Tool changing device for an explosive ordnance disposal robot

Abstract

The application discloses a changing tool device for an explosive-handling robot, which is simple and reasonable in structure and can quickly perform connection and separation actions. The first quick-change disc arranged at the end of a mechanical arm can be quickly and stably connected with the second quick-change disc arranged on a tool. The variable-diameter mechanism, the boss and the positioning bead can realize circumferential and axial locking, and the locking effect is reliable. The first circuit board and the second circuit board can realize contact power taking and communication between the mechanical arm side and the tool side. The tool library arranged on the explosive-handling robot can meet the requirement of automatically changing corresponding tools during operation of the explosive-handling robot.

Description

Technical Field

[0001] This invention relates to the field of intelligent robot technology, and in particular to a tool changing device for a bomb disposal robot. Background Technology

[0002] Bomb disposal robots are required to perform tasks such as removing screws, cutting open cardboard boxes, and transferring hazardous materials. They utilize a variety of tools, including electric screwdrivers, electric scissors, five-fingered anthropomorphic hands, two-pronged grippers, flat chisels, utility knives, and entrenching tools. Some of these tools require the bomb disposal robot to power them, and the robot's end effector needs to be able to intelligently and quickly switch between these power and mechanical tools to improve the efficiency of bomb disposal operations.

[0003] Existing quick-change tools for robotic arm end effectors are very limited. Some require manual replacement of the robotic arm end effector tool; while some quick-change devices can theoretically achieve quick replacement, they cannot power the power tool and require external power supply. Furthermore, the quick-change locking device has poor reliability.

[0004] For example, patent document application number 201710508712.8 discloses a quick-change device and method for the end-effector of an industrial robot; patent document application number 202010556938.7 discloses a quick-change device for the end-effector of a robotic arm; patent document application number 202223186613.8 discloses a quick-change device for quick-change tools; and patent document application number 202010081729.1 discloses an interface for quick-change end-effectors for robots.

[0005] While all three quick-change devices fall under the robotics industry, patent application number 201710508712.8 discloses a quick-change device and method for an industrial robot end-effector tool that uses air compression to lock the tool. This method suffers from poor locking reliability and requires extremely high sealing of the cavity; it is not suitable for outdoor mobile robots due to the difficulty in providing a stable air supply. Patent application number 202010556938.7 discloses a quick-change device for a robotic arm end-effector tool that cannot be automatically changed by the robot and cannot provide power or communication to the tool. Patent application number 202223186613.8 discloses a quick-change device for a tool that also cannot be automatically changed by the robot and requires manual pressing of a quick-release button. Patent application number 202010081729.1 discloses a robot with a complex interface structure for quick-change end-effector tools, where the steel balls are prone to jamming, and the locking device has poor reliability. Summary of the Invention

[0006] In view of the above problems, the present invention provides a tool changing device for a bomb disposal robot to overcome or at least partially solve the above problems.

[0007] This invention provides the following solution:

[0008] A tool changing device for a bomb disposal robot includes:

[0009] The first quick-change disc includes an upper housing, a middle housing, a diameter-changing driver, a diameter-changing wheel, several diameter-changing locking sliders, and a lower housing. The upper housing is used to connect to the end effector of a robotic arm. The middle housing is connected to both the upper and lower housings. The diameter-changing driver is located inside the middle housing. The diameter-changing wheel is connected to the output shaft of the driver. Several arc-shaped grooves are provided on the diameter-changing wheel. Several diameter-changing locking sliders are connected to the arc-shaped grooves one by one through cylindrical components. The diameter-changing locking sliders are also connected to the slide rails of the lower housing one by one.

[0010] The second quick-change disc includes a tool-side connecting ring and a tool adapter. The tool-side connecting ring is connected to the tool adapter, and the tool adapter is used to connect to the working tools of the bomb disposal robot.

[0011] The lower housing has a first boss structure on its front end face and a second boss structure on its tool-side connecting ring. The first boss structure is used to cooperate with the second boss structure to lock the lower housing and the tool-side connecting ring in the circumferential direction.

[0012] The tool-side connecting ring is provided with an inwardly protruding shoulder structure. The variable diameter driver is used to drive the variable diameter wheel to rotate so as to drive the plurality of variable diameter locking sliders to move along the arc-shaped slide groove and the slide rail, thereby changing the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders. When the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders is at its minimum, the plurality of variable diameter locking sliders can extend into the inner side of the shoulder structure. When the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders is at its maximum, the upper surface of each of the plurality of variable diameter locking sliders contacts the lower surface of the shoulder structure, so that the lower housing and the tool-side connecting ring are locked in the axial direction.

[0013] Preferably, the first quick-change disc further includes a first circuit board, and the second quick-change disc further includes a second circuit board. After the lower housing is locked with the tool-side connecting ring, the first circuit board and the second circuit board are electrically connected to enable contact power supply with the bomb disposal robot's operating tool and to communicate with the robotic arm.

[0014] Preferably, the first circuit board is provided with a plurality of power supply contacts, and the second circuit board is provided with a plurality of spring probes. After the lower housing is locked with the tool-side connecting ring, the first circuit board and the second circuit board are electrically connected through the plurality of power supply contacts corresponding to the plurality of spring probes.

[0015] Preferably, a positioning bead is provided on the tool-side connecting ring, and a positioning groove is provided on the front end face of the lower housing, which is opposite to the position of the positioning bead, so that the mating position of the first quick-change disc and the second quick-change disc remains unique.

[0016] Preferably, the variable diameter driver includes a DC servo motor.

[0017] Preferably, the variable diameter wheel is connected to the output shaft of the DC servo motor via a motor output adapter.

[0018] According to specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0019] This application provides a tool changing device for a bomb disposal robot, which has a simple and reasonable structure, and the connection and separation actions can be performed quickly. A first quick-change disc located at the end of the robotic arm allows for quick and stable connection with a second quick-change disc mounted on the tool. A diameter-changing mechanism, bosses, and positioning beads enable circumferential and axial locking, ensuring reliable locking. The provided first and second circuit boards enable power supply and communication between the robotic arm and the tool. Combined with a tool library on the bomb disposal robot, it can meet the robot's need for automatic tool changing during operation.

[0020] Of course, any product implementing this invention does not necessarily need to achieve all of the advantages described above at the same time. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly described below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0022] Figure 1 This is a schematic diagram of the connection state of a tool changing device for a bomb disposal robot provided in an embodiment of the present invention;

[0023] Figure 2 This is a cross-sectional view of the first fast-change disc provided in an embodiment of the present invention;

[0024] Figure 3 This is an exploded view of the first fast-change disc provided in an embodiment of the present invention;

[0025] Figure 4 This is a cross-sectional view of the second fast-change disc provided in an embodiment of the present invention;

[0026] Figure 5 This is an exploded view of the second fast disc changer provided in an embodiment of the present invention.

[0027] In the figure: First quick-change disc 1, upper housing 11, middle housing 12, diameter changer driver 13, diameter changer wheel 14, arc-shaped slide 141, diameter changer locking slider 15, cylindrical component 151, lower housing 16, slide 161, first boss structure 162, first circuit board 17, motor output adapter 18, second quick-change disc 2, tool side connecting ring 21, second boss structure 211, tool adapter 22, second circuit board 23, spring probe 24, positioning bead 25. Detailed Implementation

[0028] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention are within the scope of protection of the present invention.

[0029] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 This invention provides a tool replacement device for a bomb disposal robot, such as... Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, the device may include:

[0030] The first quick-change disc 1 includes an upper housing 11, an intermediate housing 12, a diameter-changing driver 13, a diameter-changing wheel 14, a plurality of diameter-changing locking sliders 15, and a lower housing 16. The upper housing 11 is used to connect to the end effector of a robotic arm. The intermediate housing 12 is connected to both the upper housing 11 and the lower housing 16. The diameter-changing driver 13 is located inside the intermediate housing 12. The diameter-changing wheel 14 is connected to the output shaft of the diameter-changing driver 13. The diameter-changing wheel 14 is provided with a plurality of arc-shaped grooves 141. A plurality of diameter-changing locking sliders 15 are connected one-to-one in the arc-shaped grooves 141 through cylindrical components 151, and a plurality of diameter-changing locking sliders 15 are connected one-to-one in the slide rails 161 of the lower housing 16.

[0031] The second quick-change disc 2 includes a tool-side connecting ring 21 and a tool adapter 22. The tool-side connecting ring 21 is connected to the tool adapter 22, and the tool adapter 22 is used to connect to the working tools of the bomb disposal robot.

[0032] The lower housing 16 has a first boss structure 162 on its front end face and a second boss structure 211 on its tool-side connecting ring 21. The first boss structure 162 is used to cooperate with the second boss structure 211 to lock the lower housing 16 and the tool-side connecting ring 21 in the circumferential direction.

[0033] The tool-side connecting ring 21 is provided with an inwardly protruding shoulder structure. The variable diameter driver 13 is used to drive the variable diameter wheel 14 to rotate so as to drive the plurality of variable diameter locking sliders 15 to move along the arc-shaped slide groove 141 and the slide rail, so as to change the diameter of the circle where the front end of the plurality of variable diameter locking sliders 15 is located. When the diameter of the circle where the front end of the plurality of variable diameter locking sliders 15 is located is at its minimum, the plurality of variable diameter locking sliders 15 can extend into the inner side of the shoulder structure. When the diameter of the circle where the front end of the plurality of variable diameter locking sliders 15 is located is at its maximum, the upper surface of the plurality of variable diameter locking sliders 15 contacts the lower surface of the shoulder structure so that the lower housing 16 and the tool-side connecting ring 21 are locked in the axial direction.

[0034] The bomb disposal robot tool changing device provided in this application embodiment has a first quick-change disc 1 installed at the end of the robot's robotic arm; and a second quick-change disc 2 installed on each bomb disposal robot's working tool. In actual use, a tool library is set on the bomb disposal robot to meet the robot's need for automatic tool changing during operation.

[0035] The device uses a first boss structure 162 on the lower housing 16 and a second boss structure 211 on the tool-side connecting ring 21 to achieve circumferential locking. It also provides a variable diameter locking mechanism consisting of a variable diameter driver 13, a variable diameter wheel 14, and several variable diameter locking sliders 15. The variable diameter driver 13 can drive the variable diameter wheel 14 to rotate, changing the diameter of the circle containing the front ends of the several variable diameter locking sliders 15. With a small diameter, the several variable diameter locking sliders 15 can enter and exit the interior of the shoulder structure on the tool-side connecting ring 21. With a large diameter, the front ends of the several variable diameter locking sliders 15 can extend radially into the inner side of the shoulder structure, thereby making the upper surface of each variable diameter locking slider 15 contact the lower surface of the shoulder structure, thus locking the lower housing 16 and the tool-side connecting ring 21 axially. Through these two methods, the first quick-change disc 1 and the second quick-change disc 2 can be locked in both circumferential and axial directions, ensuring a stable connection between them.

[0036] Since some bomb disposal robot tools require power during use and may also need to communicate with the robotic arm, in order to ensure that the first quick-change plate 1 and the second quick-change plate 2 can provide power to the bomb disposal robot tools and enable communication with the robotic arm after they are connected, this application embodiment may also provide that the first quick-change plate 1 further includes a first circuit board 17, and the second quick-change plate 2 further includes a second circuit board 23. After the lower housing 16 is locked with the tool-side connecting ring 21, the first circuit board 17 and the second circuit board 23 are electrically connected to enable contact power supply to the bomb disposal robot tools and communication with the robotic arm.

[0037] To ensure a stable electrical connection between the first circuit board 17 and the second circuit board 23 after connection, this embodiment of the application may also provide that the first circuit board 17 is provided with a plurality of power supply contacts, and the second circuit board 23 is provided with a plurality of spring probes 24. After the lower housing 16 is locked with the tool-side connecting ring 21, the first circuit board 17 and the second circuit board 23 are electrically connected by the plurality of power supply contacts contacting the plurality of spring probes 24 one by one.

[0038] To ensure the uniqueness of the mating positions of the first quick-change disc 1 and the second quick-change disc 2 and to prevent mis-installation, this embodiment of the application can provide a positioning bead 25 on the tool-side connecting ring 21 and a positioning groove on the front end face of the lower housing 16 that is opposite to the position of the positioning bead 25, so that the mating positions of the first quick-change disc 1 and the second quick-change disc 2 remain unique.

[0039] The variable diameter actuator 13 provided in this embodiment is used to drive the variable diameter wheel 14 to rotate. Since several variable diameter locking sliders 15 are connected to the arc-shaped slide groove 141 via cylinders and are confined within the slide rail 161 of the lower housing 16, during the rotation of the variable diameter wheel 14, the variable diameter locking sliders 15 can only extend and retract along their respective axial directions. Therefore, the diameter of the circle containing the front ends of each of the variable diameter locking sliders 15 can be changed by rotating the variable diameter wheel 14. The variable diameter actuator 13 can serve as a power source in various forms. For example, in one implementation, this embodiment may provide the variable diameter actuator 13 as a DC servo motor. Alternatively, a pneumatic component capable of driving the variable diameter wheel 14 to rotate may also be used.

[0040] To facilitate the connection between the variable diameter wheel 14 and the DC servo motor, this embodiment of the application may also provide that the variable diameter wheel 14 is connected to the output shaft of the DC servo motor through a motor output adapter 18.

[0041] The specific structure and detailed connection method of the tool replacement device for bomb disposal robots provided in the embodiments of this application are described below.

[0042] The device may include a first quick-change disc 1 and a second quick-change disc 2. The first quick-change disc 1 is connected to the end of the robotic arm via screws; the second quick-change disc 2 is connected to the bomb disposal tool magazine via screws, with each tool corresponding to a specific bomb disposal tool. The first quick-change disc 1 and the second quick-change disc 2 are positioned by positioning beads 25 to ensure that the mating positions of the quick-change discs on both sides are unique. The lower housing 16 of the first quick-change disc 1 has a boss that mates with the tool-side connecting boss, limiting its movement in the circumferential direction. The first quick-change disc 1 and the second quick-change disc 2 each have a circuit board for powering and communicating with the quick-change tools.

[0043] By controlling the position and posture of the robotic arm, when the quick-change disc on the robotic arm side and the quick-change disc on the tool side are aligned... Figure 1 After the parts are attached, the motor of the quick-change disc on the robotic arm side rotates until the quick-change disc on the robotic arm side and the quick-change disc on the tool side are completely locked together, completing the quick and automatic tool change, and then the bomb disposal operation can be carried out.

[0044] Furthermore, the quick-change tray of the robotic arm comprises an upper housing 11, a middle housing 12, a DC servo motor, a motor output adapter 18, a robotic arm side circuit board, a variable diameter wheel 14, a variable diameter locking slider 15, and a lower housing 16. The upper housing 11 is connected to the end of the robotic arm, serving as an adapter. The DC servo motor acts as a driver, providing power to the variable diameter locking mechanism. The first circuit board 17 on the robotic arm side provides power and communication to the quick-change tool. The variable diameter wheel 14 and the variable diameter locking slider 15 form the variable diameter locking mechanism. The top of the variable diameter wheel 14 is fixed to the motor output adapter 18; the bottom of the variable diameter wheel 14 has an arc-shaped groove 141, and the cylinder on the variable diameter locking slider 15 is assembled within the arc-shaped groove 141. Simultaneously, the lower housing 16 has a slide rail 161 and a first boss structure 162, which cooperates with the second boss structure 211 on the tool-side connecting ring 21 to achieve circumferential locking. The motor rotates the variable diameter wheel 14, causing the variable diameter locking slider 15 to move within the arc-shaped groove 141 and slide rail 161, thus increasing its diameter and axially locking it with the tool-side quick-change disc. An exploded view of the first quick-change disc on the robotic arm side is shown below. Figure 3 As shown.

[0045] When it is necessary to change to another bomb disposal robot tool, the robotic arm first carries the currently connected bomb disposal robot tool to the corresponding position in the tool magazine. This tool magazine can be set on the bomb disposal robot's transport platform and can be equipped with an electromagnetic adsorption mechanism. After the bomb disposal robot tool is placed in the designated position in the tool magazine, the electromagnetic adsorption mechanism generates a magnetic field to attract the tool. The diameter-changing driver 13 rotates in the opposite direction, causing the diameter of the front end circle of each of the several diameter-changing locking sliders 15 to decrease. The several diameter-changing locking sliders 15 are pulled out from the inside of the shoulder structure, and the robotic arm drives the first quick-change plate 1 to move upward, thus separating it from the currently connected bomb disposal robot tool. The robotic arm then moves to the next required tool and connects to the second quick-change plate 2 corresponding to that tool. After the connection is completed, the electromagnetic adsorption mechanism is de-energized, releasing the tool, and the robotic arm can then retrieve the tool from the tool magazine for bomb disposal operations.

[0046] Furthermore, the second quick-change disc 2 includes a positioning bead 25, a tool-side connecting ring 21, a second circuit board 23, and a tool adapter 22. The tool-side connecting ring 21 mates with the lower housing 16 of the robotic arm-side quick-change disc, providing circumferential positioning. An exploded view of the tool-side second quick-change disc is shown below. Figure 5 As shown. The first quick-change disc 1 on the robotic arm side and the second quick-change disc 2 on the tool side are circumferentially matched by positioning beads 25 to prevent misassembly. The connecting ring 21 on the tool side mates with the lower housing 16 of the quick-change disc on the robotic arm side. The second circuit board 23 on the tool side is equipped with a spring probe 24, which contacts the first circuit board 17 on the robotic arm side for power and communication. The tool adapter 22 is used to connect various quick-change tools.

[0047] In summary, the tool changing device for the bomb disposal robot provided in this application has a simple and reasonable structure, and both connection and separation actions can be performed quickly. A first quick-change disc located at the end of the robotic arm allows for rapid and stable connection to a second quick-change disc mounted on the tool. A diameter-changing mechanism, bosses, and positioning beads enable circumferential and axial locking, ensuring reliable locking. The provided first and second circuit boards enable power supply and communication between the robotic arm and the tool side. Combined with a tool library on the bomb disposal robot, it meets the robot's need for automatic tool changing during operation.

[0048] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0049] As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented by means of software plus necessary general-purpose hardware platforms. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments or some parts of the embodiments of this application.

[0050] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, for system or system embodiments, since they are basically similar to method embodiments, the description is relatively simple, and relevant parts can be referred to the descriptions in the method embodiments. The systems and system embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without creative effort.

[0051] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A change tool device for an explosive ordnance disposal robot, characterized by, include: The first quick-change disc includes an upper housing, an intermediate housing, a diameter-changing driver, a diameter-changing wheel, several diameter-changing locking sliders, and a lower housing. The upper housing is used to connect to the end of the robotic arm. The middle housing is connected to the upper housing and the lower housing respectively. The variable diameter driver is located inside the middle housing. The variable diameter wheel is connected to the output shaft of the variable diameter driver. The variable diameter wheel is provided with several arc-shaped grooves. Several variable diameter locking sliders are connected to the several arc-shaped grooves one by one through cylindrical components. The several variable diameter locking sliders are connected to the slide rails of the lower housing one by one. The second quick-change disc includes a tool-side connecting ring and a tool adapter. The tool-side connecting ring is connected to the tool adapter, and the tool adapter is used to connect to the working tools of the bomb disposal robot. The lower housing has a first boss structure on its front end face and a second boss structure on its tool-side connecting ring. The first boss structure is used to cooperate with the second boss structure to lock the lower housing and the tool-side connecting ring in the circumferential direction. The tool-side connecting ring is provided with an inwardly protruding shoulder structure. The variable diameter driver is used to drive the variable diameter wheel to rotate so as to drive the plurality of variable diameter locking sliders to move along the arc-shaped slide groove and the slide rail, thereby changing the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders. When the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders is at its minimum, the plurality of variable diameter locking sliders can extend into the inner side of the shoulder structure. When the diameter of the circle at the front end of each of the plurality of variable diameter locking sliders is at its maximum, the upper surface of each of the plurality of variable diameter locking sliders contacts the lower surface of the shoulder structure, so that the lower housing and the tool-side connecting ring are locked in the axial direction. The first quick-change disc further includes a first circuit board, and the second quick-change disc further includes a second circuit board. After the lower housing is locked with the tool-side connecting ring, the first circuit board and the second circuit board are electrically connected to make contact with the bomb disposal robot's operating tool to obtain power and to communicate with the robotic arm. The first circuit board is provided with several power supply contacts, and the second circuit board is provided with several spring probes. After the lower housing is locked with the tool-side connecting ring, the first circuit board and the second circuit board are electrically connected through several power supply contacts that correspond one-to-one with several spring probes. The tool-side connecting ring is provided with a positioning bead, and the front end face of the lower housing is provided with a positioning groove opposite to the position of the positioning bead, so that the mating position of the first quick-change disc and the second quick-change disc remains unique.

2. The tool changing device for a bomb disposal robot according to claim 1, characterized in that, The variable diameter driver includes a DC servo motor.

3. The tool changing device for a bomb disposal robot according to claim 2, characterized in that, The variable diameter wheel is connected to the output shaft of the DC servo motor via a motor output adapter.

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