A multi-layer end quick-change system of an explosion-proof humanoid robot, an end effector and a humanoid robot

Abstract

The application provides a multi-layer end quick change system of an explosion-proof humanoid robot, an end effector and the humanoid robot, and belongs to the technical field of robots. The multi-layer end quick change system comprises, from top to bottom, a quick change device, a quick change tool motor side, a quick change tool disc and a quick change tool side which are connected in sequence. The quick change tool motor side is installed below the quick change device through a mounting piece. The quick change tool motor side 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 bushing and a right positioning bushing. The quick change tool side is provided with a tool through clamping mounting pieces to form an end effector. The end effector is installed on the arm of the humanoid robot to form an explosion-proof humanoid robot. The quick change system provided by the application ensures that the clamp can be accurately installed at the end of the robot each time through the high-precision positioning and locking mechanism, and ensures the replacement accuracy and repeatability of the clamp.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a multi-layer end quick replacement system of an explosion-proof humanoid robot, an end effector and a humanoid robot. BACKGROUND

[0002] Humanoid robots are one of the most promising and attractive branches in the field of robots, integrating advanced technologies such as artificial intelligence, high-end manufacturing and new materials. They have a structure similar to that of humans, can adapt to more complex terrain conditions, have more flexible workspaces and fast motion capabilities, and can perform more complex tasks such as carrying, assembly, precise grasping and contact detection in subdivided scenarios. With the development of robot technology, its applications are becoming more and more widespread. Humanoid robots are a common type of intelligent agent. The arm installed on the mobile robot platform often encounters different tasks during work. A single 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 connection mode of the end effector of the robot arm is divided into fixed connection and manual replacement. The fixed connection mode can only perform one type of task and one type of work end, and is not suitable for multi-task parallel work. Although the manual replacement mode can perform multi-task work, since the robot generally works away from people or unattended, manual replacement of the end effector not only needs to stop the work of the robot arm, but also depends on the proficiency of the worker. It can be seen that this replacement method is time-consuming and labor-intensive, and has low efficiency. SUMMARY

[0004] The present application aims to overcome the shortcomings of the prior art and provide a multi-layer end quick replacement system of an explosion-proof humanoid robot, an end effector and a humanoid robot. When mounted on a humanoid robot or an arm, it can be widely used in screwing and other fastening work scenarios. Based on the quick replacement system of the present application, the end can be automatically replaced without human intervention, which is convenient and fast.

[0005] Technical solution: The multi-layer end quick replacement system of the explosion-proof humanoid robot comprises, from top to bottom, a quick replacement device, a quick replacement tool motor side, a quick replacement tool disc and a quick replacement tool side, and the quick replacement tool motor side is installed below the quick replacement device through a mounting piece.

[0006] The motor side of the quick-change tool comprises a motor mounting piece, which is a cylindrical mounting cylinder; a motor rotor mounting piece is mounted below the mounting cylinder; a motor controller is mounted in the motor rotor mounting piece; a second mounting hole is arranged at the shaft center of the lower mounting side of the motor rotor mounting piece; a bearing above the motor rotor is arranged in the second mounting hole; a mounting bearing below the motor rotor is mounted in a third mounting hole in the lower side of a motor stator mounting piece; the motor stator mounting piece is a cylindrical structure; the mounting bearing of the motor rotor is mounted in the third mounting hole through the center of the cylindrical structure; a motor stator that cooperates with the motor rotor is placed in the cylindrical structure; the motor stator is fixedly connected with the motor stator mounting piece through a group of motor stator circumferential positioning pins; the quick-change tool motor side is pressed against the convex structure of the quick-change tool disc; the quick-change tool disc is a door-shaped clamp with an opening; the inside of the opening clamps and fixes the quick-change tool side.

[0007] Further, the inside of the quick-change tool disc towards the quick-change tool side has a convex and a groove, which clamp and fix the corresponding positions of the quick-change tool side.

[0008] Further, the quick-change tool side comprises a second upper mounting piece, which is a ring structure; a left limiting sliding block and a right limiting sliding block are respectively mounted on the left and right sides of the second upper mounting piece; a left limiting spring group and a right limiting spring group are respectively mounted on the side of the second upper mounting piece towards the shaft center; the clamping mounting piece is composed of two tapered structure pieces; the tapered structure pieces are provided with mounting notches for the left limiting spring group and the right limiting spring group; when the clamping mounting piece is embedded with the second upper mounting piece, the left limiting spring group and the right limiting spring group enter the mounting notches for the left limiting spring group and the right limiting spring group on the tapered structure pieces; the left limiting sliding block and the right limiting sliding block limit the clamping mounting piece; the second lower mounting piece is fixedly connected with the second upper mounting piece through a left positioning pin and a right positioning pin; the second lower mounting piece is also a circular ring; 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] Further, the quick-change tool side further comprises a locking bolt group, which fixes and locks the second upper mounting piece with the tool.

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

[0011] The multi-layer end quick-change system provided by the application can be carried on a humanoid robot or an arm and can be widely used in screwing and other fastening work scenes; based on the quick-change system of the application, the end can be replaced by single-handed operation, which is convenient and fast.

[0012] The application further provides an end effector of an explosion-proof humanoid robot, comprising the multi-layer end quick change system, and a tool is fixedly connected to the quick change tool side.

[0013] Further, 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 measurement module, a disassembly module and the like, so that the robot can quickly switch among various working contents to improve working efficiency.

[0014] The application further provides an explosion-proof humanoid robot, comprising the end effector, 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 arranged on the left and right sides of the robot body respectively, and the working end of the left arm or the right arm is connected with the end effector.

[0015] The application can also be extended to an explosion-proof design, for example, through explosion-proof sealing design of a structural frame shell and positive pressure design of the system interior, to realize explosion-proof design and solve the need for work in most dangerous scenes.

[0016] Advantages: Compared with the prior art, the application has the following advantages:

[0017] (1) The application provides a quick change system, which can realize automatic replacement of multiple types of ends through the cooperative work of the quick change device, the quick change tool motor side, the quick change tool disc and the quick change tool side;

[0018] (2) The application provides a robot end working tool, which can adapt to fastening work pieces of different diameters and sizes, such as electric drivers of different diameters and connection modules of different edge shapes, through the cooperative work of the male and female modules;

[0019] (3) The quick change system and the end working tool composed thereof can be used with the humanoid robot arm, and can be widely used in different heavy load industrial scenes, and has strong practicability and wide applicability;

[0020] (4) The application provides a two-layer quick change scheme, the first layer is a mechanical quick change structure, which is divided into a mechanical arm side quick change interface and a tool side quick change interface, and the mechanical arm side quick change interface and the tool side quick change interface are mechanically limited to realize the butt joint of different types of ends; for the quick change category corresponding to the first layer, the second layer quick change aims to cope with different parameter same type ends, such as dexterous hands, the second layer quick change structure is similar to the first layer, which is divided into an upper side quick change interface and a lower side quick change interface, the upper side quick change interface is connected below the first layer quick change interface, and the lower side quick change interface is connected with different parameter same type ends, which is still a mechanical limiting structure;

[0021] (5) The quick-change system provided by the present invention ensures that the fixture can be accurately installed at the end of the robot each time it is replaced by a high-precision positioning and locking mechanism, thus ensuring the replacement accuracy and repeatability of the fixture. Attached Figure Description

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

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

[0024] Figure 3 This is a schematic diagram of the quick-change tool side in this invention;

[0025] Figure 4 This is a schematic diagram of the quick-change tool disk in this invention;

[0026] Figure 5 yes Figure 1 A sectional view;

[0027] Figure 6 yes Figure 1 Another perspective sectional view. Detailed Implementation

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

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

[0030] like Figure 1 The diagram shows a multi-layered end effector quick-change system for an explosion-proof humanoid robot, comprising a quick-change device 1, a quick-change tool motor side 2, a quick-change tool disk 3, and a quick-change tool side 4 connected sequentially from top to bottom. An electrical module 101 is provided on one side of the quick-change device 1. This electrical module includes a communication harness and a power harness, used for communication and power supply to the end effector.

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

[0032] like Figure 2As shown, the quick-change tool motor side 2 includes a motor mount 201, a motor controller 202, a motor rotor mount 203, a motor rotor 204, a motor stator 205, a motor stator circumferential positioning pin 206, a motor stator mount 207, a left positioning bushing 208, and a right positioning bushing 209. The motor mount 201 is a cylindrical mounting cylinder, and a first mounting hole is provided on the upper part of the mounting cylinder and fixedly connected with the lower mount 102. A group of heat dissipation holes are uniformly provided on the cylinder wall of the mounting cylinder. The motor rotor mount 203 is mounted on the lower part of the mounting cylinder. The motor controller 202 is mounted in the interior of the motor rotor mount 203. The compact structure arrangement effectively reduces the overall volume of the entire quick-change system. A second mounting hole is provided on the shaft center of the lower mounting side of the motor rotor mount 203. The second mounting hole is rotationally connected with a bearing on the upper part of the motor rotor 204. The mounting bearing on the lower part of the motor rotor 204 is rotationally connected with a third mounting hole on the lower side of the motor stator mount 207. The motor stator mount 207 is a cylindrical structure. The mounting bearing of the motor rotor 204 passes through the center of the cylindrical structure and is connected with the third mounting hole. The motor stator 205 fixedly connected with the motor rotor 204 is placed in the interior of the cylindrical structure. The motor stator 205 is fixedly connected with the motor stator mount 207 through a group of motor stator circumferential positioning pins 206. The left positioning bushing 208 and the right positioning bushing 209 are respectively provided on the left side and the right side of the motor stator mount 207. The left positioning bushing 208 and the right positioning bushing 209 function to fixedly position the quick-change tool motor side 2 and the quick-change tool disc 3.

[0033] As shown, Figure 3 The quick-change tool disc 3 is a door-shaped clamp with an opening. The inner side of the quick-change tool disc 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 mount 407 of the quick-change tool side 4. The quick-change tool disc 3 has a semicircular notch 303 on the position of the crossbeam. When the quick-change tool disc is clamped with the quick-change tool side 4, the semicircular notch 303 is clamped with the mounting bearing on the lower part of the motor rotor 204.

[0034] As shown, Figure 4As shown, the quick-change tool side 4 includes a locking bolt set 401, a left guide bolt 402, a second upper mounting member 403, a left positioning pin 404, a left limiting slider 405, a left limiting spring set 406, a second lower mounting member 407, a right limiting spring set 408, a right limiting slider 409, a right positioning pin 410, a clamping mounting member 411, and a right guide bolt 412. The locking bolt set 401 fixes and locks the second upper mounting member 403 and the tool 5. The left guide bolt 402 vertically guides the tool 5. The second upper mounting member 403 is annular, and the left and right sides of the second upper mounting member 403 are respectively provided with the left limiting slider 405 and the right limiting slider 409. The left and right sides of the left limiting slider 405 and the right limiting slider 409 are respectively provided with the left limiting spring set 406 and the right limiting spring set 408 towards the axis of the second upper mounting member 403. The clamping mounting member 411 is composed of two tapered structural members, and the tapered structural members are provided with installation slots for the left limiting spring set 406 and the right limiting spring set 408. When the clamping mounting member 411 is embedded in the second upper mounting member 403, the left limiting spring set 406 and the right limiting spring set 408 are embedded in the installation slots of the tapered structural members, and the left limiting slider 405 and the right limiting slider 409 limit the clamping mounting member 411. The second lower mounting member 407 is fixedly connected with the second upper mounting member 403 through the left positioning pin 404 and the right positioning pin 410. 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 from top to bottom, 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 limiting male module.

[0035] During installation, the first upper mounting member 101 of the quick-change device 1 is installed on a six-dimensional force sensor at the end of a robot, and the first lower mounting member 102 is fixedly connected with 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 by clamping installation of the clamping mounting member 411, and the two components are installed on the quick-change tool disc 3. The protruding structure of the quick-change tool disc 3 can press the clamping mounting member 411 to the left and right sides of the second upper mounting member 403.

[0036] Embodiment 2: an end effector

[0037] The end effector provided in the embodiment includes the multi-layer end quick-change system mentioned in the embodiment 1. On the corresponding position of the clamping mounting member of the multi-layer end quick-change system, a corresponding female limiting block is installed on the installation side of the tool 5 to connect the clamping limiting male module and the female limiting block, and the connection is achieved through the same mechanical limiting clamping mode. Therefore, the tool 5 can be connected, and the tool 5 can be any one of a plurality of end effectors.

[0038] As Figure 5 , Figure 6 shown in the embodiment, the tool 5 is a kind of end effector, belongs to electric screwdriver category, the embodiment is only used as end instruction, it can also be connected with electric saw, grinding disc etc. end tool, as long as the second layer quick change interface, namely the corresponding clamping limit male module and female limit block, can be fixedly connected.

[0039] Embodiment 3 humanoid robot

[0040] The embodiment provides a humanoid robot, including head structure and leg movement structure, the lower portion of head structure is provided with robot body 6, the left and right sides of robot body 6 are respectively provided with left arm 7 and right arm 13, the working end of right arm 13 is connected with right arm six-dimensional force sensor 11, right arm six-dimensional force sensor 11 is connected with end two-finger effector 10, right arm 13 is further provided with right arm binocular depth camera 12.The working end of left arm 7 is connected with left arm six-dimensional force sensor 9, left arm six-dimensional force sensor 9 is sequentially connected with quick change device 1 in the embodiment, quick change tool motor side 2, quick change tool disc 3, quick change tool side 4 and tool 5.The left arm 7 is further provided with left arm binocular depth camera 8.The tool 5 can be any end effector.

[0041] As described above, although the present application has been shown and described with reference to certain preferred embodiments, it is to be understood that such is by way of example only and the present application is not to be limited thereby. Various modifications in form and detail can be made without departing from the spirit and scope of the application as defined by the appended claims.

Claims

1. A multi-layered end effector quick change system for an explosion-proof humanoid robot, characterized by: The quick change device (1), the quick change tool motor side (2), the quick change tool disc (3) and the quick change tool side (4) are sequentially connected from top to bottom. The quick change tool motor side (2) comprises a motor mounting part (201), which is a cylindrical mounting cylinder. A motor rotor mounting part (203) is mounted below the mounting cylinder. A motor controller (202) is mounted inside the motor rotor mounting part (203). A second mounting hole is arranged at the shaft center of the lower mounting side of the motor rotor mounting part (203). A bearing above a motor rotor (204) is arranged inside the second mounting hole. An installation bearing below the motor rotor (204) is mounted in a lower third mounting hole of a motor stator mounting part (207). The motor stator mounting part (207) is a cylindrical structure. The installation bearing of the motor rotor (204) is mounted in the third mounting hole through the center of the cylindrical structure. A motor stator (205) cooperating with the motor rotor (204) is arranged inside the cylindrical structure. The motor stator (205) is fixedly connected with 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 convex structure of the quick change tool disc (3). The quick change tool disc (3) is a door-shaped clamp with an opening. The opening clamps and fixes the quick change tool side (4).

2. The multi-layered end-effector quick change system of the explosion-proof humanoid robot according to claim 1, wherein: The quick change tool disc (3) has a convexity (301) and a groove (302) on the inner side facing the quick change tool side (4). The convexity (301) and the groove (302) clamp the corresponding positions of the quick change tool side (4).

3. The multi-layered end-effector quick change system of the explosion-proof humanoid robot according to claim 1, wherein: The quick-change tool side (4) comprises a second upper mounting member (403), a clamping mounting member (411) and a second lower mounting member (407), the second upper mounting member (403) is annular in structure, left and right sides of the second upper mounting member (403) are respectively provided with a left limiting sliding block (405) and a right limiting sliding block (409), the left limiting sliding block (405) and the right limiting sliding block (409) are respectively provided with a left limiting spring set (406) and a right limiting spring set (408) on a side facing an axis of the second upper mounting member (403); the clamping mounting member (411) is composed of two left and right conical structure members, the conical structure members are provided with mounting notches of the left limiting spring set (406) and the right limiting spring set (408), when the clamping mounting member (411) is embedded with the second upper mounting member (403), the left limiting spring set (406) and the right limiting spring set (408) enter the mounting notches of the left limiting spring set (406) and the right limiting spring set (408) on the conical structure members, the left limiting sliding block (405) and the right limiting sliding block (409) limit the clamping mounting member (411); the second lower mounting member (407) is fixedly connected with the second upper mounting member (403) through a left positioning pin (404) and a right positioning pin (410), 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, an installation end of the clamping mounting member (411) is exposed from the second lower mounting member (407).

4. The multi-layered end-effector quick change system of the explosion-proof humanoid robot according to claim 3, wherein: The quick-change tool side (4) further comprises a locking bolt set (401), the locking bolt set (401) fixes and locks the second upper mounting member (403) and a tool (5).

5. The multi-layered end-effector quick change system of the explosion-proof humanoid robot according to claim 1, wherein: One side of the quick-change device (1) is provided with an electrical module (101).

6. An end effector of an explosion-proof humanoid robot, characterized by: The multi-layer end quick-change system comprises the quick-change tool side (4) comprising the clamping mounting member (411), and the clamping mounting member (411) is fixedly connected with the tool (5).

7. The end effector of the 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 by: The end effector comprises a head structure, a robot body (6) and a leg moving structure, the robot body (6) is arranged below the head structure, and the leg moving structure is arranged below the robot body (6); left and right sides of the robot body (6) are respectively provided with a left arm (7) and a right arm (13), and the left arm (7) or the right arm (13) is connected with the end effector at a working end.

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