure 4 As shown, the housing 5 includes a shell 54 and a cover plate 55. The shell 54 is a hollow structure arranged with an axial opening facing the rotating wheel 2. The rotary drive member 1 and the rotating wheel 2 are both located in the shell 54. The first limiting portion 51 and the second limiting portion 52 are both located on the shell 54. The cover plate 55 covers the open end of the shell 54. The connecting portion 42 passes through the shell 5. The cover plate 55 is used to cooperate with the hook portion 41 to clamp the part to be connected.

[0051] Specifically, the shell 54 and the cover plate 55 can be a separate structure or an integrally formed structure.

[0052] In this embodiment, Figure 2 and Figure 4 As shown, a shell 54 and a cover plate 55 are provided to form the outer shell 5, wherein the shell 54 is a hollow structure provided with an axial opening toward the rotating wheel 2, and the rotating drive member 1 and the rotating wheel 2 are both located in the shell 54, so that the rotating drive member 1 and the rotating wheel 2 can be protected by the shell 54 to ensure the working stability of the self-locking quick-change structure, and the shell 54 can be installed on the robotic arm to achieve a stable connection between the self-locking quick-change structure and the robotic arm; in this clamping, the first limiting portion 51 and the second limiting portion 52 are both located on the shell 54, and the cover plate 55 covers the open end of the shell 54 to achieve further protection of the rotating drive member 1 and the rotating wheel 2, and at the same time, the connecting portion 42 passes through the outer shell 5, and the cover plate 55 is used to cooperate with the hooking portion 41 to clamp the part to be connected, to ensure the stability of the connection between the self-locking quick-change structure and the part to be connected after the part to be connected is captured.

[0053] Alternatively, as Figure 2As shown, the edge of the open end of the shell 54 is provided with a mounting groove 541 arranged along the axial opening of the rotating wheel 2, and the mounting groove 541 passes through the shell 54 along the radial direction of the rotating wheel 2. The edge of the cover plate 55 is provided with a notch 551, and the notch 551 and the mounting groove 541 are correspondingly connected along the axial direction of the rotating wheel 2 to form an extension port, and the connecting portion 42 located between the first limiting portion 51 and the second limiting portion 52 passes through the shell 5 through the extension port.

[0054] In this embodiment, Figure 2 and Figure 4 As shown, the edge of the open end of the shell 54 is provided with a mounting groove 541 arranged along the axial opening of the rotating wheel 2, and the mounting groove 541 penetrates the shell 54 along the radial direction of the rotating wheel 2, so that the connecting part 42 located between the first limiting part 51 and the second limiting part 52 can extend out of the shell 54 through the mounting groove 541, and when the connecting part 42 rotates around the first direction, the mounting groove 541 can provide a moving space for the rotation of the connecting part 42, thereby ensuring the movement stability of the connecting part 42; on this basis, a notch 551 is provided on the edge of the cover plate 55, and the notch 551 and the mounting groove 541 are correspondingly connected along the axial direction of the rotating wheel 2 to form a protruding opening, and the connecting part 42 located between the first limiting part 51 and the second limiting part 52 can penetrate the shell 5 through the protruding opening, so that when the connecting part 42 rotates around the first direction, the notch 551 can also provide a moving space for the rotation of the connecting part 42, so that the hooking parts 41 of multiple claws 4 can approach or move away from each other.

[0055] Alternatively, as Figure 2 and Figure 4 As shown, the cover plate 55 is at least partially recessed and / or protruded along the axial direction of the rotating wheel 2 to form a guide structure 552. When the hooking portion 41 hooks the part to be connected and approaches the cover plate 55, the guide structure 552 abuts against the end face of the part to be connected facing the cover plate 55 until it is fully fitted.

[0056] Specifically, if Figure 2 and Figure 4 As shown, the guide structure 552 is composed of the same number of recesses and protrusions, wherein the recesses are all located at the place where the hook 4 passes through the shell 5, and the protrusion is located between two adjacent recesses in the axial direction of the rotating wheel 2. In this way, when the two self-locking quick-change structures are connected, the recess of one self-locking quick-change structure and the protrusion of the other self-locking quick-change structure correspond to each other to achieve rapid alignment. Of course, the recess or protrusion can also directly abut against the part to be connected.

[0057] In this embodiment, the cover plate 55 is provided with recesses and / or projections at least partially along the axial direction of the rotating wheel 2 to form a guide structure 552. When the hooking portion 41 hooks the connected component and approaches the cover plate 55, the guide structure 552 abuts against the end surface of the connected component facing the cover plate 55 until they are fully engaged. This arrangement, under the action of the abutting force, the inclined surfaces of the recesses or projections can guide the movement of the cover plate 55 and the connected component, allowing the cover plate 55 and the connected component to quickly and accurately engage with each other, thereby ensuring a stable connection after engagement.

[0058] Alternatively, as Figure 4 and Figure 5 As shown, the self-locking quick-change structure also includes a sensing element 6, which is arranged on the cover plate 55. When the hooking portion 41 hooks the part to be connected and approaches the cover plate 55, the sensing element 6 obtains the axial distance between itself and another sensing element 6 on the part to be connected along the rotating wheel 2, and / or is electrically connected to the corresponding another sensing element 6 on the part to be connected.

[0059] Specifically, if Figure 4 As shown, the sensing element 6 can be an electrical connection module arranged in a through hole on the cover plate 55. When a cover plate 55 with a self-locking quick-change structure is pressed against the part to be connected or another cover plate 55 with a self-locking quick-change structure, the module to be connected on one cover plate 55 can be electrically connected to the electrical connection module on the part to be connected or the electrical connection module of another cover plate 55. Spring pins are distributed on the sensing element 6, which can be paired with the spring pins on the passive interface on the opposite side to transmit electrical energy and signals.

[0060] In this embodiment, Figure 4 As shown, the sensing element 6 is provided at the cover plate 55. When the hooking portion 41 hooks the part to be connected and approaches the cover plate 55, it is electrically connected to another sensing element 6 on the part to be connected. In this way, the self-locking quick-change structure can be fed back through the electrical connection signal that the capture has been completed.

[0061] In this embodiment or other embodiments of the present invention, Figure 5 As shown, the sensing element 6 can be a Hall circuit board arranged on the inner side of the cover plate 55, and Hall sensors and magnets are distributed at intervals on the Hall circuit board. When a self-locking quick-change structure approaches a part to be connected or another self-locking quick-change structure, the Hall circuit board on the inner side of one cover plate 55 can sense each other with the Hall circuit board on the part to be connected or the Hall circuit board on the inner side of another cover plate 55, thereby feeding back the distance between the two Hall circuit boards. In this way, during the process of approaching capture of the self-locking quick-change structure, the distance can be detected by the sensing element 6, thereby feeding back whether the capture is completed.

[0062] Although the present invention is disclosed as above, the protection scope of the present invention is not limited thereto. Those skilled in the art may make various changes and modifications without departing from the spirit and scope of the present invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A self-locking quick-change structure, characterized in that: The invention comprises a rotary drive member (1), a rotating wheel (2), a moving member (3), a hook (4) and a housing (5); the rotary drive member (1) is drivingly connected to the rotating wheel (2) and is used to drive the rotating wheel (2) to rotate around the axis of the rotating wheel (2); a moving groove (21) is provided on the outer peripheral wall of the rotating wheel (2), and the moving groove (21) comprises a first groove portion (211) and a second groove portion (212), wherein the first groove portion (211) extends along the circumference of the rotating wheel (2), and the second groove portion (212) extends along the circumference of the rotating wheel (2). 212) extends in a direction intersecting the circumference of the rotating wheel (2); the moving member (3) is at least partially slidably mounted in the moving groove (21); the hook (4) is connected to the moving member (3) and is used to hook the member to be connected; the housing (5) is sleeved outside the rotating wheel (2) and is provided with a first limiting portion (51) and a second limiting portion (52) spaced apart along the circumference of the rotating wheel (2), and the hook (4) is located between the first limiting portion (51) and the second limiting portion (52); When the rotary drive member (1) drives the rotating wheel (2) to rotate forward, the hook (4) abuts against the first limiting portion (51), and the moving member (3) enters the second groove (212) from the first groove (211) and moves along the second groove (212), so that the end of the hook (4) moves away from the housing (5) along the axial direction of the rotating wheel (2) and hooks the part to be connected; when the rotary drive member (1) drives the rotating wheel (2) to rotate reversely, the hook (4) abuts against the second limiting portion (52), and the moving member (3) moves along the second groove (212) and enters the first groove (211), so that the end of the hook (4) moves close to the housing (5) along the axial direction of the rotating wheel (2) and cooperates with the housing (5) to clamp the part to be connected; There are a plurality of hook claws (4), and the plurality of hook claws (4) are distributed at intervals around the axial direction of the rotating wheel (2); The movable member (3) comprises an annular member (31), a rolling wheel (32) and a connecting seat (33). The annular member (31) is sleeved on the rotating wheel (2) along the axial direction of the rotating wheel (2). The rolling wheel (32) is located between the rotating wheel (2) and the annular member (31) and is located in the movable groove (21). The rolling wheel (32) is connected to the annular member (31) and is used to roll along the movable groove (21). The connecting seat (33) is located on a side of the annular member (31) away from the rotating wheel (2) and is connected to the annular member (31). The hook (4) is connected to the connecting seat (33).

2. The self-locking quick-change structure according to claim 1, characterized in that: The movable groove (21) further includes a third groove portion (213), the second groove portion (212) is located between the first groove portion (211) and the third groove portion (213), and the extension direction of the third groove portion (213) is parallel to the circumference of the rotating wheel (2).

3. The self-locking quick-change structure according to any one of claims 1 and 2, characterized in that: The hook (4) comprises a hooking portion (41) and a connecting portion (42), wherein the hooking portion (41) is used to hook the member to be connected, and the connecting portion (42) is located between the first limiting portion (51) and the second limiting portion (52), and is connected to the movable member (3) for rotation around a first direction, wherein the first direction is perpendicular to both the axial direction of the rotating wheel (2) and the radial direction of the rotating wheel (2); a limiting rod (53) is provided on the first limiting portion (51) and / or the second limiting portion (52), and a limiting groove (421) is provided on the connecting portion (42), wherein the limiting groove (421) extends away from the hooking portion (41) along the axial direction of the rotating wheel (2) and is bent toward the rotating wheel (2), and the limiting rod (53) is at least partially slidably installed in the limiting groove (421).

4. The self-locking quick-change structure according to claim 3, characterized in that: The connecting portion (42) is extended along the axial direction of the rotating wheel (2), and one end of the connecting portion (42) away from the hooking portion (41) is bent toward the rotating wheel (2) and is connected to the moving member (3) for rotation around the first direction.

5. The self-locking quick-change structure according to claim 3, characterized in that: The housing (5) comprises a shell (54) and a cover plate (55); the shell (54) is a hollow structure arranged with an axial opening toward the rotating wheel (2); the rotary drive member (1) and the rotating wheel (2) are both located within the shell (54); the first limiting portion (51) and the second limiting portion (52) are both located on the shell (54); the cover plate (55) covers the open end of the shell (54); the connecting portion (42) passes through the shell (5); and the cover plate (55) is used to cooperate with the hooking portion (41) to clamp the member to be connected.

6. The self-locking quick-change structure according to claim 5, characterized in that: The edge of the open end of the shell (54) is provided with a mounting groove (541) arranged along the axial opening of the rotating wheel (2), and the mounting groove (541) penetrates the shell (54) along the radial direction of the rotating wheel (2). The edge of the cover plate (55) is provided with a notch (551), and the notch (551) and the mounting groove (541) are correspondingly connected along the axial direction of the rotating wheel (2) to form a protruding opening. The connecting portion (42) located between the first limiting portion (51) and the second limiting portion (52) penetrates the shell (5) through the protruding opening.

7. The self-locking quick-change structure according to claim 5, characterized in that: The cover plate (55) is at least partially recessed and / or protruded along the axial direction of the rotating wheel (2) to form a guide structure (552); when the hooking portion (41) hooks the part to be connected and approaches the cover plate (55), the guide structure (552) abuts against the end surface of the part to be connected facing the cover plate (55) until they are completely fitted.

8. The self-locking quick-change structure according to claim 5, characterized in that: The invention also includes a sensing element (6), wherein the sensing element (6) is arranged at the cover plate (55). When the hooking portion (41) hooks the part to be connected and approaches the cover plate (55), the sensing element (6) obtains the distance from another sensing element (6) on the part to be connected along the axial direction of the rotating wheel (2), and / or is electrically connected to another sensing element (6) on the part to be connected.

Images