Connecting device for two-finger manipulator to quickly adapt to double-handle tool

Abstract

The invention discloses a connecting device for a two-finger mechanical arm to quickly adapt to a double-handle tool. The connecting device comprises a double-handle tool placement base, a handle sleeve, a mechanical arm connecting base and a mechanical arm locking assembly. By means of the connecting device, the two-finger mechanical arm can be rapidly matched with the double-handle tool through inserting, pulling, opening and closing of the mechanical arm, and intervention of operators is not needed in the matching process; the connecting device adopts a pure mechanical structure, has no special requirements on the two-finger manipulator, is compatible with various two-finger manipulators and double-handle tools, has high adaptability, high replacement efficiency and low cost, and is widely applicable to industrial automation and special operation scenes.

Description

Technical Field

[0001] The present invention belongs to the technical field of manipulators, and particularly relates to a connecting device for a two-finger manipulator to quickly adapt to double-handle tools. Background Art

[0002] In current automated operations, specific tasks can be completed by adapting a specific manipulator to the end of a robotic arm; among them, the type of task to be completed determines the type of manipulator adapted to the end of the robotic arm. For multiple different tasks, multiple corresponding manipulators may be arranged; when arranging automated operations, a certain type of manipulator may only complete corresponding types of tasks, and it may be relatively difficult to complete other types of tasks, resulting in the singleness of the automated operations that can be completed.

[0003] With the progress of technology and the development of society, productivity has made great progress, and human needs have become more diverse. More production tasks no longer require direct human participation, and unmanned operation has become the development trend of more automated operations. In current automated operations, there are many occasions with harsh working environments where it is inconvenient for operators to step forward. And according to the needs of the working environment or economic selection, if only one robotic arm is equipped, to achieve the diversity of task completion, it is necessary to replace the adapted manipulator when a certain type of task is completed, and the replacement process may slow down the progress of automated operations.

[0004] As the direct execution mechanism for completing tasks, the type of manipulator directly determines the type of task to be completed. Replacing different manipulators according to different task types requires manual operation or complex drive mechanisms, resulting in low efficiency, slowing down the progress of automated operations, and being difficult to adapt to diverse tasks. Double-handle tools (such as scissors, pliers, etc.) are difficult to adapt to traditional manipulators because they require two-finger coordinated operation. In the prior art, the connection between manipulators and tools mostly relies on customized interfaces, with poor versatility. Therefore, there is an urgent need in the art for a connecting device with a simple structure that can quickly and reliably adapt to double-handle tools. Summary of the Invention

[0005] In order to overcome the above problems in the prior art, the purpose of the present invention is to provide a connecting device for a two-finger manipulator to quickly adapt to double-handle tools by inserting, pulling out, opening, and closing the manipulator. This device can be connected to common double-handle tools, and the adaptation between the two-finger manipulator and the double-handle tool can be achieved by applying simple actions to the two-finger manipulator, which is mainly applied to the end of the manipulator structure.

[0006] In order to achieve the above purpose, the technical solution adopted by the present invention to solve its technical problems is:

[0007] A connecting device for a two-finger manipulator to quickly adapt to double-handle tools, comprising:

[0008] Two-handle tool placement base, which is provided with a baffle and a guide groove for accommodating a two-handle tool;

[0009] Handle sleeve, which includes a two-handle tool handle interface and a handle sleeve connection hole, and is rigidly connected to the two-handle tool. The two-handle tool handle interface is used to connect the handle of the two-handle tool, and the handle sleeve connection hole is used to connect the manipulator connection base;

[0010] Manipulator connection base, which includes a manipulator sleeve connection hole, a two-finger interface, a manipulator locking component connection hole, and a lock card baffle;

[0011] Manipulator locking component, including a lock card, a tension spring, a locking component connection shaft, and an unlocking part;

[0012] Among them, the manipulator sleeve connection hole is used to connect the handle sleeve, the two-finger interface is used to connect the finger part of the two-finger manipulator, the manipulator locking component connection hole is used to connect the manipulator locking component, and the lock card baffle is used to restrict the lock card on the manipulator locking component to move within a specific range in the direction of the tension spring force;

[0013] The lock card is connected to the locking component connection hole on the manipulator connection base through the locking component connection shaft and is connected to the manipulator connection base. The tension spring restricts the movement of the lock card to the locked state, and the unlocking part moves in the opposite direction of the tension spring force to realize the unlocked state of the lock card.

[0014] Further, the specific range is the area where the lock card enters and leaves the two-finger interface on the manipulator connection base.

[0015] Further, the locked state is that the lock card on the manipulator connection base completely enters the area of the two-finger interface on the manipulator connection base.

[0016] Further, the unlocked state is that the lock card on the manipulator connection base completely leaves the area of the two-finger interface on the manipulator connection base.

[0017] Further, the lock card is of a wedge-shaped structure, and the lock groove is a trapezoidal groove matching it.

[0018] Further, the baffle of the two-handle tool placement base is provided with a guiding inclined surface, which generates a radial component force when contacting the unlocking part to drive the lock card to disengage.

[0019] Further, the connection part between the handle sleeve and the handle of the two-handle tool is coated with a cured adhesive.

[0020] Further, the cured adhesive is epoxy resin.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] 1) The connecting device of the present invention realizes the adaptation of the two-finger manipulator to the double-handle tool by adopting relatively simple and reliable kinematic pairs such as moving and rotating, and has a simple and reliable structure.

[0023] 2) The connecting device of the present invention has no special requirements for the two-finger manipulator and can adapt to a variety of common double-handle tools, with strong practicability and versatility.

[0024] 3) The connecting device of the present invention can realize the adaptation and separation of the two-finger manipulator and the double-handle tool by controlling the insertion, extraction, opening and closing of the two-finger manipulator. The operation is extremely simple and no manual intervention is required during the adaptation process.

[0025] 4) For various types of tasks in automated operations, prepare various double-handle tools to be used. When performing a specific type of task, control the manipulator to select a specific type of double-handle tool, and no other redundant operations are required. The replacement speed is extremely fast.

[0026] 5) The manufacturing cost of the connecting device of the present invention is extremely low, and there are no special requirements for the application scenario. It is very practical in industrial and agricultural production and has a wide range of application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic diagram of the overall device of the connecting device for quickly adapting a two-finger manipulator to a double-handle tool provided by an embodiment of the present invention;

[0029] Figure 1 (a) It is a schematic diagram of the two-finger manipulator adapting to the double-handle tool in the double-handle tool placement base;

[0030] Figure 1 (b) It is a schematic diagram of the two-finger manipulator adapted to the double-handle tool;

[0031] Figure 2 It is a schematic diagram of the key components of the connecting device for quickly adapting a two-finger manipulator to a double-handle tool provided by an embodiment of the present invention;

[0032] Figure 2 (a) It is a combined schematic diagram of the handle sleeve, the manipulator connection base and the manipulator locking device;

[0033] Figure 2 (b) It is a schematic diagram of the manipulator connection base;

[0034] Figure 2 (c) Schematic diagram of the lock groove position of the two-finger manipulator;

[0035] Figure 2 (d) Schematic diagram of the adapter of the lock card and the lock groove;

[0036] Figure 3 Schematic diagram of the manipulator locking component of the connecting device for the two-finger manipulator to quickly adapt to the double-handle tool provided by the embodiment of the present invention;

[0037] Figure 3 (a) Schematic diagram of the manipulator locking component;

[0038] Figure 3 (b) Schematic diagram of the unlocked state;

[0039] Figure 3 (c) Schematic diagram of the locked state;

[0040] Figure 4 Schematic diagram of the process of the two-finger manipulator of the connecting device for the two-finger manipulator to quickly adapt to the double-handle tool provided by the embodiment of the present invention;

[0041] Figure 4 (a) Schematic diagram of the manipulator and the double-handle tool not adapted;

[0042] Figure 4 (b) Schematic diagram of the manipulator open;

[0043] Figure 4 (c) Schematic diagram of the manipulator closed;

[0044] Figure 4 (d) Schematic diagram of the manipulator and the double-handle tool adapted;

[0045] Figure 5 Schematic diagram of the state change of the manipulator locking component of the connecting device for the two-finger manipulator to quickly adapt to the double-handle tool provided by the embodiment of the present invention in the double-handle tool placement base;

[0046] Figure 5 (a) Half-sectional view of the double-handle tool placement base;

[0047] Figure 5 (b) Schematic diagram of the unlocked state, showing the baffle 1-1, along Figure 4 (a) The double-handle tool placement base is sectioned along the arrow direction;

[0048] Figure 5 (c) Schematic diagram of the transition state, showing the baffle 1-1, along Figure 4(a) Cross-section of the double-handle tool mounting base in the direction of the arrow;

[0049] Figure 5 (d) Schematic diagram of the locked state, showing the baffle 1-1, along Figure 4 (a) Cross-section of the double-handle tool mounting base in the direction of the arrow.

[0050] In the figure:

[0051] 1 - Double-handle tool mounting base: 1-1 Baffle;

[0052] 2 - Handle sleeve: 2-1 Double-handle tool handle interface; 2-2 Handle sleeve connection hole;

[0053] 3 - Manipulator connection base: 3-1 Manipulator sleeve connection hole; 3-2 Two-finger interface; 3-3 Manipulator locking component connection hole; 3-4 Locking baffle;

[0054] 4 - Manipulator locking component: 4-1 Locking card; 4-2 Tensile spring; 4-3 Manipulator locking component connecting shaft; 4-4 Unlocking part;

[0055] 5 - Two-finger manipulator: 5-1 Lock groove;

[0056] 6 - Double-handle tool. Detailed implementation manners

[0057] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the embodiments.

[0058] In the description of the embodiments of the present application, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the embodiments of the present application and simplifying the description, rather than indicating or suggesting that the device or element mentioned must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the embodiments of the present application.

[0059] In the description of the embodiments of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "setting", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a replaceable connection, or an integral connection. It can be a mechanical connection or an electrical connection. It can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to specific situations.

[0060] The present invention provides a connection device for a two-finger manipulator to quickly adapt to a double-handle tool. As Figures 1 to 5 shown, the connection device includes a double-handle tool placement base 1, a handle sleeve 2, a manipulator connection base 3, and a manipulator locking assembly 4. The double-handle tool placement base 1 is provided with a plurality of guide grooves and baffles for accommodating a double-handle tool adapted to the corresponding connection device; the handle sleeve 2 includes a double-handle tool handle interface 2-1 and a handle sleeve connection hole 2-2. The double-handle tool handle interface 2-1 is used to connect the handle of the double-handle tool, and the handle sleeve connection hole 2-2 is used to connect the manipulator connection base 3; the manipulator connection base 3 includes a mechanical glove sleeve connection hole 3-1, a two-finger interface 3-2, a manipulator locking assembly connection hole 3-3, and a lock card baffle 3-4. The mechanical glove sleeve connection hole 3-1 is used to connect the handle sleeve 2, the two-finger interface 3-2 is used to connect the fingers of the two-finger manipulator 5, the manipulator locking assembly connection hole 3-3 is used to connect the manipulator locking assembly 4, and the lock card baffle 3-4 is used to restrict the movement of the lock card 4-1 on the manipulator locking assembly 4 within a specific range in the direction of the tensile spring force (i.e., the area where the lock card enters and leaves the two-finger interface on the manipulator connection base); the manipulator locking assembly 4 includes a lock card 4-1, a tensile spring 4-2, a manipulator locking assembly connection shaft 4-3, and an unlocking portion 4-4. The lock card 4-1 is connected to the manipulator locking assembly connection hole 3-3 on the manipulator connection base 3 through the manipulator locking assembly connection shaft 4-3 and is connected to the manipulator connection base 3. The tensile spring 4-2 restricts the movement of the lock card 4-1 to the locked state (i.e., the area where the lock card 4-1 on the manipulator connection base 3 completely enters the two-finger interface 3-2 on the manipulator connection base 3). By moving the unlocking portion 4-4 of the manipulator locking assembly 4 in the reverse direction of the tensile spring force, the unlocking of the lock card 4-1 can be achieved (i.e., the lock card 4-1 on the manipulator connection base 3 completely leaves the area of the two-finger interface 3-2 on the manipulator connection base 3).

[0061] The connection between the handle sleeve 2 and the handle of the double-handle tool to be adapted is fixed, and relative movement between the two is not allowed. To achieve a reliable connection between the two, a certain filler can be applied at the connection. The filler applied is not shown in the present invention; in some specific embodiments, the connection between the handle sleeve and the handle of the double-handle tool is coated with a curing adhesive. Preferably, the curing adhesive is epoxy resin.

[0062] The handle sleeve 2 is connected to the manipulator connection base 3 through the sleeve connection hole, and there is a rotational degree of freedom between the two at the connection hole; the manipulator connection base 3 is connected to the manipulator locking component connection shaft 4-3 on the manipulator locking component 4 through the manipulator locking component connection hole 3-3 on it. The lock card 4-1 on the manipulator locking component 4 has a tendency to move along the direction of the spring force under the action of the tension spring 4-2, so that the manipulator locking component 4 is in a locked state (that is, the lock card 4-1 on the manipulator connection base 3 enters the area of the two-finger interface 3-2 on the manipulator connection base 3); the two-finger manipulator 5 is connected to it through the two-finger interface 3-2 on the manipulator connection base 3, and certain lock grooves 5-1 are opened on a single finger part of the two-finger manipulator 5, and these lock grooves 5-1 are the positions where the lock card 4-1 on the manipulator locking component 4 is locked. After the two finger parts of the two-finger manipulator 5 enter the area of the two-finger interface 3-2 on the manipulator connection base 3, the lock card 4-1 is in a locked state under the action of the tension spring 4-2, realizing the fixation of the two-finger manipulator 5 and the manipulator connection base 3 (that is, realizing the fixation of the two-finger manipulator 5 and this connection device). The manipulator connection base 3 is placed in the double-handle tool placement base 1. By moving the manipulator connection base 3, the unlocking part 4-4 of the manipulator locking component 4 contacts the tool placement base 1 to generate relative movement, thereby realizing the unlocking of the lock card 4-1. At this time, the two-finger manipulator 5 can perform an action of separating from this connection device.

[0063] In some specific embodiments, the lock card 4-1 is a wedge-shaped structure, and the lock groove 5-1 is a trapezoidal groove matching it. The baffle 1-1 of the double-handle tool placement base 1 is provided with a guiding inclined surface, which generates a radial component force to drive the lock card (4-1) to disengage when contacting the unlocking part 4-4.

[0064] The present invention proposes a connection device for a two-finger manipulator to quickly adapt to a double-handle tool by controlling the insertion, extraction, opening and closing of the manipulator. The double-handle tool 6 is connected and fixed to this connection device through the sleeve connection hole. The two-finger manipulator 5 is connected to this device through the two-finger interface 3-2, and then the manipulator locking component 4 locks the two-finger manipulator 5 and this device. The double-handle tool placement base 1 can be used to place the double-handle tool 6 and the handle clamping device that have been connected and fixed. The double-handle tool placement base has a special structure, which can realize the connection, separation and unlocking of the two-finger manipulator and the handle clamping device. This device has a simple and reliable structure and is easy to install and fix. The corresponding lock grooves 5-1 of the two-finger manipulator 5 are used to match the lock cards 4-1 on the manipulator locking component 4, so as to realize the locking of the two-finger manipulator and the handle clamping device.

[0065] The working principle of the connection device for a two-finger manipulator to quickly adapt to a double-handle tool in the present invention is as follows:

[0066] 1) First, describe the process of the two-finger manipulator connecting to the double-handle tool:

[0067] As Figure 4 (a) shows the initial state. At this time, the double-handle tool 6 is already connected and fixed to the handle clamping device and is inside the double-handle tool placement base 1 (the double-handle tool placement base 1 is fixed on a certain platform, which needs to be designed according to the characteristic dimensions of the adapted double-handle tool, and this platform is not within the scope of the present invention). At this time, the manipulator locking assembly 4 is in the unlocked state, as Figure 3 (b) shows. At this time, the state of the manipulator locking assembly 4 inside the double-handle tool placement base 1 is as Figure 5 (b) shows; the two-finger manipulator 5 is inserted into the two-finger interface 3-2 on the handle clamping device, as Figure 4 (b). At this time, the state of the manipulator locking assembly 4 inside the double-handle tool placement base 1 is still as Figure 5 (b), the lock card 4-1 is outside the area of the two-finger interface 3-2, and the two-finger manipulator 5 is not locked to the handle clamping device; control the manipulator to close, as Figure 4 (c). Until the handle clamping device is completely released from the restraint of the handle clamping device baffle 1-1, at this time, the manipulator locking assembly 4 is in the locked state, as Figure 3 (c), that is, the connection and locking of the two-finger manipulator and the handle clamping device are achieved. The detailed process is as Figure 5 (c). At this time, the two-finger manipulator is in the process of closing. The lock card 4-1 on the manipulator locking assembly 4 moves along the direction of the spring force under the action of the tension spring 4-2. Under the contact action between the unlocking part 4-4 and the double-handle tool placement base 1, the locking process is smoothly transitioned until Figure 5 (d). At this time, the lock card 4-1 is inside the area of the two-finger interface 3-2, and the lock card 4-1 on the manipulator locking assembly 4 has been fully adapted to the upper locking groove 5-1 on the manipulator. After the two-finger manipulator 5 has been adapted to the double-handle tool 6, the two-finger manipulator 5 can be controlled to leave the double-handle tool placement base 1, as Figure 4 (d). After that, the two-finger manipulator can be controlled to perform corresponding task operations.

[0068] 2) Secondly, describe the process of the two-finger manipulator disconnecting from the double-handle tool:

[0069] After the task is completed, to separate the two-finger manipulator 5 from the double-handle tool 6, the process is relatively similar to the connection process. The specific process is as follows: In the state where the manipulator is closed, control the two-finger manipulator 5 to place the handle clamping device back into the double-handle tool placement base 1, as Figure 4 (c). At this time, the lock card 4-1 on the manipulator locking assembly 4 is adapted to the upper locking groove 5-1 on the manipulator. At this time, the lock card 4-1 is inside the area of the two-finger interface 3-2. The state of the manipulator locking assembly 4 inside the double-handle tool placement base 1 is as Figure 5(d); Control the manipulator to open, such as Figure 5 (c), during the opening process of the two-finger manipulator, the unlocking part 4-4 on the manipulator locking component 4 contacts and acts on the double-handle tool placement base 1, driving the lock card 4-1 to move in the opposite direction of the force of the tension spring 4-2. The lock card 4-1 gradually disengages from the area of the two-finger interface 3-2, and the handle clamping device gradually enters the constraint range of the handle clamping device baffle 1-1; such as Figure 4 (b), the state of the manipulator locking component 4 in the double-handle tool placement base 1 at this time is as Figure 5 (b), the lock card 4-1 has completely left the area of the two-finger interface 3-2, and the handle clamping device has been completely constrained by the handle clamping device baffle 1-1, so the unlocking of the two-finger manipulator 5 and the handle clamping device is realized. After that, control the two-finger manipulator 5 to leave the double-handle tool placement base 1, such as Figure 4 (a), and the complete disconnection of the two-finger manipulator 5 and the handle clamping tool is achieved.

[0070] The connection device for quickly adapting a two-finger manipulator to a double-handle tool of the present invention can realize the quick adaptation of the two-finger manipulator to the double-handle tool through the insertion, extraction, opening and closing of the manipulator, and no operator intervention is required during the adaptation process, improving the automation operation efficiency. The connection device of the present invention has no special requirements for the two-finger manipulator and has strong adaptability.

[0071] It should be noted that the above-described embodiments are only the preferred embodiments of the present invention. For those of ordinary skill in the art, without departing from the principle of the present invention, several modifications, improvements and equivalent replacements can be made to the present invention, and these modifications, improvements and equivalent replacements are also considered to fall within the protection scope of the claims of the present invention.

Claims

1. A connection device for a two-finger manipulator to quickly adapt to a double-handled tool, characterized in that: include: A double-handled tool placement base (1) is provided with a baffle (1-1) and a guide groove for accommodating the double-handled tool (6); A handle sleeve (2), comprising a double-handle tool handle interface (2-1) and a handle sleeve connecting hole (2-2), for rigidly connecting to a double-handle tool (6), wherein the double-handle tool handle interface (2-1) is used to connect the handle of the double-handle tool (6), and the handle sleeve connecting hole (2-2) is used to connect to a manipulator connecting base (3); A manipulator connection base (3), comprising a manipulator glove sleeve connection hole (3-1), a two-finger interface (3-2), a manipulator locking assembly connection hole (3-3) and a locking baffle (3-4); A manipulator locking assembly (4), comprising a locking card (4-1), a tension spring (4-2), a locking assembly connecting shaft (4-3) and an unlocking portion (4-4); The mechanical glove sleeve connection hole (3-1) is used to connect the handle sleeve (2), the two-finger interface (3-2) is used to connect the fingers of the two-finger mechanical hand, the mechanical hand locking assembly connection hole (3-3) is used to connect the mechanical hand locking assembly (4), and the locking card baffle (3-4) is used to constrain the locking card (4-1) on the mechanical hand locking assembly (4) to move within a specific range in the direction of the tension spring force; The lock card (4-1) is connected to the manipulator connection base (3) via a lock component connection shaft (4-3) and a lock component connection hole (3-3) on the manipulator connection base (3); a tension spring (4-2) constrains the lock card (4-1) to move to a locked state; and the unlocking portion (4-4) moves in the opposite direction of the tension spring force to achieve an unlocked state of the lock card.

2. The connection device according to claim 1, characterized in that: The specific range is the area where the lock card (4-1) enters and leaves the two-finger interface (3-2) on the manipulator connection base (3).

3. The connection device according to claim 1, characterized in that: The locking state is that the locking card (4-1) on the manipulator connection base (3) completely enters the area of ​​the two-finger interface (3-2) on the manipulator connection base (3).

4. The connection device according to claim 1, characterized in that: The unlocked state is when the locking card (4-1) on the manipulator connection base (3) completely leaves the area of ​​the two-finger interface (3-2) on the manipulator connection base (3).

5. The connection device according to claim 1, characterized in that: The locking card (4-1) is a wedge-shaped structure, and the locking groove (5-1) is a trapezoidal groove matching it.

6. The connection device according to claim 1, characterized in that: The baffle plate (1-1) of the double-handle tool placement base (1) is provided with a guiding inclined surface, which generates a radial force component when in contact with the unlocking portion (4-4) to drive the lock card (4-1) to disengage.

7. The connection device according to claim 1, characterized in that: The connection between the handle sleeve (2) and the handle of the double-handled tool (6) is coated with a curing adhesive.

8. The connection device according to claim 7, characterized in that The curing adhesive is epoxy resin.

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