Connecting device and automation equipment

Abstract

The invention belongs to the technical field of mechanical arm disassembly and assembly, and discloses a connecting device and automatic equipment. The connecting device comprises a base plate, a rotating piece, a first connector, an unlocking piece and a second connector. The rotating piece is rotationally connected to the base plate. The output end of the driving device is connected with the second connector and can drive the second connector to rotate, the first connector and the second connector are connected in a clamped mode through the buckle and the clamping groove, the first connector can rotate synchronously with the rotating piece and limit the first connector in the axial direction, or the first connector can be disengaged from the rotating piece, and the unlocking piece can rotate along with the rotating piece and get close to or get away from the buckle. The unlocking piece close to the buckle drives the buckle to retract inwards so as to be separated from the clamping groove. The first connector is connected with a load. According to the connecting device and the automatic equipment, manual participation is not needed, and connection and disassembly of the mechanical arm and the tail end load can be automatically achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of mechanical arm disassembly, and particularly relates to a connecting device and an automatic device. BACKGROUND

[0002] The current mechanical arm of an automatic device is connected with an end load basically by using a quick release mechanism, which facilitates quick disassembly and assembly of the mechanical arm and an end execution unit. The end load has various forms. The mechanical arm needs to frequently replace different loads to realize different action requirements. However, there is a problem that in order to ensure the stability and reliability of the connection between the execution unit and the mechanical arm, the execution unit is manually installed in place and then locked by a buckle or other locking device, which limits the ability of the mechanical arm to autonomously switch the end execution unit. At least the replacement of the end load is not fully automated, so that the automatic device cannot realize full automation.

[0003] Therefore, it is urgent to design a connecting device and an automatic device to solve the above problems. SUMMARY

[0004] An object of the present application is to provide a connecting device which can automatically realize the connection and disassembly of a mechanical arm and an end load without manual participation.

[0005] Another object of the present application is to provide an automatic device which can realize full automation.

[0006] To achieve the above objects, the present application adopts the following technical solutions:

[0007] The connecting device comprises:

[0008] a base plate and a rotating member, wherein the rotating member is rotationally connected to the base plate;

[0009] a first joint, an unlocking member, and a driving device, wherein the output end of the driving device is connected with the second joint and can drive the second joint to rotate, the first joint is provided with a clamping groove, the second joint is provided with a buckle, the buckle can be clamped in the clamping groove, the rotating member can synchronously rotate with the first joint and limit the first joint in the axial direction, or the first joint can be separated from the rotating member, the unlocking member can rotate with the rotating member and move towards or away from the buckle, and the unlocking member moving towards the buckle drives the buckle to retract to separate from the clamping groove.

[0010] As an optional solution, the rotating member comprises two first limiting portions and a rotating portion connected between the two first limiting portions, the rotating portion is rotationally connected with the rotating hole of the base plate, the base plate is located between the two first limiting portions, the base plate is further provided with a driving slot, the driving slot is in communication with the rotating hole, the radial dimension of the outer wall of the driving slot gradually increases or decreases in the clockwise direction, the rotating portion is provided with a first sliding slot in the radial direction, the unlocking member is slidingly fitted in the first sliding slot, when the second connector rotates, one end of the unlocking member abuts against the outer wall of the driving slot, and the other end can abut against the buckle.

[0011] As an optional solution, the rotating member forms a channel for the first connector to enter, the end of the channel is convexly formed with a follow-up structure towards the channel, the side wall of the follow-up structure towards the channel is a non-cylindrical surface, the first connector comprises a follow-up portion and two second limiting portions, part of the follow-up portion is shaped to fit the inner side wall of the follow-up structure and can be limited in the follow-up structure, the follow-up structure is clamped between the two second limiting portions, and the unlocking member penetrates through the follow-up structure.

[0012] As an optional solution, the follow-up portion is provided with the clamping groove, and at least part of the unlocking member is located in the clamping groove.

[0013] As an optional solution, the end of the channel corresponds to the position of the first limiting portion and is configured as a semicircle and shaped to fit the second limiting portion.

[0014] As an optional solution, the cross section of the follow-up portion is rectangular, the follow-up structure comprises two convex portions, each convex portion is convexly provided on the rotating portion, the inner sides of the two convex portions are connected and vertically arranged, and the two sides of one corner of the follow-up portion can one-to-one abut against the inner sides of the convex portions.

[0015] As an optional solution, the unlocking member is provided with two, each convex portion is provided with one unlocking member, and the driving slot is one-to-one provided with the unlocking member.

[0016] As an optional solution, the rotating hole has an opening, when the first connector and the second connector are clamped, the first connector can enter the end of the channel through the entrance of the channel and the opening, the rotating member can rotate to the base plate and block part of the channel to limit the first connector in the channel.

[0017] As an optional solution, the first joint and the second joint are clamped after being inserted, one of the two joints is provided with a protruding slide rail, and the other is provided with a second slide groove, and the slide rail and the second slide groove are in sliding fit in the insertion direction.

[0018] The automation equipment comprises a driving device, a load and the connecting device, and the first joint is fixedly connected with the load.

[0019] The present application has the following advantages:

[0020] The present application provides a connecting device, when the mechanical arm needs to be connected with the load, the mechanical arm drives the second joint to be inserted with the first joint to clamp the buckle in the clamping groove, and then the mechanical arm drives the first joint and the second joint to be separated from the rotating member for operation; when the mechanical arm needs to replace the load, the mechanical arm drives the first joint to be combined with the rotating member, so that the rotating member can rotate synchronously with the first joint, at this time, the mechanical arm drives the second joint, the first joint, the rotating member and the unlocking member to rotate synchronously, with the rotation of the unlocking member, the unlocking member is close to the buckle at the same time, so that the buckle is separated from the clamping groove, since the first joint is limited in the axial direction by the rotating member at this time, the mechanical arm drives the second joint to move in the direction away from the first joint in the axial direction, so that the disassembly of the mechanical arm and the load is completed, therefore, the connecting device of the embodiment can realize the connection and disassembly with the load by the movement of the mechanical arm only, and the manual restriction is separated, so that the overall automation level is improved.

[0021] The present application also provides an automation equipment, comprising a driving device, the connecting device and a load, the first joint is fixedly connected with the load, and the second joint is fixedly connected with the output end of the mechanical arm, the automation equipment can realize the overall automation of the equipment by adopting the connecting device. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 is a structural schematic view of the connecting device in the locked state provided by the embodiment of the present application;

[0023] Figure 2 is an exploded view of the connecting device in the locked state provided by the embodiment of the present application;

[0024] Figure 3 is a sectional view of the connecting device in the locked state provided by the embodiment of the present application;

[0025] Figure 4 is a sectional view of the substrate provided by the embodiment of the present application;

[0026] Figure 5 is an exploded view of the rotating member and the unlocking member in the locked state provided by the embodiment of the present application;

[0027] Figure 6Fig. 1 is a structural schematic view of a connecting device in an unlocked state according to an embodiment of the present application;

[0028] Figure 7 Fig. 2 is a sectional view of the connecting device in the unlocked state according to the embodiment of the present application.

[0029] Fig. 1 is a structural schematic view of a connecting device in an unlocked state according to an embodiment of the present application;

[0030] 10, substrate; 11, rotating hole; 111, opening; 12, driving groove;

[0031] 20, rotating member; 21, first limiting part; 22, rotating part;

[0032] 23, first sliding groove; 24, following structure; 241, convex part; 25, passage;

[0033] 30, first joint; 31, following part; 311, clamping groove; 32, second limiting part; 33, second sliding groove; 40, unlocking member;

[0034] 200, second joint; 210, clasp; 220, sliding rail. DETAILED DESCRIPTION

[0035] The present application will be further described below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are intended to be merely illustrative of the present application and not in limitation thereof. It should also be noted that, for the purpose of description, only the parts related to the present application are shown in the drawings rather than all the parts.

[0036] In the description of the present application, unless otherwise explicitly specified and limited, the terms "connected", "connected", "fixed" should be understood in a broad sense, for example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise explicitly specified and limited, the "upper" or "lower" of the first feature to the second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, the "upper", "upper" and "upper" of the first feature to the second feature include that the first feature is directly above and obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The "lower", "lower" and "lower" of the first feature to the second feature include that the first feature is directly below and obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0038] In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like, orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of description and simplification of operation, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first" and "second" are only used to distinguish in description and have no special meaning.

[0039] The present embodiment provides an automated device, which comprises a mechanical arm, a connecting device, and a load, the mechanical arm is connected with different loads through the connecting device, that is, the connecting device can realize the connection and disassembly of the mechanical arm and the load. The existing connecting device needs manual participation when installing or disassembling the load, so that the device cannot realize complete automation.

[0040] In order to solve the above problems, the present embodiment provides a connecting device, which is described as follows Figures 1-3 and Figure 7 The connecting device comprises a base plate 10, a rotating part 20, a first joint 30, an unlocking part 40, and a second joint 200, the rotating part 20 is rotationally connected to the base plate 10; the output end of the driving device is connected with the second joint 200 and can drive the second joint 200 to rotate, the first joint 30 and the second joint 200 are clamped through a buckle 210 and a clamping groove 311, the first joint 30 can rotate synchronously with the rotating part 20 and limit the first joint 30 in the axial direction, or the first joint 30 can be separated from the rotating part 20, the unlocking part 40 can rotate with the rotating part 20 and approach or move away from the buckle 210, the unlocking part 40 approaching the buckle 210 drives the buckle 210 to retract to separate from the clamping groove 311. Wherein, the first joint 30 is connected with the load.

[0041] The above connecting device, when the mechanical arm needs to be connected with the load, the mechanical arm drives the second joint 200 to be inserted with the first joint 30 to make the buckle 210 clamped in the clamping groove 311, and then the mechanical arm drives the first joint 30 and the second joint 200 to separate from the rotating part 20 to operate; when the mechanical arm needs to replace the load, the mechanical arm drives the first joint 30 to combine with the rotating part 20, so that the rotating part 20 can rotate synchronously with the first joint 30, at this time the mechanical arm drives the second joint 200, the first joint 30, the rotating part 20, and the unlocking part 40 to rotate synchronously, with the rotation of the unlocking part 40, the unlocking part 40 approaches the buckle 210 at the same time, so that the buckle 210 separates from the clamping groove 311 Figure 7The first joint 30 is limited in the axial direction by the rotating member 20, the mechanical arm drives the second joint 200 to move in the axial direction away from the first joint 30, and the disassembly of the mechanical arm and the load is completed. Therefore, the connecting device of the embodiment can realize the connection and disassembly of the load by the movement of the mechanical arm, and is free from manual limitation, thereby improving the overall automation level.

[0042] Optionally, as shown in Figures 2-5 The rotating member 20 includes two first limiting portions 21 and a rotating portion 22 connected between the two first limiting portions 21. The rotating portion 22 is rotationally connected with the rotating hole 11 of the base plate 10. The base plate 10 is located between the two first limiting portions 21. The base plate 10 is also provided with a driving groove 12 which is in communication with the rotating hole 11. The radial dimension of the outer wall of the driving groove 12 gradually increases or decreases in the clockwise direction. The rotating portion 22 is provided with a first sliding groove 23 in the radial direction. The unlocking member 40 is slidingly fitted in the first sliding groove 23. When the second joint 200 rotates, one end of the unlocking member 40 abuts against the outer wall of the driving groove 12, and the other end can abut against the buckle 210. Thus, during the rotation of the rotating member 20, the base plate 10 is clamped between the two first limiting portions 21, thereby ensuring that the rotating member 20 is limited in the axial direction. Specifically, the outer diameter of the rotating portion 22 matches the size of the rotating hole 11. Since the radial dimension of the outer wall of the driving groove 12 gradually decreases, the unlocking member 40 is driven by the driving groove 12 to move towards the rotating center while the rotating member 20 rotates, thereby enabling the unlocking member 40 to push the buckle 210 out of the clamping groove 311 and complete the unlocking. Figures 1-5 The relevant diagrams of the locking state are shown in Figures 6-7 The relevant diagrams of the unlocking state are shown in. From the locking state to the unlocking state, the rotating member 20 rotates clockwise. The main reason is that the radial dimension of the driving groove 12 gradually decreases in the clockwise direction. In another embodiment, the radial dimension of the driving groove 12 gradually increases in the clockwise direction. Therefore, the rotating member 20 needs to rotate counterclockwise to switch from the locking state to the unlocking state.

[0043] Optionally, as shown in Figures 2-4, the rotating member 20 forms a channel 25 for the first joint 30 to enter, the end of the channel 25 is convex to the channel 25 to form a following structure 24, the side wall of the following structure 24 towards the channel 25 is a non-cylindrical surface, the first joint 30 includes a following part 31 and two second limiting parts 32, part of the following part 31 is shaped to fit the inner side wall of the following structure 24 and can be limited in the following structure 24, the following structure 24 is clamped between the two second limiting parts 32, and the unlocking member 40 penetrates the following structure 24. Through the above arrangement, the mechanical arm drives the second joint 200 to be clamped with the first joint 30 to enter the locked state, and the mechanical arm drives the second joint 200, the first joint 30 and the load to come out of the channel 25. The arrangement of the following structure 24 can ensure that the first joint 30 can drive the rotating member 20 to rotate when rotating. In the embodiment, as shown in Figure 2 and Figure 5 , the cross section of the following part 31 is rectangular, the following structure 24 includes two convex parts 241, each convex part 241 is convex to the rotating part 22, the inner sides of the two convex parts 241 are connected and arranged vertically, and the two sides of one corner of the following part 31 can be correspondingly abutted to the inner sides of the convex parts 241. In other embodiments, the cross section of the rotating part 22 can also be triangular or other non-cylindrical surface shapes, which are not limited here.

[0044] Optionally, referring to Figure 3 and Figure 7 , the following part 31 is provided with a clamping groove 311, and at least part of the unlocking member 40 is located in the clamping groove 311. In the locked state, one end of the unlocking member 40 is in the clamping groove 311, and after switching to the unlocked state, the unlocking member 40 moves while sliding along the first sliding groove 23 and the clamping groove 311, so as to ensure that the unlocking member 40 can abut to the buckle 210 accurately. In addition, based on this arrangement, when the buckle 210 is clamped with the clamping groove 311, the mechanical arm should drive the second joint 200 to rotate in the axial direction and the counterclockwise direction at the same time, so that the unlocking member 40 is popped out, and the other end of the unlocking member 40 has a pop-out space in the driving groove 12. And when the buckle 210 is clamped, it cannot exceed the radial range of the clamping groove 311, so as to ensure that in the locked state, part of the unlocking member 40 can still be left in the clamping groove 311. It can be understood that in another embodiment, in the locked state, the end of the unlocking member 40 is outside the clamping groove 311, and this way may cause the unlocking member 40 to interfere with the clamping groove 311 when it approaches the buckle 210 in the radial direction, causing jamming.

[0045] Optionally, as shown in Figure 3As shown, the unlocking piece 40 is provided with two, and each protrusion 241 is provided with one unlocking piece 40, and the driving slot 12 is provided one by one with the unlocking piece 40. Through the above setting, the driving force of unlocking can be improved. It should be noted that in the present embodiment, the buckle 210 of the second joint 200 is provided with four, and the four buckles 210 are driven to be unlocked by the unlocking piece 40. Although the other two buckles 210 are not driven, the four buckles 210 have a linkage effect, one of which is driven to be retracted, and the remaining buckles 210 are retracted at the same time. The four buckles 210 can still be guaranteed to be pulled out of the corresponding clamping groove 311, and the linkage setting is more common at the end of the mechanical arm, which will not be repeated here.

[0046] Optionally, as shown in Figure 2 , the end of the channel 25 corresponds to the position of the first limiting portion 21 and is configured as a semicircle and adapts to the shape of the second limiting portion 32. During the installation of the first joint 30, the second limiting portion 32 is larger in radial size than the rotating portion 22, and the large size portion is just embedded with the two protrusions 241, which ensures that the rotating piece 20 is limited in the axial direction. The semicircular setting of the end of the channel 25 facilitates the first joint 30 to enter from the inside of the channel 25.

[0047] Of course, the shape of the second limiting portion 32 can also be non-circular, as long as the radial size is larger than the size of the follower 31.

[0048] Optionally, as shown in Figure 3 , Figure 4 , and Figure 7 , the rotating hole 11 has an opening 111, and when the first joint 30 and the second joint 200 are clamped, the first joint 30 can enter the end of the channel 25 through the entrance of the channel 25 and the opening 111, and the rotating piece 20 can be rotated to the base plate 10 and block part of the channel 25 to limit the first joint 30 in the channel 25. In this way, it can be ensured that after unlocking, the first joint 30 can be fixed in position on the rotating piece 20 and cannot be pulled out. It should be noted that the corresponding central angle of the opening 111 is less than 180°, so as to ensure that the rotating piece 20 will not be pulled out from the position of the opening 111 during rotation. Among them, the rotating piece 20 can be configured to be detachable, which is convenient for installation with the base plate 10. Exemplarily, one of the first limiting portion 21 and the rotating portion 22 can be detached to meet the installation with the base plate 10.

[0049] Optionally, as shown in Figure 2As shown, the first joint 30 and the second joint 200 are connected by inserting and then clamping, one of the two is provided with a slide rail 220, and the other is provided with a second slide groove 33, the slide rail 220 and the second slide groove 33 are slidingly matched in the inserting direction. In this way, the second joint 200 can be conveniently aligned with the first joint 30 and inserted into place, and at the same time, the rotation of the second joint 200 driving the first joint 30 is assisted.

[0050] The embodiment also provides an automatic device, which comprises a driving device, a load and the connecting device, the first joint 30 is fixedly connected with the load, and the second joint 200 is fixedly connected with the output end of the mechanical arm. By using the connecting device, the automatic device can be fully automated. In the embodiment, the driving device is a mechanical arm, and in other embodiments, the driving device can also be a combination of a linear driving element and a rotary driving element, which is not limited here.

[0051] In actual use, the substrate 10 is fixed, and the entire connecting device is in an unlocked state, that is Figure 6 and Figure 7 The mechanical arm drives the second joint 200 to insert into the first joint 30 and simultaneously rotates counterclockwise in the drawing, and as the buckle 210 is clamped into place with the clamping groove 311, the unlocking piece 40 is pushed outwards, and the state is switched to Figure 3 At this time, the entrance of the channel 25 coincides with the opening 111 of the rotating hole 11, and the mechanical arm can take the entire device out of the channel 25; when the load needs to be replaced, the device needs to be unlocked, the first joint 30 enters the channel 25, and the reverse operation can be performed, and finally the first joint 30 is left in the channel 25 as shown in Figure 7 for next use.

[0052] Obviously, the above embodiments of the present application are only examples for clearly illustrating the present application, and are not intended to limit the implementation modes of the present application. For those skilled in the art, various obvious changes, re-adjustments and replacements can be made without departing from the protection scope of the present application. It is unnecessary and impossible to enumerate all the implementation modes here. Any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the claims of the present application.

Claims

1. A connecting device, characterized in that, include: A substrate (10) and a rotating member (20), wherein the rotating member (20) is rotatably connected to the substrate (10); The first connector (30) and the unlocking component (40) are connected at the output end of the driving device to the second connector (200) and can drive the second connector (200) to rotate. The first connector (30) is provided with a slot (311), and the second connector (200) is provided with a buckle (210). The buckle (210) can be engaged in the slot (311). The rotating component (20) can rotate synchronously with the first connector (30) and keep the first connector (30) at an axial upper limit, or the first connector (30) can disengage from the rotating component (20). The unlocking component (40) can rotate with the rotating component (20) and move closer to or away from the buckle (210). The unlocking component (40) moving closer to the buckle (210) drives the buckle (210) to retract inward to disengage from the slot (311).

2. The connecting device according to claim 1, characterized in that, The rotating member (20) includes two first limiting parts (21) and a rotating part (22) connected between the two first limiting parts (21). The rotating part (22) is rotatably connected to the rotating hole (11) opened on the substrate (10). The substrate (10) is located between the two first limiting parts (21). The substrate (10) also has a driving groove (12). The driving groove (12) communicates with the rotating hole (11). The radial dimension of the outer wall of the driving groove (12) gradually increases or decreases in the clockwise direction. The rotating part (22) has a first sliding groove (23) opened in the radial direction. The unlocking member (40) is slidably fitted in the first sliding groove (23). When the second connector (200) rotates, one end of the unlocking member (40) abuts against the outer wall of the driving groove (12), and the other end abuts against the buckle (210).

3. The connecting device according to claim 2, characterized in that, The rotating member (20) forms a channel (25) for the first connector (30) to enter. The end of the channel (25) protrudes into the channel (25) to form a follower structure (24). The sidewall of the follower structure (24) facing the channel (25) is a non-columnar surface. The first connector (30) includes a follower part (31) and two second limiting parts (32). Part of the follower part (31) is adapted to the shape of the inner sidewall of the follower structure (24) and can be limited to the follower structure (24). The follower structure (24) is sandwiched between the two second limiting parts (32). The unlocking member (40) penetrates the follower structure (24).

4. The connecting device according to claim 3, characterized in that, The follower (31) has a slot (311) and at least part of the unlocking member (40) is located in the slot (311).

5. The connecting device according to claim 3, characterized in that, The end of the channel (25) is constructed in a semi-circular shape corresponding to the position of the first limiting part (21) and is adapted to the shape of the second limiting part (32).

6. The connecting device according to claim 3, characterized in that, The cross-section of the follower part (31) is rectangular. The follower structure (24) includes two protrusions (241), each of which protrudes from the rotating part (22). The inner sides of the two protrusions (241) are connected and arranged perpendicularly. The two sides of one corner of the follower part (31) can abut against the inner side of the protrusion (241) in a corresponding manner.

7. The connecting device according to claim 6, characterized in that, Two unlocking components (40) are provided, and each of the protrusions (241) is provided with one unlocking component (40). The drive groove (12) is provided with one unlocking component (40) in a one-to-one correspondence.

8. The connecting device according to claim 3, characterized in that, The rotating hole (11) has an opening (111). When the first connector (30) and the second connector (200) are engaged, the first connector (30) can enter the end of the channel (25) through the entrance of the channel (25) and the opening (111). The rotating member (20) can rotate to the substrate (10) and block part of the channel (25) to confine the first connector (30) within the channel (25).

9. The connecting device according to any one of claims 1-7, characterized in that, The first connector (30) and the second connector (200) are snapped together after being plugged in. One of the first connector (30) and the second connector (200) is provided with a slide rail (220), and the other is provided with a second slide groove (33). The slide rail (220) and the second slide groove (33) slide in the plugging direction.

10. An automated device, characterized in that, Includes a drive unit, a load, and a connection device as described in any one of claims 1-9, wherein the first connector (30) is fixedly connected to the load.

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