Locking device and robot system

Abstract

The invention discloses a locking device and a robot system, the locking device is used for locking a robot, the robot comprises a stand column and a mechanical arm which are connected with each other, and the mechanical arm can move relative to the stand column; the locking device comprises a main clamp which is partially annular and used for being fixed to the surface of the stand column; the auxiliary clamp comprises an auxiliary fixed ring, an auxiliary movable ring and an auxiliary fixing piece, the auxiliary fixed ring is fixedly connected with the main clamp, the auxiliary fixed ring and the auxiliary movable ring each comprise two ends, namely a connecting end and a suspending end, and the two connecting ends of the auxiliary fixed ring and the auxiliary movable ring are connected in a pivoted mode; the auxiliary fixing piece is used for locking the auxiliary fixing ring and the auxiliary movable ring on the sides, close to the connecting ends of the auxiliary fixing ring and the auxiliary movable ring, of the auxiliary fixing ring and the auxiliary movable ring, and the mechanical arm is clamped by the auxiliary fixing ring and the auxiliary movable ring. The locking device can provide reliable protection for the mechanical arm under various transportation conditions, and the damage risk of the mechanical arm is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a locking device and a robot system. Background Art

[0002] With the continuous development of robotics technology, robots are being used more and more widely in various fields, and their safety during transportation is receiving increasing attention.

[0003] Existing robots face many challenges during transportation, among which the protection of the robot arm is particularly prominent. During transportation, the robot may encounter bad weather, various complex road conditions, and frequent loading and unloading processes, all of which will cause strong vibrations to the robot, causing the robot's mechanical arm to be damaged after the impact.

[0004] At present, although some robots are designed with protection measures during transportation, these measures are often not perfect and cannot effectively deal with various complex situations. For example, a simple bundling method cannot guarantee the stability of the robot arm during long-term transportation, and it is easy to loosen during loading and unloading. Therefore, there is an urgent need for a locking device for fixing the robot arm in the market, which can provide reliable protection for the robot arm under various transportation conditions, ensure its safety and integrity during transportation, thereby reducing maintenance costs and increasing the service life of the robot. Summary of the invention

[0005] In order to solve at least one of the above-mentioned technical problems existing in the prior art, the present application provides a locking device and a robot system.

[0006] A first aspect of the present application provides a locking device, the locking device is used to lock a robot, the robot comprises a column and a mechanical arm connected to each other, the mechanical arm can move relative to the column;

[0007] The locking device comprises:

[0008] A main clamp, partially annular, for fixing to the surface of the column; and

[0009] The secondary clamp comprises a secondary fixed ring, a secondary movable ring and a secondary fixing part. The secondary fixed ring is fixedly connected to the main clamp. The secondary fixed ring and the secondary movable ring each comprise two ends, which are a connecting end and a suspended end respectively. The secondary fixed ring is pivotally connected to the two connecting ends of the secondary movable ring. The secondary fixing part is used to lock the secondary fixed ring and the secondary movable ring with each other on one side of the secondary fixed ring and the secondary movable ring close to their respective connecting ends, so that the secondary fixed ring and the secondary movable ring clamp the robotic arm.

[0010] A second aspect of the present application provides a robot system, comprising a robot and a locking device as described above, wherein the robot comprises a column and a robotic arm connected to each other, the robotic arm can move relative to the column, the main clamp is fixed to the surface of the column, and the auxiliary clamp clamps the robotic arm.

[0011] In the locking device provided in the present application, the main clamp is used to be fixed on the surface of the robot's column, and the auxiliary clamp includes a auxiliary fixed ring and a auxiliary movable ring. The auxiliary fixed ring and the auxiliary movable ring are used to clamp and fix the robotic arm, thereby providing reliable protection for the robotic arm under various transportation conditions, reducing the risk of damage to the robotic arm, and ensuring its safety and integrity during transportation, thereby reducing maintenance costs and increasing the service life of the robot.

[0012] The secondary fixed ring and the secondary movable ring are used to clamp and fix the robotic arm. The secondary fixed ring and the secondary movable ring are locked on one side close to their respective connection ends. This way of fixing the robotic arm with the secondary clamp, on the one hand, reduces the requirements for the relative position between the robotic arm and the column in the locked state. The relative position between the robotic arm and the column to be locked is within a relatively wide range. Both the secondary fixed ring and the secondary movable ring can clamp and fix the robotic arm, which improves the success rate and efficiency of the installation of the locking device. On the other hand, it is conducive to the disassembly and assembly of the locking device and its reuse, which is convenient for clamping robotic arms of different sizes, has strong adaptability, and saves resources.

[0013] The auxiliary fixing member is used to lock the auxiliary fixing ring and the auxiliary movable ring together on one side of the auxiliary fixing ring and the auxiliary movable ring close to their respective connection ends. The structure is simple, which is conducive to simplifying the disassembly steps and improving the installation and disassembly efficiency of the locking device. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to provide further understanding of the embodiments of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present invention, but do not constitute a limitation on the embodiments of the present invention.

[0015] Figure 1 A schematic diagram of the three-dimensional structure of a robot system provided in the first embodiment of the present application;

[0016] Figure 2 for Figure 1 A schematic diagram of the three-dimensional structure of the locking device shown;

[0017] Figure 3 for Figure 2 The exploded structural diagram of the locking device shown;

[0018] Figure 4 for Figure 3 The exploded structural diagram of the auxiliary clamp shown;

[0019] Figure 5 for Figure 3 A schematic diagram of the top view of the structure after the auxiliary fixed ring and the auxiliary movable ring are assembled, in which the auxiliary fixed ring and the auxiliary movable ring are not locked by the auxiliary fixing member;

[0020] Figure 6 for Figure 5 The schematic diagram of the top view of the structure after the auxiliary fixed ring and the auxiliary movable ring are assembled, wherein the auxiliary movable ring rotates around the auxiliary fixed ring to another angle;

[0021] Figure 7 for Figure 2 The schematic cross-sectional structure diagram of the auxiliary movable ring along line VII-VII shown;

[0022] Figure 8 for Figure 2 A schematic diagram of the three-dimensional structure of the main fixing ring shown;

[0023] Fig. 9 for Figure 8 A front view of the main retaining ring is shown;

[0024] Fig.10 for Fig. 9 The schematic cross-sectional structure diagram of the main fixing ring along line XX shown;

[0025] Fig.11 This is a schematic diagram of the three-dimensional structure of the locking device provided in the second embodiment of the present application.

[0026] Figure Number:

[0027] 1000. Robotic system;

[0028] 100. Locking device;

[0029] 110, main clamp; 120, main fixing ring;

[0030] 112, first countersunk hole; 1121, step groove; 1123, through hole; 114, fixing bolt;

[0031] 150, auxiliary clamp; 152, second countersunk hole; 1521, step groove; 1523, through hole;

[0032] 160, auxiliary fixing ring; 161, connecting end; 162, suspended end; 163, connecting section; 164, arc section;

[0033] 165. locking hole; 166. flexible member;

[0034] 170, auxiliary movable ring; 171, connecting end; 172, suspended end; 173, connecting section; 174, arc section;

[0035] 175. Locking hole; 176. Flexible member;

[0036] 180, auxiliary fixing member; 184, rotating shaft;

[0037] 190, adjusting plate; 192, adjusting hole; 195, adjusting bolt;

[0038] 300, locking device; 310, main clamp; 320, main fixed ring; 330, main movable ring;

[0039] 900, robot; 910, column; 930, robotic arm. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and implementation methods. It should be understood that the specific implementation methods described herein are only used to explain the present invention and are not used to limit the present invention.

[0041] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0042] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0043] In the description of this patent, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing this patent and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this patent.

[0044] In the description of this patent, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", and "set" should be understood in a broad sense. For example, it can be fixedly connected or set, or detachably connected or set, or integrally connected or set. For ordinary technicians in this field, the specific meanings of the above terms in this patent can be understood according to specific circumstances.

[0045] See also Figure 1The present application provides a locking device 100 and a robot system 1000. The robot system 1000 includes a robot 900 and a locking device 100, and the locking device 100 is used to lock the robot 900. The robot 900 includes a column 910 and a robotic arm 930, and the locking device 100 can be used to lock the robot 900 during transportation to prevent the robot 900 from being bumped and damaged during transportation.

[0046] The robot 900 includes a column 910 and a mechanical arm 930 connected to each other, and the mechanical arm 930 can move relative to the column 910. The robot 900 provided in the present application is a magnetically controlled device for driving the movement of a magnetically controlled capsule endoscope. The column 910 can be the main part of the robot 900, which cannot be moved under the control of the operator and / or the program. A magnet is provided at the end of the mechanical arm 930, and the mechanical arm 930 is used to drive the magnet to move relative to the column 910 under the control of the operator and / or the program, so as to use magnetic force to control the movement and posture of the capsule endoscope in the subject's body, so as to facilitate the image capture of the digestive tract at an ideal viewing angle. It can be understood that in other embodiments, the robot 900 is not a magnetically controlled device, but other medical robots, or industrial robots, service robots, agricultural robots, warehousing and logistics robots, etc.

[0047] Please combine Figure 1 See also Figures 2 to 4 The locking device 100 includes a main clamp 110 and a secondary clamp 150 which are fixedly connected to each other. The main clamp 110 is partially annular and is used to be fixed on the surface of the column 910. The secondary clamp 150 includes a secondary fixed ring 160, a secondary movable ring 170 and a secondary fixing member 180. The secondary fixed ring 160 is fixedly connected to the main clamp 110. The secondary fixed ring 160 and the secondary movable ring 170 both include two ends, which are a connecting end and a suspended end. The two connecting ends of the secondary fixed ring 160 and the secondary movable ring 170 are pivotally connected. The secondary fixing member 180 is used to lock the secondary fixed ring 160 and the secondary movable ring 170 to each other on the side of the secondary fixed ring 160 and the secondary movable ring 170 close to their respective connecting ends, so that the secondary fixed ring 160 and the secondary movable ring 170 clamp the robot arm 930.

[0048] In the locking device 100 provided in the present application, the main clamp 110 is used to fix the column 910 of the robot 900, and the auxiliary clamp 150 includes a auxiliary fixed ring 160 and a auxiliary movable ring 170. The auxiliary fixed ring 160 and the auxiliary movable ring 170 are used to clamp and fix the robotic arm 930, thereby providing reliable protection for the robotic arm 930 under various transportation conditions, reducing the risk of damage to the robotic arm 930, and ensuring its safety and integrity during transportation, thereby reducing maintenance costs and increasing the service life of the robot 900.

[0049] The secondary fixed ring 160 and the secondary movable ring 170 are used to clamp and fix the robotic arm 930. The secondary fixed ring 160 and the secondary movable ring 170 are locked on one side close to their respective connection ends. The secondary clamp 150 fixes the robotic arm 930 in this way. On the one hand, it reduces the requirements for the relative position between the robotic arm 930 and the column 910 in the locked state. The relative position between the robotic arm 930 and the column 910 to be locked is within a relatively wide range. The secondary fixed ring 160 and the secondary movable ring 170 can clamp and fix the robotic arm 930, thereby improving the success rate and efficiency of the installation of the locking device 100. On the other hand, it is conducive to the disassembly and assembly and reuse of the locking device 100, and is convenient for clamping robotic arms 930 of different sizes. It has strong adaptability and saves resources.

[0050] The auxiliary fixing member 180 is used to lock the auxiliary fixing ring 160 and the auxiliary movable ring 170 together on one side of the auxiliary fixing ring 160 and the auxiliary movable ring 170 close to their respective connection ends. The structure is simple, which is conducive to simplifying the disassembly steps and improving the installation and disassembly efficiency of the locking device 100.

[0051] like Figure 2 and Figure 3 As shown, the main clamp 110 includes a main fixing ring 120, and the main fixing ring 120 is partially annular. In this embodiment, the main clamp 110 is provided with the main fixing ring 120, and in this embodiment, no other annular structure is provided in the main clamp 110. The main fixing ring 120 is used to be fixed on the surface of the column 910. Preferably, the central angle corresponding to the main clamp 110 (main fixing ring 120) is less than or equal to 170 degrees, so as to be suitable for columns 910 of different sizes.

[0052] See also Figures 2 to 7 The secondary clamp 150 includes a secondary fixed ring 160, a secondary movable ring 170 and a secondary fixing member 180. The secondary fixed ring 160 and the secondary movable ring 170 are both partially annular, and the central angles of the secondary fixed ring 160 and the secondary movable ring 170 are less than or equal to 180 degrees.

[0053] The secondary fixed ring 160 is pivotally connected to one end of the secondary movable ring 170. Specifically, the secondary fixed ring 160 includes a connecting end 161 and a suspended end 162, and the secondary movable ring 170 includes a connecting end 171 and a suspended end 172. The connecting ends 161 and 171 are pivotally connected. When the secondary fixing member 180 does not lock the secondary fixed ring 160 and the secondary movable ring 170, the secondary movable ring 170 can rotate relative to the secondary fixed ring 160 around the connecting end 161. The secondary clamp 150 includes a rotating shaft 184, which passes through the connecting end 161 and the connecting end 171, so that the connecting end 161 can rotate relative to the connecting end 171. When the secondary fixing member 180 does not lock the secondary fixing ring 160 and the secondary movable ring 170, the secondary movable ring 170 can rotate relative to the secondary fixing ring 160, and the shape and size of the area enclosed by the secondary movable ring 170 and the secondary fixing ring 160 change, so that the secondary clamp 150 can be easily mounted on and removed from the periphery of the robotic arm 930, which is beneficial to the loading and unloading and reuse of the locking device and is suitable for clamping robotic arms 930 of different sizes.

[0054] like Figure 7 As shown, when the secondary fixing member 180 locks the secondary fixing ring 160 and the secondary movable ring 170 together, the secondary fixing ring 160 and the secondary movable ring 170 form a ring with a gap, and the two suspended ends of the secondary clamp 150 (the suspended end 162 and the suspended end 172) are spaced apart from each other, which is convenient for clamping mechanical arms 930 of various sizes and extension directions, and avoids the secondary clamp 150 from being buckled to form a complete ring and interfering with the mechanical arm 930.

[0055] like Figure 5 and Figure 7 As shown, the secondary fixed ring 160 and the secondary movable ring 170 both include an arc segment and a connecting segment connected to each other. The secondary fixed ring 160 includes an arc segment 164 and a connecting segment 163 connected to each other, and the secondary movable ring 170 includes an arc segment 174 and a connecting segment 173 connected to each other. The arc segment 164 and the arc segment 174 are both arc-shaped, that is, partially annular, and are used to clamp the robot arm. One end of the arc segment 164 forms a suspended end 162, and the other end of the arc segment 164 is connected to the connecting segment 163, and the end of the connecting segment 163 away from the arc segment 164 forms a connecting end 161. One end of the arc segment 174 forms a suspended end 172, and the other end of the arc segment 174 is connected to the connecting segment 173, and the end of the connecting segment 173 away from the arc segment 174 forms a connecting end 171.

[0056] In this embodiment, the two arc segments (arc segment 164 and arc segment 174) in the auxiliary clamp 150 have the same bending radius, and the central angle corresponding to at least one of the arc segments (arc segment 164 and / or arc segment 174) is less than 180 degrees, so that even when the two arc segments are locked together, the suspended end 162 and the suspended end 172 are still in a state of being spaced apart from each other. Figure 5 As shown, the central angles of the arc segment 164 and the arc segment 174 are both less than 180 degrees. Specifically, the arc of the arc segment 164 is greater than that of the arc segment 174, so as to facilitate hand-held rotation and assembly and disassembly.

[0057] In some embodiments, the two arc segments (arc segment 164 and arc segment 174) in the auxiliary clamp 150 have different bending radii, and the central angle corresponding to the arc segment 164 and the arc segment 174 is less than or equal to 180 degrees, so that even if the two arc segments are interlocked with each other, the suspended end 162 and the suspended end 172 are in a state of being spaced apart from each other, so as to improve the ability of the auxiliary clamp 150 to adapt to robotic arms 930 of different sizes and extension directions.

[0058] See also Figure 4 and Figure 7 The secondary fixing member 180 is a locking bolt, the secondary fixing ring 160 and the secondary movable ring 170 both form a through locking hole at the connection between the arc segment and the connecting segment, the secondary fixing ring 160 forms a through locking hole 165 at the connection between the arc segment 164 and the connecting segment 163, and the secondary movable ring 170 forms a through locking hole 175 at the connection between the arc segment 174 and the connecting segment 173. When the secondary fixing member 180 locks the secondary fixing ring 160 and the secondary movable ring 170 to each other, the locking bolt is inserted and fixed in the two locking holes (locking hole 165 and locking hole 175).

[0059] The locking bolt can cooperate with the nut and be fixed in the locking hole 165 and the locking hole 175, that is, the locking bolt passes through the locking hole 165 and the locking hole 175 from one side of the auxiliary clamp 150, and one end of the rod of the locking bolt passes through the locking hole 165 or the locking hole 175 and is threadedly connected with the matching nut. The nut abuts against the auxiliary fixed ring 160 or the auxiliary movable ring 170, so that the radial inner surface of the arc segment 164 and the arc segment 174 stably clamps the robotic arm 930.

[0060] In some embodiments, the locking hole 165 or the locking hole 175 is a threaded hole. If the locking hole 165 is a threaded hole, the locking bolt passes through the locking hole 175 and then threads with the locking hole 165 to lock the secondary fixed ring 160 and the secondary movable ring 170. In this embodiment, the locking hole 175 is a threaded hole, and then the locking bolt passes through the locking hole 165 and then threads with the locking hole 175 to lock the secondary fixed ring 160 and the secondary movable ring 170.

[0061] When installing the auxiliary clamp 150 to lock the mechanical arm 930, first manually adjust the angle between the auxiliary fixed ring 160 and the auxiliary movable ring 170 to increase the distance between the suspended end 162 and the suspended end 172, and then surround the auxiliary clamp 150 around the periphery of the mechanical arm 930, and then tighten the auxiliary fixing part 180 (locking bolt) to complete the locking of the mechanical arm 930 by the auxiliary clamp 150.

[0062] When removing the auxiliary clamp 150 from the robotic arm 930, it is only necessary to loosen and remove the auxiliary fixing part 180 (locking bolt), and then manually adjust the angle between the auxiliary fixing ring 160 and the auxiliary movable ring 170 to increase the distance between the suspended end 162 and the suspended end 172. The auxiliary clamp 150 can be removed from the outside of the robotic arm 930 to easily release the lock of the auxiliary clamp 150 on the robotic arm 930, making it easy to disassemble and reuse.

[0063] Preferably, the surface of the main clamp 110 used to contact the column 910 is provided with a flexible member, and / or the surface of the auxiliary clamp 150 used to contact the mechanical arm 930 is provided with a flexible member. The flexible member can be sponge, felt, etc.

[0064] In this embodiment, the surface of the auxiliary clamp 150 for contacting the robot arm 930, that is, the radial inner surface of the arc segment 164 is provided with a flexible member 166, and the radial inner surface of the arc segment 174 is provided with a flexible member 176. The radial inner side of the main clamp 110 may also be provided with the above-mentioned flexible member.

[0065] like Figure 2 and Figure 3 As shown, the locking device 100 includes an adjustment plate 190 and a plurality of adjustment bolts 195. The adjustment plate 190 is connected between the main clamp 110 and the auxiliary clamp 150. The adjustment plate 190 is connected to the main clamp 110 and the auxiliary clamp 150 through the adjustment bolts 195. Figure 2 The main clamp 110 extends in a horizontal plane, the auxiliary clamp 150 extends in another horizontal plane, and the adjustment plate 190 extends in the vertical direction, that is, the extension direction of the main clamp 110 is parallel to the extension direction of the auxiliary clamp 150, the extension direction of the adjustment plate 190 is perpendicular to the extension direction of the main clamp 110, and the extension direction of the adjustment plate 190 is perpendicular to the extension direction of the auxiliary clamp 150, so as to adjust the relative position of the main clamp 110 and the auxiliary clamp 150 in the vertical direction to adapt to the position to be locked of the column 910 and the mechanical arm 930. In other embodiments, the extension direction of the main clamp 110 and the extension direction of the auxiliary clamp 150 may not be parallel to each other, and the angle between the two is greater than 0 degrees and less than 180 degrees, for example, the extension direction of the main clamp 110 and the extension direction of the auxiliary clamp 150 is 15 degrees or other angles.

[0066] See also Figures 2 to 10A first countersunk hole 112 is disposed on the surface of the main clamp 110, and a second countersunk hole 152 is disposed on the surface of the auxiliary clamp 150. The first countersunk hole 112 and the second countersunk hole 152 both include a step groove and a through hole that penetrate each other.

[0067] The first countersunk hole 112 includes a step groove 1121 and a through hole 1123 which penetrate each other. The step groove 1121 is arranged away from the adjustment plate 190 , and the through hole 1123 is arranged toward the adjustment plate 190 .

[0068] The second countersunk hole 152 is disposed on the auxiliary fixing ring 160 . The second countersunk hole 152 includes a step groove 1521 and a through hole 1523 that penetrate each other. The step groove 1521 is disposed away from the adjustment plate 190 , and the through hole 1523 is disposed toward the adjustment plate 190 .

[0069] Since the first countersunk hole 112 and the second countersunk hole 152 are both countersunk holes, the aperture of the step groove 1121 is larger than the aperture of the through hole 1123 , and the aperture of the step groove 1521 is larger than the aperture of the through hole 1523 .

[0070] The adjustment plate 190 is provided with adjustment holes 192 corresponding to the first countersunk hole 112 and the second countersunk hole 152 , respectively. The through hole 1123 is aligned with the corresponding adjustment hole 192 in the adjustment plate 190 , and the through hole 1523 is aligned with the corresponding adjustment hole 192 in the adjustment plate 190 .

[0071] At least one adjusting bolt 195 is used to fix the main clamp 110 and the adjusting plate 190. The rod of the adjusting bolt 195 passes through the step groove 1121 and the through hole 1123. The head of the adjusting bolt 195 is at least partially accommodated in the step groove 1121. The rod of the adjusting bolt 195 is fixed to the corresponding adjusting hole 192, and the head of the adjusting bolt 195 abuts against the bottom surface of the step groove 1121.

[0072] At least one adjusting bolt 195 is used to fix the auxiliary clamp 150 and the adjusting plate 190. The rod of the adjusting bolt 195 passes through the step groove 1521 and the through hole 1523. The head of the adjusting bolt 195 is at least partially accommodated in the step groove 1521. The rod of the adjusting bolt 195 is fixed to the corresponding adjusting hole 192, and the head of the adjusting bolt 195 abuts against the bottom surface of the step groove 1521.

[0073] The adjusting bolt 195 can pass through the corresponding adjusting hole 192 and then be locked with the nut. In this embodiment, the adjusting hole 192 is a threaded hole, and the adjusting bolt 195 and the adjusting hole 192 are threadedly matched and locked.

[0074] The through hole 1123 and the through hole 1523 have a first radial dimension in a cross section perpendicular to their axes, and the first radial dimension is a; the adjustment hole 192 is circular, and its aperture is b, satisfying a>1.5*b.

[0075] The axis of the through hole (through hole 1123 and through hole 1523) is located in the corresponding through hole, and its extension direction is consistent with the extension direction of the corresponding through hole. If the through hole is a circular hole, then on the cross section perpendicular to the axis of the through hole, the through hole is circular, its radial dimension is unique, and the first radial dimension is its diameter. If the through hole is an elliptical hole, then on the cross section perpendicular to the axis of the through hole, it is elliptical, its radial dimension is not unique, and its first radial dimension can be its minor axis dimension, major axis dimension, or between the minor axis dimension and the major axis dimension.

[0076] a>1.5*b, that is, the radial dimension of the through hole in one direction is significantly larger than the aperture of the adjustment hole 192. During the assembly process of the adjustment bolt 195, it is convenient for the adjustment bolt 195 to pass through the first countersunk hole 112 (or the second countersunk hole 152) and directly and accurately insert into the adjustment hole 192, thereby reducing the assembly difficulty of the adjustment bolt 195 and improving the assembly efficiency. In addition, the adjustment bolt 195 can be locked within a larger range of the first countersunk hole 112 and the second countersunk hole 152, which can reduce the requirements for the relative position accuracy between the mechanical arm 930 and the column 910 when installing the locking device 100. According to the actual relative position between the mechanical arm 930 and the column 910, the adjustment bolt 195 can be installed at an appropriate position in the first countersunk hole 112 and the second countersunk hole 152, thereby improving the adaptability of the locking device 100 and ensuring the success rate of installation.

[0077] In this embodiment, the through hole (through hole 1123 and through hole 1523) is capsule-shaped in a cross section perpendicular to its axis, has a major axis and a minor axis, the first radial dimension is the major axis dimension of the through hole, and the minor axis dimension of the through hole only needs to ensure that it can abut against the bottom surface of the head of the adjusting bolt 195. In other embodiments, the through hole (through hole 1123 and through hole 1523) is in other shapes in a cross section perpendicular to its axis.

[0078] like Figure 2 and Figure 3 As shown, the long axis direction of the through hole 1123 in the first countersunk hole 112 and the long axis direction of the through hole 1523 in the second countersunk hole 152 are perpendicular to each other. When the main clamp 110 is fixed to the surface of the column 910 and does not move, the adjustment plate 190 and the auxiliary clamp 150 can be adjusted along directions perpendicular to each other and determine the installation position of the adjustment bolt 195 in the first countersunk hole 112 and the second countersunk hole 152. Alternatively, when the auxiliary clamp 150 is fixed to the surface of the robotic arm 930 and does not move, the adjustment plate 190 and the main clamp 110 can be adjusted along directions perpendicular to each other and determine the installation position of the adjustment bolt 195 in the first countersunk hole 112 and the second countersunk hole 152 to adapt to the different spacings and positions between the column 910 and the robotic arm 930.

[0079] Specifically, in the process of determining the exact position of the adjusting bolt 195 in the first countersunk hole 112 and the second countersunk hole 152, the adjusting bolt 195 can be loosely screwed into the adjusting hole 192 first, so that the head of the adjusting bolt 195 does not abut the bottom surface of the step groove 1121 in the first countersunk hole 112, and the head of the adjusting bolt 195 does not abut the bottom surface of the step groove 1521 in the second countersunk hole 152, that is, the adjusting bolt 195 is not locked in the adjusting hole 192. At this time, the operator can flexibly adjust the relative position relationship between the main clamp 110, the auxiliary clamp 150 and the adjusting plate 190 through pushing and pulling and other actions. After adjusting to the ideal position, the adjusting bolt 195 is tightened, and the position between the main clamp 110 and the auxiliary clamp 150 is locked. The operation is simple and convenient.

[0080] In this embodiment, the first countersunk hole 112 and the second countersunk hole 152 have the same structure. In other embodiments, the shapes and sizes of the first countersunk hole 112 and the second countersunk hole 152 may be different.

[0081] In some embodiments, the locking device 100 is provided with other structures so that the relative position between the main clamp 110 and the auxiliary clamp 150 can be adjusted. In some embodiments, other connectors are connected between the main clamp 110 and the auxiliary clamp 150, or the main clamp 110 and the auxiliary clamp 150 are directly connected.

[0082] like Figure 3 as well as Figures 8 to 10 As shown, the main clamp 110 is provided with a plurality of first countersunk holes 112, and the main clamp 110 includes at least one fixing bolt 114, and the fixing bolt 114 is used to pass through the corresponding first countersunk holes 112 and be fixed to the surface of the column 910, and the surface of the column 910 is provided with a through hole, such as a threaded hole, that cooperates with the fixing bolt 114. When installing and removing the main clamp 110, it is only necessary to install or remove the fixing bolt 114 on the surface of the column 910, so as to facilitate the reuse of the locking device 100.

[0083] When installing the locking device 100 , tighten the fixing bolts 114 to fix the main clamp 110 to the column 910 , sleeve the auxiliary clamp 150 on the periphery of the mechanical arm 930 , and tighten the locking bolts so that the auxiliary clamp 150 clamps the mechanical arm 930 .

[0084] When disassembling the locking device 100 , the fixing bolt 114 is removed, that is, the main clamp 110 is removed from the surface of the column 910 , and the locking bolt is removed, and the auxiliary clamp 150 can be removed from the periphery of the mechanical arm 930 , thereby completing the overall disassembly of the locking device 100 .

[0085] The disassembled locking device 100 can be used again in the transportation process of other robots 900 after simple inspection and maintenance.

[0086] See also Fig.11 In the second embodiment of the present application, a locking device 300 is provided. The difference between the locking device 300 and the locking device 100 provided in the first embodiment mainly lies in the structure of the main clamp.

[0087] Specifically, in this embodiment, the locking device 300 includes a main clamp 310 . The structure of the main clamp 310 is similar to that of the auxiliary clamp 150 , and is used for clamping and fixing on the surface of the column 910 .

[0088] The main clamp 310 includes a main fixed ring 320, a main movable ring 330 and a main fixing member (not shown). The main fixed ring 320 and the main movable ring 330 both include two ends, which are a connecting end and a suspended end. The two connecting ends of the main fixed ring 320 and the main movable ring 330 are pivotally connected. The main fixing member is used to lock the main fixed ring 320 and the main movable ring 330 with each other on the side of the main fixed ring 320 and the main movable ring 330 close to their respective connecting ends, so that the main fixed ring 320 and the main movable ring 330 clamp the column 910. The specific structure of the main clamp 310 can refer to the auxiliary clamp 150 provided in the first embodiment. Various specific technical solutions of the auxiliary clamp 150 can be applied to the main clamp 310, which will not be repeated here.

[0089] The locking device provided in the present application can protect the safety of the robotic arm 930 during transportation and reduce the risk of damage; it has a simple structure and is easy to disassemble, which improves the efficiency of installation and disassembly; it is reusable, which reduces transportation costs and saves resources; it has strong adaptability and can be applied to robotic arms 930 of different sizes.

[0090] The optional implementation modes of the embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the embodiments of the present invention are not limited to the specific details in the above implementation modes. Within the technical concept of the embodiments of the present invention, various simple modifications can be made to the technical solutions of the embodiments of the present invention. These simple modifications all belong to the protection scope of the embodiments of the present invention.

[0091] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. To avoid unnecessary repetition, the embodiments of the present invention will not further describe various possible combinations.

[0092] In addition, various different embodiments of the embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the embodiments of the present invention, they should also be regarded as the contents disclosed in the embodiments of the present invention.

Claims

1. A locking device, characterized in that: The locking device is used to lock a robot, wherein the robot comprises a column and a mechanical arm connected to each other, and the mechanical arm can move relative to the column; The locking device comprises: A main clamp, partially annular, for fixing to the surface of the column; and The secondary clamp comprises a secondary fixed ring, a secondary movable ring and a secondary fixing part. The secondary fixed ring is fixedly connected to the main clamp. The secondary fixed ring and the secondary movable ring each comprise two ends, which are a connecting end and a suspended end respectively. The secondary fixed ring is pivotally connected to the two connecting ends of the secondary movable ring. The secondary fixing part is used to lock the secondary fixed ring and the secondary movable ring with each other on one side of the secondary fixed ring and the secondary movable ring close to their respective connecting ends, so that the secondary fixed ring and the secondary movable ring clamp the robotic arm.

2. The locking device according to claim 1, characterized in that: When the secondary fixing member locks the secondary fixing ring and the secondary movable ring together, the secondary fixing ring and the secondary movable ring form a ring with a gap, and the two suspended ends of the secondary clamp are spaced apart from each other.

3. The locking device according to claim 2, characterized in that: The auxiliary fixed ring and the auxiliary movable ring both include an arc segment and a connecting segment connected to each other, the arc segment is arc-shaped and used to clamp the robot arm, one end of the arc segment forms the suspended end, the other end of the arc segment is connected to the connecting segment, and the end of the connecting segment away from the arc segment forms the connecting end, The two arc segments in the secondary clamp have the same bending radius, and the central angle corresponding to at least one of the arc segments is less than 180 degrees; or The bending radii of the two arc-shaped segments in the secondary clamp are different.

4. The locking device according to claim 1, characterized in that: The auxiliary fixing member is a locking bolt, and the auxiliary fixing ring and the auxiliary movable ring both form a through locking hole at the connection between the arc segment and the connecting segment. When the secondary fixing member locks the secondary fixing ring and the secondary movable ring together, the locking bolt is inserted into and fixed in the two locking holes.

5. The locking device according to any one of claims 1 to 4, characterized in that: The locking device comprises an adjustment plate and a plurality of adjustment bolts. The adjustment plate is connected between the main clamp and the auxiliary clamp. The adjustment plate is connected to the main clamp and the auxiliary clamp via the adjustment bolts.

6. The locking device according to claim 5, characterized in that: The main clamp surface is provided with a first countersunk hole, the auxiliary clamp is provided with a second countersunk hole, the first countersunk hole and the second countersunk hole both include a step groove and a through hole that penetrate each other, and the adjustment plate is provided with adjustment holes corresponding to the first countersunk hole and the second countersunk hole, respectively. The rod of the adjusting bolt passes through the step groove and the through hole and is fixed to the corresponding adjusting hole. The head of the adjusting bolt abuts against the bottom surface of the step groove. The through hole has a first radial dimension in a cross section perpendicular to its axis, and the first radial dimension is a; the adjustment hole is a circular hole, and its aperture is b, satisfying a>1.5*b.

7. The locking device according to claim 6, characterized in that: The through hole is capsule-shaped in a cross section perpendicular to its axis, having a major axis and a minor axis, and the first radial dimension is the major axis dimension of the through hole.

8. The locking device according to claim 7, characterized in that: The long axis direction of the through hole in the first countersunk hole and the long axis direction of the through hole in the second countersunk hole are perpendicular to each other.

9. The locking device according to claim 6, characterized in that: The main clamp is provided with a plurality of the first countersunk holes, and the main clamp includes at least one fixing bolt, and the fixing bolt is used to pass through the corresponding first countersunk holes and be fixed to the surface of the column.

10. The locking device according to any one of claims 1 to 4, characterized in that: The main clamp comprises a main fixing ring which is partially annular.

11. The locking device according to claim 10, characterized in that: The central angle corresponding to the main clamp is less than or equal to 170 degrees.

12. The locking device according to claim 10, characterized in that: The main clamp includes a main movable ring and a main fixing member, each of the main fixing ring and the main movable ring includes two ends, which are a connecting end and a suspended end respectively, and the two connecting ends of the main fixing ring and the main movable ring are pivotally connected, and the main fixing member is used to lock the main fixing ring and the main movable ring with each other on the side of the main fixing ring and the main movable ring close to their respective connecting ends, so that the main fixing ring and the main movable ring clamp the column.

13. The locking device according to any one of claims 1 to 4, characterized in that: The surface of the main clamp used to contact the column is provided with a flexible member; and / or The surface of the auxiliary clamp for contacting the mechanical arm is provided with a flexible part.

14. A robot system, characterized in that: It comprises a robot and a locking device as described in any one of claims 1 to 13, wherein the robot comprises a column and a mechanical arm connected to each other, the mechanical arm can move relative to the column, the main clamp is fixed to the surface of the column, and the auxiliary clamp clamps the mechanical arm.

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