Multi-layer tail end quick-change system of anti-explosion humanoid robot, tail end executor and humanoid robot

Abstract

The invention provides a multi-layer tail end quick-changing system of an anti-explosion humanoid robot, a tail end executor and the humanoid robot, and belongs to the technical field of robotics.The multi-layer tail end quick-changing system comprises a quick-changing device, a quick-changing tool motor side, a quick-changing tool disc and a quick-changing tool side which are sequentially connected from top to bottom; a quick-change tool motor side is mounted below the quick-change device through a mounting piece and comprises a motor mounting piece, a motor controller, a motor rotor mounting piece, a motor rotor, a motor stator, a motor stator circumferential positioning pin, a motor stator mounting piece, a left positioning bush and a right positioning bush; a tool is installed on the side of the quick-change tool through a clamping installation piece to form an end effector, and the end effector is installed on an arm of the humanoid robot to form the anti-explosion humanoid robot. According to the quick change system, through the high-precision positioning and locking mechanism, it is ensured that the clamp replaced every time can be accurately installed at the tail end of the robot, and the replacement precision and repetition of the clamp are ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a multi-layer terminal quick-change system of an explosion-proof humanoid robot, an end effector and the humanoid robot. Background Art

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robotics. They integrate advanced technologies such as artificial intelligence, high-end manufacturing, and new materials. They have a structural layout similar to that of humans, can adapt to more complex terrain conditions, have a more flexible working space and rapid movement capabilities, and can achieve more complex tasks, such as handling, assembly, precision grasping, contact detection and other segmented scenarios. With the development of robotics technology, its applications are becoming more and more extensive, and humanoid robots are a common type of intelligent body. The arms installed on the mobile robot platform often encounter different tasks during operation. One end effector is not enough to complete multiple tasks. In order to ensure the completion of multiple tasks, the end effector needs to be replaced.

[0003] The existing robot arm end effector connection methods are divided into two types: fixed connection and manually replaceable. The fixed connection method can only perform one type of task and one type of operation end, and is not suitable for multi-task parallel operation: Although the manual replacement method can perform multi-task operations, since the robot generally operates away from people or unattended, manual replacement of the end effector not only requires the robot arm to stop working, but the speed of manual replacement depends on the worker's proficiency. It can be seen that this replacement method is time-consuming and labor-intensive, and inefficient. Summary of the invention

[0004] Purpose of the invention: The purpose of the present invention is to address the deficiencies in the prior art and to provide an explosion-proof humanoid robot multi-layer terminal quick-change system, an end effector and a humanoid robot. When equipped with a humanoid robot or arm, the system can be widely used in fastening operations such as screwing. Based on the quick-change system of the present invention, the terminal can be replaced automatically without human intervention, which is convenient and quick.

[0005] Technical solution: The multi-layer terminal quick-change system of an explosion-proof humanoid robot described in the present invention includes a quick-change device, a quick-change tool motor side, a quick-change tool plate, and a quick-change tool side connected in sequence from top to bottom, and the quick-change tool motor side is installed below the quick-change device through a mounting part.

[0006] The motor side of the quick-change tool includes a motor mounting part, which is a cylindrical mounting tube, a motor rotor mounting part is installed below the mounting tube, a motor controller is installed inside the motor rotor mounting part, a second mounting hole is provided at the axis center of the mounting side below the motor rotor mounting part, the second mounting hole is rotatably connected to the bearing above the motor rotor, the mounting bearing below the motor rotor is rotatably connected to the third mounting hole on the lower side of the motor stator mounting part, the motor stator mounting part is a tubular structure, the mounting bearing of the motor rotor passes through the center of the tubular structure and is connected to the third mounting hole, a motor stator fixedly connected to the motor rotor is placed inside the tubular structure, and the motor stator is fixedly connected to the motor stator mounting part by a group of motor stator circumferential locating pins; the motor side of the quick-change tool is pressed against the raised structure of the quick-change tool tray; the quick-change tool tray is a gate-shaped clamp with an opening, and the inner side of the opening clamps the quick-change tool side.

[0007] Furthermore, the inner side of the quick-change tool tray facing the quick-change tool has a protrusion and a groove, and the protrusion and the groove clamp the corresponding position of the quick-change tool side.

[0008] Furthermore, the quick-change tool side includes a second upper mounting piece, the second upper mounting piece is an annular structure, and a left limit slider and a right limit slider are respectively installed on the left and right sides of the second upper mounting piece, and a left limit spring group and a right limit spring group are respectively installed on the side of the left limit slider and the right limit slider facing the axis of the second upper mounting piece; the clamping mounting piece is composed of two left and right conical structural parts, and the conical structural part is provided with mounting grooves of the left limit spring group and the right limit spring group. When the clamping mounting piece is engaged with the second upper mounting piece, the left limit spring group and the right limit spring group enter the mounting grooves of the left limit spring group and the right limit spring group on the conical structural part, and the left limit slider and the right limit slider limit the clamping mounting piece; the second lower mounting piece is fixedly connected to the second upper mounting piece by a left locating pin and a right locating pin, and the second lower mounting piece is also annular, and when the second upper mounting piece and the second lower mounting piece fix the clamping mounting piece up and down, the mounting end of the clamping mounting piece can be exposed from the second lower mounting piece.

[0009] Furthermore, the quick-change tool side also includes a locking bolt group, which fixes and locks the second upper mounting member to the tool.

[0010] Furthermore, an electrical module is provided on one side of the quick-change device.

[0011] The multi-layer terminal quick-change system provided by the present invention can be equipped with a humanoid robot or an arm, and can be widely used in fastening operations such as screwing. Based on the quick-change system of the present invention, the terminal can be replaced by one-hand operation, which is convenient and quick.

[0012] The present invention also provides an end effector of an explosion-proof humanoid robot, comprising the above-mentioned multi-layer end quick-change system, wherein a tool is fixedly connected to a clamping mounting part of the multi-layer end quick-change system.

[0013] Furthermore, the tool is any one of an electric screwdriver, an electric saw, and a grinding disc; the tool can also be a robot spraying device, a measuring module, a disassembly module, etc., so that the robot can quickly switch between a variety of work contents to achieve the purpose of improving work efficiency.

[0014] The present invention also provides an explosion-proof humanoid robot, comprising the above-mentioned end effector, and also comprising a head structure, a robot body and a leg moving structure, wherein the robot body is arranged below the head structure, and the leg moving structure is arranged below the robot body; a left arm and a right arm are respectively arranged on the left and right sides of the robot body, and the working end of the left arm or the right arm is connected to the end effector.

[0015] The present invention can also be expanded to an explosion-proof design, for example, by an explosion-proof sealing design of the structural frame shell and a positive pressure design inside the system, an explosion-proof design can be achieved, which can solve the needs of most dangerous scene operations.

[0016] Beneficial effects: Compared with the prior art, the advantages of the present invention are:

[0017] (1) The present invention provides a quick-change system, which can realize automatic replacement of multiple types of ends through the coordinated work of the quick-change device, the quick-change tool motor side, the quick-change tool tray and the quick-change tool side;

[0018] (2) The present invention provides a robot end-operating tool that can adapt to fastening workpieces of different diameters and sizes through the coordinated work of male and female modules, such as electric screwdriver bits of different diameters and connection modules of different shapes;

[0019] (3) The quick-change system provided by the present invention and the end-operating tool composed thereof can be used in conjunction with a humanoid robot arm and can be widely used in different large-load industrial scenarios, with strong practicality and wide applicability;

[0020] (4) The present invention provides a two-layer quick-change solution, the first layer is a mechanical quick-change structure, which is divided into a robot side quick-change interface and a tool side quick-change interface. Mechanical limiting is performed through the robot side quick-change interface and the tool side quick-change interface to achieve docking of different types of terminals; for the quick-change category corresponding to the first layer, the second layer of quick change is intended to deal with terminals of the same type with different parameters, such as a dexterous hand. The second layer of quick-change structure is similar to the first layer, and is divided into an upper quick-change interface and a lower quick-change interface. The upper quick-change interface is connected to the bottom of the first layer of quick-change interface, and the lower quick-change interface is connected to terminals of the same type with different parameters, and is still a mechanical limiting structure;

[0021] (5) The quick-change system provided by the present invention ensures that each replaced fixture can be accurately installed at the end of the robot through a high-precision positioning and locking mechanism, thereby ensuring the replacement accuracy and repeatability of the fixture. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the structure of the motor side of the quick-change tool in the present invention;

[0024] Figure 3 It is a structural schematic diagram of the quick-change tool side of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the quick-change tool tray in the present invention;

[0026] Figure 5 yes Figure 1 A cross-sectional view of

[0027] Figure 6 yes Figure 1 Another perspective cross-sectional view. DETAILED DESCRIPTION

[0028] The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the protection scope of the present invention is not limited to the embodiments.

[0029] Example 1 A multi-layer end quick-change system for an explosion-proof humanoid robot

[0030] like Figure 1 The multi-layer end quick-change system of an explosion-proof humanoid robot shown in the figure comprises a quick-change device 1, a quick-change tool motor side 2, a quick-change tool tray 3, and a quick-change tool side 4 connected in sequence from top to bottom. An electrical module 101 is provided on one side of the quick-change device 1, and the electrical module includes a communication harness and a power harness for communicating with and supplying power to the end effector.

[0031] The quick-change device 1 includes a first upper mounting member 101 and a first lower mounting member 102 . The first upper mounting member 101 is mounted on a six-dimensional force sensor at the end of the robot, and the first lower mounting member 102 is fixedly connected to the motor side 2 of the quick-change tool.

[0032] like Figure 2As shown, the motor side 2 of the quick-change tool includes a motor mounting part 201, a motor controller 202, a motor rotor mounting part 203, a motor rotor 204, a motor stator 205, a motor stator circumferential positioning pin 206, a motor stator mounting part 207, a left positioning bushing 208 and a right positioning bushing 209. The motor mounting part 201 is a cylindrical mounting cylinder, and a first mounting hole fixedly connected to the lower mounting part 102 is arranged above the mounting cylinder, and a group of heat dissipation holes are evenly arranged on the cylinder wall of the mounting cylinder, and a motor rotor mounting part 203 is installed below the mounting cylinder, and a motor controller 202 is installed inside the motor rotor mounting part 203. The compact structural arrangement effectively reduces the overall volume of the entire quick-change system. A second mounting hole is provided at the axis center of the lower mounting side of the motor rotor mounting member 203, and the second mounting hole is rotatably connected to the bearing above the motor rotor 204, and the mounting bearing below the motor rotor 204 is rotatably connected to the lower third mounting hole of the motor stator mounting member 207. The motor stator mounting member 207 is a cylindrical structure, and the mounting bearing of the motor rotor 204 passes through the center of the cylindrical structure and is connected to the third mounting hole. A motor stator 205 fixedly connected to the motor rotor 204 is placed inside the cylindrical structure, and the motor stator 205 is fixedly connected to the motor stator mounting member 207 through a group of motor stator circumferential positioning pins 206. The left and right sides of the motor stator mounting member 207 are respectively provided with a left positioning bushing 208 and a right positioning bushing 209, and the left positioning bushing 208 and the right positioning bushing 209 play the role of fixing and positioning the quick-change tool motor side 2 and the quick-change tool tray 3.

[0033] like Figure 3 As shown, the quick-change tool tray 3 is a door-shaped clamp with an opening. The inner side of the quick-change tool tray 3 facing the quick-change tool side 4 has a protrusion 301 and a groove 302. The protrusion 301 and the groove 302 clamp the lower mounting part 407 of the quick-change tool side 4. The quick-change tool tray 3 has a semicircular notch 303 at the crossbeam position. When the quick-change tool tray and the quick-change tool side 4 are clamped, the semicircular notch 303 is clamped with the mounting bearing under the motor rotor 204.

[0034] like Figure 4As shown, the quick-change tool side 4 includes a locking bolt group 401, a left guide bolt 402, 401 is used to lock 403 and 5, 402 is used to vertically guide 5, a second upper mounting member 403, a left positioning pin 404, a left limit slider 405, a left limit spring group 406, a second lower mounting member 407, a right limit spring group 408, a right limit slider 409, a right positioning pin 410, a clamping mounting member 411 and a right guide bolt 412. The locking bolt group 401 fixes and locks the second upper mounting member 403 and the tool 5. The left guide bolt 402 guides the tool 5 vertically. The second upper mounting member 403 is an annular structure, and a left limiting slider 405 and a right limiting slider 409 are respectively installed on the left and right sides of the second upper mounting member 403, and a left limiting spring group 406 and a right limiting spring group 408 are respectively installed on the side of the left limiting slider 405 and the right limiting slider 409 facing the axis of the second upper mounting member 403; the clamping mounting member 411 is composed of two left and right conical structural members, and the conical structural members are provided with mounting notches for the left limiting spring group 406 and the right limiting spring group 408. When the clamping mounting member 411 is engaged with the second upper mounting member 403, the left limiting spring group 406 and the right limiting spring group 408 are 8 enters the installation grooves of the left limit spring group 406 and the right limit spring group 408 on the conical structure, and the left limit slider 405 and the right limit slider 409 limit the clamping mounting member 411; the second lower mounting member 407 is fixedly connected to the second upper mounting member 403 through the left locating pin 404 and the right locating pin 410, and the second lower mounting member 407 is also annular. When the second upper mounting member 403 and the second lower mounting member 407 fix the clamping mounting member 411 up and down, the mounting end of the clamping mounting member 411 can be exposed from the second lower mounting member 407, and the clamping mounting member 411 is a clamping limit male module.

[0035] During installation, the first upper mounting member 101 of the quick-change device 1 is mounted on the six-dimensional force sensor at the end of the robot, and the first lower mounting member 102 is fixedly connected to the motor side 2 of the quick-change device. The quick-change device 1 can be quickly and efficiently combined and separated. The tool 5 is installed in the quick-change tool side 4 and is clamped and installed by the clamping mounting member 411. The assembly of the two is placed on the quick-change tool tray 3, and the convex structure of the quick-change tool tray 3 can be pressed.

[0036] Example 2: An end effector

[0037] An end effector provided in this embodiment includes the multi-layer end quick-change system mentioned in Example 1. At the corresponding position of the clamping mounting parts of the multi-layer end quick-change system, a corresponding female limit block is installed on the mounting side of the tool 5, and the clamping limit male module and the female limit block are connected. They are docked through the same mechanical limit clamping method, so that the connection with the tool 5 can be achieved. The tool 5 can be any one of a variety of end effectors.

[0038] like Figure 5 , Figure 6 As shown, in this embodiment, tool 5 is a type of end effector, belonging to the category of electric screwdrivers. This embodiment only uses this as an end description, and end tools such as electric saws and grinding discs can also be connected. As long as the second-layer quick-change interface, that is, the clamping limit male module and the female limit block correspond, a fixed connection can be achieved.

[0039] Embodiment 3 A humanoid robot

[0040] The present embodiment provides a humanoid robot, including a head structure and a leg moving structure, a robot body 6 is arranged below the head structure, a left arm 7 and a right arm 13 are arranged on the left and right sides of the robot body 6, respectively, a right arm 13 is connected to a right arm six-dimensional force sensor 11 at the working end, the right arm six-dimensional force sensor 11 is connected to an end two-finger actuator 10, and the right arm 13 is also provided with a right arm binocular depth camera 12. The left arm 7 is connected to a left arm six-dimensional force sensor 9 at the working end, and the left arm six-dimensional force sensor 9 is sequentially connected to the quick-change device 1, the quick-change tool motor side 2, the quick-change tool tray 3, the quick-change tool side 4 and the tool 5 in Example 1. The left arm 7 is also provided with a left arm binocular depth camera 8. The tool 5 can be any end actuator.

[0041] As described above, although the present invention has been shown and described with reference to specific preferred embodiments, it should not be construed as limiting the present invention itself. Various changes in form and details may be made without departing from the spirit and scope of the present invention as defined in the appended claims.

Claims

1. A multi-layer end quick-change system for an explosion-proof humanoid robot, characterized in that: It comprises a quick-change device (1), a quick-change tool motor side (2), a quick-change tool plate (3), and a quick-change tool side (4) which are connected in sequence from top to bottom, wherein the quick-change tool motor side (2) is mounted below the quick-change device (1) via a mounting member; The motor side (2) of the quick-change tool comprises a motor mounting member (201), the motor mounting member (201) is a cylindrical mounting tube, a motor rotor mounting member (203) is mounted below the mounting tube, a motor controller (202) is mounted inside the motor rotor mounting member (203), a second mounting hole is arranged at the axis center of the mounting side below the motor rotor mounting member (203), the second mounting hole is rotatably connected to a bearing above the motor rotor (204), the mounting bearing below the motor rotor (204) is rotatably connected to a third mounting hole on the lower side of the motor stator mounting member (207), and the motor stator mounting member (207) is rotatably connected to a third mounting hole on the lower side of the motor stator mounting member (207). The mounting part (207) is a cylindrical structure, the mounting bearing of the motor rotor (204) passes through the center of the cylindrical structure and is connected to the third mounting hole, a motor stator (205) fixedly connected to the motor rotor (204) is placed inside the cylindrical structure, and the motor stator (205) is fixedly connected to the motor stator mounting part (207) through a group of motor stator circumferential positioning pins (206); the quick-change tool motor side (2) is pressed against the raised structure of the quick-change tool tray 3; the quick-change tool tray (3) is a gate-shaped clamp with an opening, and the inner side of the opening clamps and fixes the quick-change tool side (4).

2. The multi-layer end quick-change system of an explosion-proof humanoid robot according to claim 1, characterized in that: The inner side of the quick-change tool plate (3) facing the quick-change tool side (4) has a protrusion (301) and a groove (302), and the protrusion (301) and the groove (302) clamp the corresponding position of the quick-change tool side (4).

3. The multi-layer terminal quick-change system of an explosion-proof humanoid robot according to claim 1, characterized in that: The quick-change tool side (4) includes a second upper mounting member (403), the second upper mounting member (403) is an annular structure, and a left limit slider (405) and a right limit slider (409) are respectively installed on the left and right sides of the second upper mounting member (403), and a left limit spring group (406) and a right limit spring group (408) are respectively installed on the side of the left limit slider (405) and the right limit slider (409) facing the axis of the second upper mounting member (403); the clamping mounting member (411) is composed of two left and right conical structural members, and the conical structural member is provided with mounting notches for the left limit spring group (406) and the right limit spring group (408). When the clamping mounting member (411) is engaged with the second upper mounting member (403), the The left limit spring group (406) and the right limit spring group (408) enter the installation grooves of the left limit spring group (406) and the right limit spring group (408) on the conical structure, and the left limit slider (405) and the right limit slider (409) limit the clamping mounting member (411); the second lower mounting member (407) is fixedly connected to the second upper mounting member (403) through the left positioning pin (404) and the right positioning pin (410), and the second lower mounting member (407) is also annular. When the second upper mounting member (403) and the second lower mounting member (407) fix the clamping mounting member (411) up and down, the mounting end of the clamping mounting member (411) can be exposed from the second lower mounting member (407).

4. The multi-layer terminal quick-change system of an explosion-proof humanoid robot according to claim 3, characterized in that: The quick-change tool side (4) also includes a locking bolt group (401), and the locking bolt group (401) fixes and locks the second upper mounting member (403) and the tool (5).

5. The multi-layer end quick-change system of an explosion-proof humanoid robot according to claim 1, characterized in that: An electrical module (101) is provided on one side of the quick-change device (1).

6. An end effector of an explosion-proof humanoid robot, characterized in that: It comprises a multi-layer terminal quick-change system as claimed in any one of claims 1 to 5, wherein a tool (5) is fixedly connected to a clamping mounting part (411) of the multi-layer terminal quick-change system.

7. The end effector of an explosion-proof humanoid robot according to claim 6, characterized in that: The tool is any one of an electric screwdriver, an electric saw, and a grinding disc.

8. An explosion-proof humanoid robot, characterized in that: It comprises the end effector as claimed in claim 6, and also comprises a head structure, a robot body (6) and a leg moving structure, wherein the robot body (6) is arranged below the head structure, and the leg moving structure is arranged below the robot body (6); a left arm (7) and a right arm (13) are arranged on the left and right sides of the robot body (6), respectively, and the working end of the left arm (7) or the right arm (13) is connected to the end effector.

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