A connecting device for two-fingered robot rapid adaptation of double handle tools

Abstract

The application discloses a connecting device for quickly adapting a two-finger manipulator to a double-handle tool, which comprises a double-handle tool mounting base, a handle sleeve, a manipulator connecting base and a manipulator locking assembly. By plugging and unplugging and opening and closing the two-finger manipulator, the connecting device can quickly adapt the two-finger manipulator to the double-handle tool without intervention of an operator during the adaptation process. The connecting device adopts a pure mechanical structure and has no special requirements on the two-finger manipulator, is compatible with various two-finger manipulators and double-handle tools, has strong adaptability, high replacement efficiency and low cost, and is widely applicable to industrial automation and special operation scenes.

Description

Technical Field

[0001] This invention belongs to the field of robotic arm technology, and in particular relates to a connection device for quickly adapting a two-finger robotic arm to a dual-handle tool. Background Technology

[0002] In current automated operations, specific tasks can be completed by adapting a specific robotic hand to the end effector of a robotic arm. The type of task to be completed determines the type of robotic hand adapted to the end effector. For multiple different tasks, multiple corresponding robotic hands may be arranged. When arranging automated operations, one type of robotic hand may only be able to complete the corresponding type of task, and it may be difficult to complete other types of tasks, resulting in the limited range of automated operations that can be completed.

[0003] With the advancement of technology and social development, productivity has greatly improved, and human needs have become more diversified. Many production tasks no longer require direct human intervention, making automation a growing trend in automated operations. However, current automated operations often face harsh working environments where operators cannot easily approach. Furthermore, depending on the needs of the working environment or economic considerations, if only one robotic arm is used, achieving diverse task completion requires switching to a different robotic arm when a particular task is finished. This switching process can slow down the progress of automated operations.

[0004] As the direct executor for completing tasks, the type of robotic arm directly determines the type of task to be performed. Changing robotic arms based on different task types requires manual operation or complex drive mechanisms, leading to low efficiency, slowing down automated operations, and difficulty in adapting to diverse tasks. Two-handled tools (such as scissors and pliers) require two-finger coordinated operation, making traditional robotic arms difficult to adapt to. In existing technologies, the connection between robotic arms and tools often relies on customized interfaces, resulting in poor versatility. Therefore, there is an urgent need in this field for a connection device with a simple structure that can be quickly and reliably adapted to two-handled tools. Summary of the Invention

[0005] In order to overcome the above-mentioned problems in the prior art, the purpose of this invention is to provide a connection device that enables a two-finger robotic hand to be quickly adapted to a two-handle tool by inserting and opening the robotic arm. This device can be connected to common two-handle tools, and the two-finger robotic hand can be adapted to the two-handle tool by applying a simple action to the two-finger robotic hand. It is mainly used at the end of the robotic hand structure.

[0006] To achieve the above objectives, the technical solution adopted by the present invention to solve its technical problem is as follows:

[0007] A connection device for quickly adapting a two-finger robotic hand to a dual-handle tool, comprising:

[0008] A base for mounting dual-handled tools is provided with a baffle and a guide groove for accommodating dual-handled tools;

[0009] A handle sleeve includes a dual-handle tool handle interface and a handle sleeve connection hole, which are rigidly connected to the dual-handle tool. The dual-handle tool handle interface is used to connect the handle of the dual-handle tool, and the handle sleeve connection hole is used to connect to the robot arm connection base.

[0010] The robotic arm connection base includes a robotic glove sleeve connection hole, a two-finger interface, a robotic arm locking component connection hole, and a locking baffle.

[0011] The robotic arm locking assembly includes a locking latch, a tension spring, a locking assembly connecting shaft, and an unlocking part;

[0012] The mechanical glove sleeve connection hole is used to connect the handle sleeve, the two-finger interface is used to connect the fingers of the two-finger robot, the robot locking component connection hole is used to connect the robot locking component, and the locking baffle is used to constrain the locking plate on the robot locking component to move within a specific range in the direction of the tension spring force.

[0013] The locking card is connected to the robot arm connecting base via the locking component connecting shaft and the locking component connecting hole. The tension spring constrains the movement of the locking card to the locked state. The unlocking part can unlock the locking card by moving in the opposite direction of the tension spring force.

[0014] Furthermore, the specific range refers to the area of ​​the two-finger interface on the robotic arm connection base where the locking card enters and exits.

[0015] Furthermore, the locking state is that the locking clip on the robot arm connecting base is fully inserted into the area of ​​the two-finger interface on the robot arm connecting base.

[0016] Furthermore, the unlocked state is when the locking card on the robotic arm connecting base is completely removed from the area of ​​the two-finger interface on the robotic arm connecting base.

[0017] Furthermore, the locking clip has a wedge-shaped structure, and the locking groove is a matching trapezoidal groove.

[0018] Furthermore, the baffle of the dual-handle tool mounting base is provided with a guide slope, which generates a radial force when in contact with the unlocking part to drive the lock to disengage.

[0019] Furthermore, the connection between the handle sleeve and the handle of the double-handled tool is coated with a curing adhesive.

[0020] Furthermore, the curing 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 achieves the adaptation of a two-finger manipulator and a double-handle tool by adopting relatively simple and reliable kinematic pairs such as movement and rotation, and the structure is simple and reliable.

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

[0024] 3) The connection 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, removal and opening of the two-finger manipulator. The operation is extremely simple and no human intervention is required during the adaptation process.

[0025] 4) For various types of automated tasks, prepare all kinds of dual-handle tools that need to be used. When performing a specific type of task, control the robot to select the specific type of dual-handle tool. No other extra operations are required, and the changeover 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. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the overall device for a connection device for quick adaptation of a two-finger robotic arm to a dual-handle tool, provided in an embodiment of the present invention.

[0029] Figure 1 (a) is a schematic diagram of a two-finger robotic arm adapted to a dual-handle tool in a dual-handle tool mounting base;

[0030] Figure 1 (b) A schematic diagram of a two-finger robotic arm fitted with a dual-handle tool;

[0031] Figure 2 A schematic diagram of key components of a connection device for quickly adapting a two-finger robotic arm to a dual-handle tool, provided in an embodiment of the present invention;

[0032] Figure 2 (a) is a schematic diagram of the combination of the handle sleeve, the robot arm connecting base and the robot arm locking device;

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

[0034] Figure 2 (c) is a schematic diagram of the lock slot position of the two-finger robotic arm;

[0035] Figure 2 (d) is a schematic diagram of the lock card and lock slot fitting;

[0036] Figure 3 A schematic diagram of a robotic arm locking assembly for a connection device for quick adaptation of a two-finger robotic arm to a dual-handle tool, provided in an embodiment of the present invention;

[0037] Figure 3 (a) is a schematic diagram of the robotic arm locking assembly;

[0038] Figure 3 (b) is a diagram showing the unlocked state;

[0039] Figure 3 (c) is a schematic diagram of the locked state;

[0040] Figure 4 This is a schematic diagram illustrating the process of a two-finger robotic arm adapting to a dual-handle tool, provided in an embodiment of the present invention.

[0041] Figure 4 (a) is a schematic diagram showing that the robotic arm and dual-handle tool are not compatible;

[0042] Figure 4 (b) is a schematic diagram of the robotic arm opening;

[0043] Figure 4 (c) is a schematic diagram of the robotic arm;

[0044] Figure 4 (d) is a schematic diagram of the adaptation of the robotic arm and the dual-handle tool;

[0045] Figure 5 This is a schematic diagram showing the state changes of the robotic arm locking component within the dual-handle tool mounting base of the connecting device for quick adaptation of a two-finger robotic arm to a dual-handle tool, as provided in an embodiment of the present invention.

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

[0047] Figure 5 (b) is a schematic diagram of the unlocked state, showing baffle 1-1, along... Figure 4 (a) Sectional view of the double-handled tool mounting base in the direction of the arrow;

[0048] Figure 5 (c) is a schematic diagram of the transition state, showing baffle 1-1, along... Figure 4(a) Sectional view of the double-handled tool mounting base in the direction of the arrow;

[0049] Figure 5 (d) is a schematic diagram of the locked state, showing baffle 1-1, along... Figure 4 (a) Sectional view of the double-handled tool mounting base in the direction of the arrow.

[0050] In the diagram:

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

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

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

[0054] 4-Robot arm locking assembly: 4-1 Locking clip; 4-2 Tension spring; 4-3 Robot arm locking assembly connecting shaft; 4-4 Unlocking part;

[0055] 5-Two-finger robotic arm: 5-1 Locking groove;

[0056] 6-Double-handled tool. Detailed Implementation

[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 embodiments.

[0058] In the description of the embodiments of this application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this application and simplifying the description, and are not intended to indicate or suggest that the mentioned device or element must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the embodiments of this application.

[0059] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a replaceable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application according to the specific circumstances.

[0060] This invention provides a connection device for quickly adapting a two-finger robotic arm to a dual-handle tool, such as... Figures 1 to 5 As shown, the connecting device includes a dual-handle tool mounting base 1, a handle sleeve 2, a robotic arm connecting base 3, and a robotic arm locking assembly 4. The dual-handle tool mounting base 1 is provided with several guide grooves and baffles for accommodating dual-handle tools adapted to the corresponding connecting device. The handle sleeve 2 includes a dual-handle tool handle interface 2-1 and a handle sleeve connecting hole 2-2, wherein the dual-handle tool handle interface 2-1 is used to connect the handle of the dual-handle tool, and the handle sleeve connecting hole 2-2 is used to connect to the robotic arm connecting base 3. The robotic arm connecting base 3 includes a robotic arm sleeve connecting hole 3-1, a two-finger interface 3-2, a robotic arm locking assembly connecting hole 3-3, and a locking baffle 3-4, wherein the robotic arm sleeve connecting 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 robotic arm 5, the robotic arm locking assembly connecting hole 3-3 is used to connect to the robotic arm locking assembly 4, and the locking baffle 3-4 is used to constrain the locking clip 4-1 on the robotic arm locking assembly 4 in the direction of the tensile spring force. The movement is within a specific range (i.e., the area where the locking card enters and leaves the two-finger interface on the robot arm connecting base); the robot arm locking assembly 4 includes a locking card 4-1, a tension spring 4-2, a robot arm locking assembly connecting shaft 4-3, and an unlocking part 4-4. The locking card 4-1 is connected to the robot arm connecting base 3 via the robot arm locking assembly connecting shaft 4-3 and the robot arm connecting base 3 via the robot arm locking assembly connecting hole 3-3. The tension spring 4-2 constrains the movement of the locking card 4-1 to a locked state (i.e., the locking card 4-1 is completely inside the area of ​​the two-finger interface 3-2 on the robot arm connecting base 3). The unlocking part 4-4 of the robot arm locking assembly 4 moves in the opposite direction of the tension spring force to unlock the locking card 4-1 (i.e., the locking card 4-1 is completely outside the area of ​​the two-finger interface 3-2 on the robot arm connecting base 3).

[0061] The connection between the handle sleeve 2 and the handle of the dual-handle tool to be adapted is fixed, and the two cannot move relative to each other. In order to achieve a reliable connection between the two, a certain filler can be applied at the connection point. The filler applied is not shown in this invention. In some specific embodiments, the connection point between the handle sleeve and the handle of the dual-handle tool is coated with a curing adhesive. Preferably, the curing adhesive is epoxy resin.

[0062] The handle sleeve 2 and the robotic arm connecting base 3 are connected through the sleeve connecting hole, and there is one rotational degree of freedom between them at the connecting hole. The robotic arm connecting base 3 is connected to the robotic arm locking component connecting shaft 4-3 on the robotic arm locking component 4 through the robotic arm locking component connecting hole 3-3 on it. The locking clip 4-1 on the robotic arm locking component 4 has a tendency to move in the direction of the spring force under the action of the tension spring 4-2, so that the robotic arm locking component 4 is in the locked state (that is, the locking clip 4-1 on the robotic arm connecting base 3 enters the area of ​​the two-finger interface 3-2 on the robotic arm connecting base 3). The two-finger robotic arm 5 is connected to the robotic arm connecting base 3 through the two-finger interface 3-2 on the robotic arm connecting base 3, and a certain locking groove 5-1 is opened on a single finger of the two-finger robotic arm 5. These locking grooves 5-1 serve as the locking positions of the locking clip 4-1 on the robotic arm locking component 4. After the two fingers of the two-finger robotic hand 5 enter the two-finger interface 3-2 area on the robotic hand connecting base 3, the locking clip 4-1 is locked under the action of the tension spring 4-2, thus fixing the two-finger robotic hand 5 to the robotic hand connecting base 3 (i.e. fixing the two-finger robotic hand 5 to this connecting device). The robotic hand connecting base 3 is placed inside the double-handle tool mounting base 1. By moving the robotic hand connecting base 3, the unlocking part 4-4 of the robotic hand locking component 4 comes into contact with the tool mounting base 1 and moves relative to it, thereby unlocking the locking clip 4-1. At this time, the two-finger robotic hand 5 can perform the action of disengaging from this connecting device.

[0063] In some specific embodiments, the locking clip 4-1 has a wedge-shaped structure, and the locking groove 5-1 is a matching trapezoidal groove. The baffle 1-1 of the double-handle tool mounting base 1 is provided with a guide slope, which generates a radial force when it contacts the unlocking part 4-4 to drive the locking clip (4-1) to disengage.

[0064] This invention proposes a connection device for quickly adapting a two-finger robotic hand to a dual-handle tool by controlling the insertion, removal, opening, and closing of a robotic arm. The dual-handle tool 6 is connected and fixed to this connection device through a sleeve connection hole, and the two-finger robotic hand 5 is connected to this device through a two-finger interface 3-2. Then, a robotic hand locking component 4 locks the two-finger robotic hand 5 and the device together. The dual-handle tool mounting base 1 is used to house the connected and fixed dual-handle tool 6 and the handle clamping device. The dual-handle tool mounting base has a special structure that allows for the connection, separation, and unlocking of the two-finger robotic hand and the handle clamping device. This device has a simple and reliable structure and is easy to install and fix. The corresponding locking groove 5-1 of the two-finger robotic hand 5 is adapted to fit the locking clip 4-1 on the robotic hand locking component 4, thereby locking the two-finger robotic hand and the handle clamping device.

[0065] The working principle of the connection device for quickly adapting a two-finger robotic arm to a dual-handle tool is as follows:

[0066] 1) First, let me explain the process of connecting the two-finger robotic arm to the dual-handle tool:

[0067] like Figure 4 (a) is the initial state, where the dual-handle tool 6 is connected and fixed to the handle clamping device, and is located within the dual-handle tool mounting base 1 (the dual-handle tool mounting base 1 is fixed to a platform, which needs to be designed according to the characteristic dimensions of the adapted dual-handle tool; this platform is not within the scope of this invention). At this time, the robotic arm locking component 4 is in the unlocked state, such as... Figure 3 (b) shows the state of the robotic arm locking assembly 4 within the dual-handle tool mounting base 1 at this time, as follows: Figure 5 As shown in (b); the two-finger manipulator 5 is inserted into the two-finger interface 3-2 on the handle gripping device, as shown in (b). Figure 4 (b) At this time, the robotic arm locking assembly 4 is still in the same state within the dual-handle tool mounting base 1. Figure 5 (b) Lock 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 gripping device; control the manipulator to engage, such as Figure 4 (c) until the handle gripping device is completely freed from the constraint of the handle gripping device baffle 1-1, at which point the robot arm locking assembly 4 is in the locked state, such as Figure 3 (c) This involves connecting and locking the two-finger robotic hand with the handle gripping device. The detailed process is as follows: Figure 5 (c) At this time, the two-finger manipulator is in the closing process. The locking clip 4-1 of 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 of the unlocking part 4-4 and the double-handle tool mounting base 1, the locking process is smooth until... Figure 5 (d) At this point, the locking clip 4-1 is located within the two-finger interface 3-2 area, and the locking clip 4-1 on the robotic arm locking assembly 4 is fully adapted to the robotic arm locking groove 5-1. After the two-finger robotic arm 5 has been adapted to the dual-handle tool 6, it can be controlled to leave the dual-handle tool mounting base 1, such as... Figure 4 (d) After that, the two-finger robotic arm can be controlled to perform corresponding tasks.

[0068] 2) Next, explain the process of the two-finger robotic arm disconnecting the dual-handle tool:

[0069] After the task is completed, to separate the two-finger robotic arm 5 from the dual-handle tool 6, the process is similar to the connection process, and the specific steps are as follows: With the robotic arm in the closed state, control the two-finger robotic arm 5 to place the handle gripping device back into the dual-handle tool mounting base 1, as follows. Figure 4 (c) At this time, the locking clip 4-1 of the robotic arm locking assembly 4 is adapted to the locking slot 5-1 of the robotic arm. The locking clip 4-1 is located in the area of ​​the two-finger interface 3-2. The state of the robotic arm locking assembly 4 in the double-handle tool mounting base 1 is as follows: Figure 5(d); Control the robotic arm 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 assembly 4 contacts the double-handle tool mounting base 1, causing the locking clip 4-1 to move in the opposite direction of the force of the tension spring 4-2. The locking clip 4-1 gradually disengages from the two-finger interface 3-2 area, and the handle clamping device gradually enters the constraint range of the handle clamping device baffle 1-1; Figure 4 (b) At this time, the state of the robotic arm locking component 4 within the dual-handle tool mounting base 1 is as follows: Figure 5 (b) The locking clip 4-1 is completely outside the area of ​​the two-finger interface 3-2, and the handle gripping device is completely constrained by the handle gripping device baffle 1-1, thus unlocking the two-finger robotic arm 5 from the handle gripping device. Afterwards, the two-finger robotic arm 5 is controlled to leave the dual-handle tool mounting base 1, as... Figure 4 (a) thus achieves complete disconnection between the two-finger robotic hand 5 and the handle gripping tool.

[0070] The present invention provides a connection device for rapid adaptation of a two-finger robotic arm to a dual-handle tool. This allows for quick adaptation of the robotic arm to the tool through insertion, removal, and opening / closing, without operator intervention, thus improving the efficiency of automated operations. The connection device of the present invention has no special requirements for the two-finger robotic arm and exhibits strong adaptability.

[0071] It should be noted that the embodiments described above are merely preferred embodiments of the present invention. For those skilled in the art, various modifications, improvements, and equivalent substitutions can be made to the present invention without departing from its principles, and such modifications, improvements, and equivalent substitutions are also considered to fall within the protection scope of the claims of the present invention.

Claims

1. A connecting device for quickly adapting a two-finger robotic hand to a dual-handle tool, characterized in that, include: A double-handled tool mounting base (1) is provided with a baffle (1-1) and a guide groove for accommodating a double-handled tool (6); Handle sleeve (2), which includes a double-handle tool handle interface (2-1) and a handle sleeve connecting hole (2-2), is used to rigidly connect with the 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 the robot arm connecting base (3); The robotic arm connection base (3) includes a robotic glove sleeve connection hole (3-1), a two-finger interface (3-2), a robotic arm locking component connection hole (3-3), and a locking baffle (3-4); The robotic arm locking assembly (4) includes a locking clip (4-1), a tension spring (4-2), a locking assembly connecting shaft (4-3), and an unlocking part (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 finger part of the two-finger manipulator, the manipulator locking component connection hole (3-3) is used to connect the manipulator locking component (4), and the locking baffle (3-4) is used to constrain the movement of the locking clip (4-1) on the manipulator locking component (4) within a specific range in the direction of the tension spring force; The locking clip (4-1) is connected to the locking component connecting hole (3-3) on the robot arm connecting base (3) via the locking component connecting shaft (4-3). The tension spring (4-2) constrains the movement of the locking clip (4-1) to the locked state. The unlocking part (4-4) moves in the opposite direction of the tension spring force to realize the unlocking state of the locking clip. The baffle (1-1) of the dual-handle tool mounting base (1) is provided with a guide slope, which generates a radial force when it comes into contact with the unlocking part (4-4), driving the lock (4-1) to disengage.

2. The connecting device according to claim 1, characterized in that, The specific range is the area where the locking card (4-1) enters and exits the two-finger interface (3-2) on the robotic arm connecting base (3).

3. The connecting device according to claim 1, characterized in that, The locking state is when the locking clip (4-1) on the robot arm connecting base (3) is fully inserted into the area of ​​the two-finger interface (3-2) on the robot arm connecting base (3).

4. The connecting device according to claim 1, characterized in that, The unlocked state is when the locking card (4-1) of the robotic arm connecting base (3) is completely removed from the area of ​​the two-finger interface (3-2) on the robotic arm connecting base (3).

5. The connecting device according to claim 1, characterized in that, The locking clip (4-1) has a wedge-shaped structure, and the trapezoidal groove that matches the locking clip (4-1) is the locking groove (5-1).

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

7. The connecting device according to claim 6, characterized in that, The curing adhesive is epoxy resin.

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