A docking flange and working method suitable for a robot and an end tool

Abstract

The application relates to the technical field of connecting devices, and provides a docking flange suitable for a robot and a terminal tool and a working method, the docking flange comprising a mechanical arm and a tool, the end of the mechanical arm being provided with a mounting ring, the end of the mechanical arm being provided with a leveling ring, a connecting rod being slidably arranged on the mounting ring, the end, away from the mounting ring, of the connecting rod being hinged to the leveling ring, a support being slidably arranged on the connecting rod, the bottom of the support abutting against the top of the leveling ring; an elastic assembly being arranged on the connecting rod, an elastic sensor being arranged on the connecting rod, the elastic sensor being used for detecting the elastic force of the elastic assembly; a rotating piece for driving the mounting ring to rotate being arranged on the end of the mechanical arm, the end of the mechanical arm being provided with a first connecting piece, a second connecting piece matched with the first connecting piece being arranged on the tool, and the working method adopts the above docking flange for docking, and the docking precision of the robot and the terminal tool can be improved.

Description

Technical Field

[0001] This invention relates to the field of connection equipment technology, and more specifically, to a docking flange and operation method suitable for robots and end-effectors. Background Technology

[0002] The content in this section only provides background information related to this invention and may not constitute prior art.

[0003] As automated transfer or transport tools, robots often need to be used in conjunction with various end-effectors to complete tasks such as welding, grinding, and gripping. The tools are usually stored in dedicated storage locations within the robot's operating range. The robot needs to automatically grab the corresponding tools before the operation and return them to the storage locations after the operation. Therefore, the rapid and reliable docking between end-effectors of the robot has become a key link in realizing automated operations. A docking flange that combines tolerance and positioning accuracy is of great significance for improving the operational flexibility and adaptability of robot systems.

[0004] Currently, the most common types of flanges used in manufacturing are pneumatic flanges and mechanical flanges. Pneumatic flanges rely on compressed air to drive the extension and retraction of grippers or pins to enable robots to grasp and lock with tools. They require an external air source and control valve group. Mechanical flanges, on the other hand, use a structure that combines a positioning pin with a positioning groove. The robot end effector pushes the tool to force the pin into the limiting groove, while a spring provides preload to achieve locking. The operation process usually requires the robot end effector to approach the tool with high precision to complete the insertion and removal action.

[0005] However, the above-mentioned technologies have the following drawbacks: mechanical flanges have high requirements for the initial positioning accuracy between the robot end effector and the tool storage position, and are difficult to adapt to large-range errors under complex and variable working conditions. When the robot end effector pose deviation is large due to uneven ground, load deformation or visual errors, the positioning pin is often difficult to insert smoothly into the positioning slot, and collision jamming or docking failure is very likely to occur, which to some extent restricts the reliability of the robot's autonomous operation in unstructured environments. Summary of the Invention

[0006] To address the aforementioned technical problems, the present invention aims to provide a docking flange and operation method suitable for robots and end-effectors, which can improve the docking accuracy between robots and end-effectors.

[0007] The objective of this invention is achieved through the following technical solution:

[0008] On the one hand, the present invention provides a docking flange suitable for robots and end-effectors.

[0009] A docking flange suitable for robots and end-effectors includes a robotic arm and a tool. The robotic arm has a rotatable mounting ring and a leveling ring at its end. Two connecting rods are slidably mounted on the mounting ring, symmetrically positioned on either side of the mounting ring. The end of each connecting rod away from the mounting ring is hinged to the leveling ring. A support member is slidably mounted on each connecting rod along its length, with its bottom abutting against the top of the leveling ring. An elastic component is mounted on each connecting rod to drive the support member toward the leveling ring. An elastic sensor is mounted on each connecting rod to detect the elastic force of the elastic component. A rotating component is located at the end of the robotic arm to rotate the mounting ring. A first connecting member is located at the end of the robotic arm, and a second connecting member is mounted on the tool to mate with the first connecting member.

[0010] In some possible embodiments, a mounting portion is fixedly provided on the outer wall of the mounting ring in the vertical direction. The top of the connecting rod is rotatably connected to a support rod via a first mounting shaft. The end of the support rod away from the connecting rod is slidably disposed on the mounting portion in the vertical direction. The bottom of the connecting rod is hinged to the leveling ring via a second mounting shaft. The axis of the first mounting shaft and the axis of the second mounting shaft are perpendicular to each other. A limiting component is provided on the mounting portion, and the limiting component is used to limit the position of the support rod on the mounting portion.

[0011] In some possible embodiments, the mounting part has a vertical groove, a slide rod is fixedly installed in the vertical direction in the groove, a slider is slidably installed in the groove, the slider is slidably sleeved on the slide rod, the slider is fixedly connected to the end of the support rod away from the connecting rod, and the limiting component is used to limit the position of the slider in the groove.

[0012] In some possible embodiments, the limiting component includes a limiting rod, a first limiting tooth, and a second limiting tooth. Mounting grooves are formed on both the left and right sidewalls of the slide groove along its length. Two limiting rods are provided, each positioned within a different mounting groove. The length direction of the limiting rods is parallel to the length direction of the mounting grooves. The two limiting rods are located on opposite sides of the slider. A plurality of first limiting teeth are evenly distributed along the length direction of the limiting rod on the sidewall of the limiting rod near the slider. A plurality of second limiting teeth are evenly distributed on the sidewall of the slider near the limiting rod. The first and second limiting teeth mesh with each other. A driving component is provided on the mounting ring, which drives the limiting rods to move towards or away from each other.

[0013] In some possible embodiments, the mounting ring has a receiving groove, which is connected to the sliding groove and the mounting groove; the driving assembly includes a drive motor and a lead screw, the lead screw is rotatably disposed in the receiving groove along the length direction of the receiving groove, a connecting block is slidably disposed in the receiving groove, two connecting blocks are provided, the two connecting blocks are respectively fixedly connected to two limit rods one-to-one, the two ends of the lead screw have threaded grooves with opposite directions of rotation, the two connecting blocks are respectively threaded onto the two ends of the lead screw, the drive motor is fixedly disposed on the mounting ring, and the output shaft of the drive motor is drivenly connected to the lead screw.

[0014] In some possible embodiments, a strip groove is formed at the bottom of the connecting rod along its length, and a strip block is provided in the strip groove. The strip block is fixedly connected to the support member. The elastic component includes a first elastic element and a second elastic element. A guide rod is fixedly arranged in the strip groove along the vertical direction. The strip block is slidably sleeved on the guide rod. The first elastic element and the second elastic element are respectively arranged on the upper and lower sides of the strip block. The elastic sensor is arranged at the end of the first elastic element and the second elastic element away from the strip block.

[0015] In some possible embodiments, the support includes two support rods, which are respectively disposed on both sides of the connecting rod. The tops of the two support rods are fixedly connected by a connecting frame, which is slidably sleeved on the connecting rod and fixedly connected to the strip block. A support plate is fixedly disposed at the bottom of the support rod, and the cross-sectional area of ​​the support plate is larger than that of the support rod.

[0016] In some possible embodiments, the first connector has a first connecting groove, a connecting claw is rotatably disposed in the first connecting groove, a third elastic member is disposed in the first connecting groove, the third elastic member acts on the connecting claw to keep the connecting claw in the position in the first connecting groove, and the second connector has a second connecting groove for the connecting claw to engage.

[0017] On the other hand, the present invention also provides a method for docking robots with end-effectors.

[0018] A method for docking robots with end-effectors, using the above-described docking flange, is described below:

[0019] S1. The robotic arm moves above the tool to be connected, and the elastic force value measured by the elastic sensor is zeroed. The operator uses manual vision to initially level the end of the robotic arm with the tool.

[0020] S2. Start the drive assembly to move the limit rods toward each other, so that the first limit tooth and the second limit tooth mesh together to limit the position of the slider in the groove. Then drive the end of the robotic arm to move along the length of the robotic arm so that the bottom of the leveling ring abuts against the top of the tool to be connected.

[0021] S3. Measure the elastic forces of two elastic components that are symmetrically distributed on the leveling ring using an elastic sensor, and record them as F1 and F2 respectively.

[0022] S4. Start or stop the rotating component based on the difference between F1 and F2;

[0023] S5. Start the robotic arm and rotate it around the axis of the second mounting shaft until the difference between F1 and F2 is 0, thus completing the leveling process.

[0024] S6. Start the drive assembly to move the limit rod in a direction away from each other, so that the limit rod is out of contact with the slider, so that the slider can move in the groove. Start the robot arm and drive the end of the robot arm to move along the length of the robot arm. The first connector and the second connector are used to complete the docking of the end of the robot arm with the tool.

[0025] In some possible embodiments, S4, starting or stopping the rotating member based on the difference between F1 and F2, includes:

[0026] S41. After the leveling ring comes into contact with the top of the tool, record the difference between F1 and F2 as X.

[0027] S42. As the robotic arm continues to move, start the rotating part to rotate clockwise. If X increases, start the rotating part to rotate counterclockwise. Find the position where X is 0 and then stop the rotating part.

[0028] S43. If X continues to decrease, start the rotating component to rotate clockwise until X is found to be 0, then stop the rotating component.

[0029] In summary, the technical solutions of the embodiments of the present invention have at least the following advantages and beneficial effects:

[0030] 1. By setting up two axisymmetrically distributed connecting rods, sliding support components, and elastic sensors for detecting elastic force, the force state on both sides of the leveling ring can be obtained in real time during the docking process. The rotating components are then driven to make adjustments based on the difference in elastic force, which effectively improves the docking accuracy between the end of the robotic arm and the tool. To a certain extent, it reduces the dependence on the initial positioning accuracy of the robot and reduces the risk of jamming or docking failure caused by posture deviation.

[0031] 2. By setting a sliding groove, a slider, and a limiting component on the mounting part, and cooperating with the drive component to move the limiting rod to achieve the engagement or disengagement of the first limiting tooth and the second limiting tooth, the position of the support rod on the mounting part can be locked or released according to the needs of the docking stage. This ensures the flexible movement of the connecting rod during the leveling process and provides stable structural support after docking, effectively improving the reliability and structural stability of the docking process.

[0032] 3. A strip groove, a strip block, and a first elastic element and a second elastic element are set at the bottom of the connecting rod and on the upper and lower sides of the strip block, respectively. An elastic sensor is set at the end of the elastic element away from the strip block, so that the support can obtain bidirectional elastic feedback when it is moved under force. The elastic sensor can accurately detect the change of elastic force, providing reliable data for the start, stop and steering control of the rotating part, which is conducive to achieving precise automatic leveling operation.

[0033] 4. The operation method forms a complete closed-loop adjustment process by zeroing the sensor value, releasing the limit component, measuring the spring force difference at the axisymmetric position, controlling the adjustment of the rotating part based on the difference, and finally completing the docking. This allows the robotic arm to achieve automatic fine adjustment on the basis of the initial leveling by human vision, which effectively improves the automation and consistency of the docking operation and helps to improve the robot's operating efficiency under complex working conditions. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0035] Figure 2 This is a partial cross-sectional view of the mounting ring according to an embodiment of the present invention;

[0036] Figure 3 This is a schematic diagram of the structure of the limiting component according to an embodiment of the present invention;

[0037] Figure 4 This is a cross-sectional view of the connecting rod and the strip groove according to an embodiment of the present invention;

[0038] Figure 5 This is a cross-sectional view of the first connector and the second connector according to an embodiment of the present invention.

[0039] Icons: 1. Robotic arm; 11. Tool; 12. First connector; 13. Second connector; 2. Mounting ring; 21. Leveling ring; 22. Connecting rod; 23. Support component; 24. Support plate; 3. Elastic component; 31. First elastic component; 32. Second elastic component; 301. Elastic sensor; 4. Mounting part; 41. First mounting shaft; 42. Support rod; 43. Second mounting shaft; 44. Slide groove; 45. Slide rod; 46. 47. Slider; 58. Receiving groove; 59. Limiting component; 50. Limiting rod; 51. First limiting tooth; 52. Second limiting tooth; 53. Mounting groove; 54. Drive component; 55. Drive motor; 56. Lead screw; 57. Connecting block; 58. Connecting frame; 69. Strip groove; 60. Strip block; 61. Guide rod; 72. First connecting groove; 73. Connecting claw; 74. Third elastic element; 75. Second connecting groove; 76. Rotating shaft. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0041] The following is for reference Figures 1 to 5 The present invention will be described in further detail below.

[0042] On one hand, the present invention provides a docking flange suitable for robots and end-effectors.

[0043] Reference Figure 1 and Figure 2 A docking flange suitable for robots and end-effectors includes a robotic arm 1 and a tool 11. The robotic arm 1 has a mounting ring 2 rotatably mounted at its end and a leveling ring 21 mounted at its end. The leveling ring 21 is used to contact the top surface of the tool 11 during the initial docking stage to sense the relative angle between the two. Two connecting rods 22 are slidably mounted on the mounting ring 2 along the vertical direction. The two connecting rods 22 are axially symmetrically located on both sides of the mounting ring 2. The end of the connecting rod 22 away from the mounting ring 2 is hinged to the leveling ring 21. A support member 23 is slidably mounted on each connecting rod 22 along its length direction. The bottom of the support member 23 is used to abut against the top of the leveling ring 21.

[0044] Two axisymmetrically distributed connecting rods 22 and support members 23 constitute a double-fulcrum support system. When the leveling ring 21 contacts the tool 11 and is subjected to uneven pressure, the two support members 23 will slide to different degrees on the connecting rods 22 due to different forces. The axisymmetric layout can transform the tilt state of the leveling ring 21 into the differential changes in the positions of the two support members 23, thus providing a physical basis for subsequent precise adjustment and effectively transforming the spatial attitude problem into a measurable displacement and force signal problem.

[0045] like Figure 1 As shown, there is a significant angular difference between the tool 11 and the leveling ring 21 at this time. This angular difference is usually caused by uneven ground, load deformation or human visual error, resulting in a large positional deviation between the tool 11 and the leveling ring 21.

[0046] Reference Figure 3 and Figure 4 An elastic component 3 is provided on the connecting rod 22. The elastic component 3 is used to drive the support 23 to move toward the leveling ring 21. An elastic sensor 301 is provided on the connecting rod 22. The elastic sensor 301 is used to detect the elastic force of the elastic component 3.

[0047] Reference Figure 5 The robotic arm 1 has a rotating component (not shown in the figure) at its end for driving the mounting ring 2 to rotate. A first connecting component 12 is also provided at the end of the robotic arm 1, and a second connecting component 13 adapted to the first connecting component 12 is provided on the tool 11. In one embodiment of the invention, the rotating component can be configured as a rotary motor. The rotating component can be fixedly mounted to the end of the robotic arm 1 with bolts, and its output shaft can be connected to the mounting ring 2 via chain drive, belt drive, or gear drive, thereby driving the mounting ring 2 to rotate at the end of the robotic arm 1.

[0048] Reference Figure 2 and Figure 3 A mounting part 4 is fixedly provided on the outer wall of the mounting ring 2 in the vertical direction. The top of the connecting rod 22 is rotatably connected to the support rod 42 through the first mounting shaft 41. The end of the support rod 42 away from the connecting rod 22 is slidably provided on the mounting part 4 in the vertical direction. The bottom of the connecting rod 22 is hinged to the leveling ring 21 through the second mounting shaft 43. In terms of spatial orientation, the axis of the first mounting shaft 41 and the axis of the second mounting shaft 43 are perpendicular to each other. A limiting component 5 is provided on the mounting part 4. The limiting component 5 is used to limit the position of the support rod 42 on the mounting part 4.

[0049] Through the two rotating joints of the first mounting shaft 41 and the second mounting shaft 43, and the sliding joint of the support rod 42 on the mounting part 4, a kinematic chain with a specific degree of freedom is formed. The design of the first mounting shaft 41 and the second mounting shaft 43 being perpendicular to each other allows the connecting rod 22 to adapt to the posture changes of the leveling ring 21 in two orthogonal directions. This allows the leveling ring 21 to adaptively adjust according to the actual tilt angle of the top of the tool 11. The introduction of the limiting component 5 can lock the kinematic chain after the angle adjustment is completed, providing rigid support for the subsequent docking insertion action and effectively preventing docking failure due to position changes during the insertion process.

[0050] like Figure 2 and Figure 3 As shown, a groove 44 is provided on the mounting part 4 along the vertical direction. A slide rod 45 is fixedly installed in the groove 44 along the vertical direction. A slider 46 is slidably installed in the groove 44. The slider 46 is slidably sleeved on the slide rod 45. The slider 46 is fixedly connected to the end of the support rod 42 away from the connecting rod 22. The limiting component 5 is used to limit the position of the slider 46 in the groove 44.

[0051] The sliding engagement between slider 46 and slide rod 45 ensures that the movement path of the end of support rod 42 is a vertical straight line, thereby ensuring the consistency of the movement of the top of connecting rod 22. It can effectively withstand the lateral force generated during docking and avoid the support rod 42 from jamming or bending deformation due to uneven force. To a certain extent, it improves the movement stability and structural durability of the entire adjustment mechanism.

[0052] As one embodiment of the present invention, refer to Figure 2 and Figure 3 The limiting component 5 includes a limiting rod 51, a first limiting tooth 52, and a second limiting tooth 53. Mounting grooves 54 are provided on both the left and right sidewalls of the slide groove 44 along its length. Two limiting rods 51 are provided, each located within one mounting groove 54. The length of the limiting rods 51 is parallel to the length of the mounting grooves 54. The two limiting rods 51 are located on opposite sides of the slider 46. The first limiting tooth 52 is located on the sidewall of the limiting rod 51 near the slider 46, and multiple first limiting teeth 52 are evenly distributed along the length of the limiting rod 51. The second limiting tooth 53 is located on the sidewall of the slider 46 near the limiting rod 51, and multiple second limiting teeth 53 are evenly distributed. The first limiting tooth 52 and the second limiting tooth 53 mesh with each other. A driving component 55 is provided on the mounting ring 2. The driving component 55 is used to drive the limiting rods 51 to move towards or away from each other.

[0053] Compared to single friction locking or pin hole positioning, the toothed meshing limiting method has higher locking reliability and positioning accuracy. Through the mutual meshing of multiple teeth, the vertical load borne by the slider 46 can be distributed to each tooth surface, effectively avoiding deformation or damage caused by excessive local stress. The drive component 55 can realize the active control of the limit rod 51, so that the locking and releasing operation of the slider 46 can be precisely matched with the operation steps, which is conducive to realizing the automated control of the docking process.

[0054] Reference Figure 2 and Figure 3 The mounting ring 2 has a receiving groove 47, which is connected to the sliding groove 44 and the mounting groove 54.

[0055] As one embodiment of the present invention, refer to Figure 2 and Figure 3 The drive assembly 55 includes a drive motor 56 and a lead screw 57. The lead screw 57 is rotatably disposed in the receiving groove 47 along the length direction of the receiving groove 47. A connecting block 58 is slidably disposed in the receiving groove 47. There are two connecting blocks 58, and the two connecting blocks 58 are respectively fixedly connected to the two limiting rods 51 one by one. The two ends of the lead screw 57 are provided with threaded grooves with opposite directions of rotation. The two connecting blocks 58 are respectively threaded onto the two ends of the lead screw 57. The drive motor 56 is fixedly disposed on the mounting ring 2, and the output shaft of the drive motor 56 is connected to the lead screw 57 for transmission.

[0056] The rotational motion of the drive motor 56 is converted into the linear opposing or opposite motion of the two limit rods 51 through the lead screw 57. Since the two threads rotate in opposite directions, when the lead screw 57 rotates, the two connecting blocks 58 will move towards the middle or separate towards both ends at the same time, ensuring the synchronicity and consistency of the actions of the two limit rods 51, thereby ensuring that the locking force on both sides of the slider 46 is uniform. This driving method has a self-locking characteristic, which can effectively maintain the position of the limit rods 51 after the motor stops rotating, preventing the limit teeth from accidentally disengaging due to vibration or external force, thus improving the safety of the system.

[0057] Reference Figure 3 and Figure 4 The bottom of the connecting rod 22 is provided with a strip groove 6 along the length of the connecting rod 22, and a strip block 61 is provided in the strip groove 6. The strip block 61 is fixedly connected to the support member 23.

[0058] like Figure 4 As shown, the elastic component 3 includes a first elastic element 31 and a second elastic element 32. A guide rod 62 is fixedly arranged in the vertical direction in the strip groove 6. The strip block 61 is slidably sleeved on the guide rod 62. The first elastic element 31 and the second elastic element 32 are respectively arranged on the upper and lower sides of the strip block 61. The elastic sensor 301 is arranged at the end of the first elastic element 31 and the second elastic element 32 away from the strip block 61.

[0059] In one embodiment of the present invention, the first elastic element 31 and the second elastic element 32 are configured as springs, and both the first elastic element 31 and the second elastic element 32 are sleeved on the guide rod 62.

[0060] Reference Figure 4 The support member 23 includes two support rods, which are respectively located on both sides of the connecting rod 22. The tops of the two support rods are fixedly connected by a connecting frame. The connecting frame is slidably sleeved on the connecting rod 22 and is fixedly connected to the strip block 61. A support plate 24 is fixedly installed at the bottom of the support rod. The cross-sectional area of ​​the support plate 24 is larger than that of the support rod.

[0061] By connecting the two support rods into a whole by setting a connecting frame, the sliding of the support 23 on the connecting rod 22 is more stable and less prone to deflection. The fixed connection between the connecting frame and the strip block 61 ensures the directness and reliability of the force transmission path. The support plate 24 with a larger area is set at the bottom of the support rod, which can effectively reduce the contact pressure when it contacts the top of the leveling ring 21, avoiding damage to the surface of the leveling ring 21 due to local pressure concentration or deformation of the end of the support rod due to stress concentration, effectively improving the service life and contact stability of the components.

[0062] Reference Figure 1 and Figure 5 The first connector 12 has a first connecting groove 7, a connecting claw 71 is rotatably disposed in the first connecting groove 7, and a third elastic member 72 is disposed in the first connecting groove 7. The third elastic member 72 acts on the connecting claw 71 to keep the connecting claw 71 in the position within the first connecting groove 7. The second connector 13 has a second connecting groove 73 for the connecting claw 71 to be engaged.

[0063] As one embodiment of the present invention, refer to Figure 5 The third elastic element 72 is a torsion spring. A rotating shaft 74 is rotatably installed in the first connecting groove 7. The connecting claw 71 is fixedly connected to the rotating shaft 74. The side wall of the connecting claw 71 away from the central axis of the first connecting member 12 is inclined. Specifically, the inclined direction is from bottom to top and gradually outward. During the process of the first connecting member 12 being inserted into the second connecting member 13, the inclined side wall of the connecting claw 71 will slide and abut against the second connecting member 13, thereby causing the connecting claw 71 to deflect towards the first connecting groove 7. After the first connecting member 12 is fully inserted into the second connecting member 13, that is, after the end of the robotic arm 1 is flanged with the tool 11, the first connecting groove 7 and the second connecting groove 73 are connected. At this time, the connecting claw 71 can be screwed into the second connecting groove 73 under the action of the third elastic element 72, realizing the connection and fixation between the end of the robotic arm 1 and the tool 11.

[0064] On the other hand, the present invention also provides a method for docking robots with end-effectors.

[0065] A method for docking robots with end-effectors, using the above-described docking flange, is described below:

[0066] S1. Control the robotic arm 1 to move to the position above the tool 11 to be connected. Before the operation starts, the elastic force value measured by the elastic sensor 301 is zeroed to eliminate the initial zero position deviation.

[0067] Zeroing the sensor effectively eliminates measurement errors caused by factors such as temperature drift, sensor zero-point offset, or installation preload, ensuring the consistency of all subsequent measurement data. Introducing preliminary leveling using human vision allows for the rapid elimination of large and obvious positional deviations by leveraging human judgment before automatic fine-tuning. This reduces the travel and time required for automatic adjustment and improves overall operational efficiency.

[0068] S2. Start the drive assembly 55 to move the limit rod 51 toward each other, so that the first limit tooth 52 and the second limit tooth 53 engage to limit the position of the slider 46 in the slide groove 44. Then, drive the end of the robotic arm 1 to move along the length of the robotic arm 1 so that the bottom of the leveling ring 21 abuts against the top of the tool to be connected 11.

[0069] Locking the slider 46 before the leveling ring 21 contacts the tool 11 allows the connecting rod 22, the support rod 42, and the mounting part 4 to form a rigid polygonal structure. This ensures that when the leveling ring 21 contacts the tool 11 and is subjected to a reaction force, the reaction force can be effectively transmitted through the rigid structure. This avoids sensor reading distortion or structural instability caused by accidental sliding of moving parts in the early stage of force application, providing a stable foundation for obtaining accurate force data in the future.

[0070] S3. Measure the elastic force of the two elastic components 3 that are symmetrically distributed on the leveling ring 21 using the elastic sensor 301, and record them as F1 and F2 respectively.

[0071] By reading the elastic force values ​​at symmetrical positions, the tilt direction and degree of the leveling ring 21 can be quantified into two specific values. When there is an angular deviation between the leveling ring 21 and the top of the tool 11, the values ​​measured by the two sensors will show obvious differences, providing clear feedback basis for the automatic control system, and turning the originally invisible posture deviation into a calculable and comparable data variable.

[0072] S4. Based on the difference between F1 and F2, start or stop the rotating component. By analyzing the difference in elastic force, the control system can determine which side of the leveling ring 21 is under greater force, thereby determining the current tilt direction. Based on this difference, start or stop the rotating component, making the adjustment action have a clear target orientation, avoiding the time waste and uncertainty caused by blind adjustment, and effectively improving the pertinence and efficiency of the adjustment process.

[0073] S5. Start the robotic arm 1 and rotate it around the axis of the second mounting shaft 43 until the difference between F1 and F2 is 0, thus completing the leveling. The final fine adjustment is completed by using the joint movement capability of the robotic arm 1 itself, without the need for an additional complex posture adjustment mechanism, which effectively simplifies the equipment structure. When the difference between F1 and F2 is zero, it indicates that the reaction forces from the leveling ring 21 on the two support members 23 are completely equal and balanced. This is the accurate criterion for the completion of leveling, avoiding the error caused by visual judgment alone, and ensuring the parallelism of the mating surfaces to a certain extent.

[0074] S6. Start the drive assembly 55 to move the limit rod 51 in a direction away from each other, so that the limit rod 51 is disengaged from the slider 46, so that the slider 46 can move in the slide groove 44. Start the robotic arm 1, and drive the end of the robotic arm 1 to move along the length of the robotic arm 1. The end of the robotic arm 1 is connected to the tool 11 through the first connector 12 and the second connector 13.

[0075] After precise leveling is completed, the locking of the limiting component 5 is released, allowing the connection between the connecting rod 22 and the leveling ring 21 to return to an active state. This ensures that during the final insertion and docking process, even if additional lateral forces are generated between the leveling ring 21 and the tool 11 due to friction or slight misalignment, these forces can be adaptively absorbed and released through the movable joint of the connecting rod 22. This avoids jamming or interference that may occur under rigid connection, effectively protects the components of the docking flange, and ensures a smooth insertion process.

[0076] In step S4, the rotating component is started or stopped based on the difference between F1 and F2, including:

[0077] S41. After the leveling ring 21 comes into contact with the top of the tool 11, record the difference between F1 and F2 as X.

[0078] S42. During the continued movement of the robotic arm 1, start the rotating part to rotate clockwise. If X increases, it means that the current rotation direction has aggravated the tilt of the leveling ring 21. At this time, the rotating part should be controlled to rotate in the opposite direction, that is, to rotate counterclockwise, until the balance position where the difference X is zero is found, and then the rotating part is turned off.

[0079] S43. If X continues to decrease, it means that the current rotation direction helps to reduce the tilt. Therefore, control the rotating part to continue rotating in the clockwise direction until the position where the difference X is zero is found, and then turn off the rotating part.

[0080] Through the above control logic, the system can quickly determine the correct adjustment direction by performing a simple unidirectional trial rotation and analyzing the trend of the difference change without knowing the specific tilt direction of the tool 11 in advance. This control method has strong adaptability, does not require complex initial posture calibration, and can effectively cope with position deviations in various random directions. In the process of finding the balance point, the strategy of continuously monitoring the difference and making real-time judgments can effectively prevent the system from oscillating due to over-adjustment, thus ensuring the stability and convergence speed of the leveling process.

[0081] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A docking flange suitable for robots and end-effectors, comprising a robotic arm (1) and a tool (11), characterized in that: The robotic arm (1) is provided with a first connector (12) at its end, and the tool (11) is provided with a second connector (13) that is compatible with the first connector (12). The first connector (12) has a first connecting groove (7), a connecting claw (71) is rotatably disposed in the first connecting groove (7), a third elastic element (72) is disposed in the first connecting groove (7), the third elastic element (72) acts on the connecting claw (71) to keep the connecting claw (71) in the position in the first connecting groove (7), and the second connector (13) has a second connecting groove (73) for the connecting claw (71) to be engaged. The robotic arm (1) is coaxially fitted with a mounting ring (2) near its end. A leveling ring (21) is provided at the end of the robotic arm (1). A connecting rod (22) is slidably mounted on the mounting ring (2) along the vertical direction. There are two connecting rods (22), which are symmetrically arranged on both sides of the mounting ring (2). The end of the connecting rod (22) away from the mounting ring (2) is hinged to the leveling ring (21). Each connecting rod (22) is mounted along its length. A support member (23) is slidably provided, the bottom of which is used to abut against the top of the leveling ring (21); an elastic component (3) is provided on the connecting rod (22), the elastic component (3) is used to drive the support member (23) to move toward the leveling ring (21); an elastic sensor (301) is provided on the connecting rod (22), the elastic sensor (301) is used to detect the elastic force of the elastic component (3); a rotating component is provided at the end of the robotic arm (1) for driving the mounting ring (2) to rotate.

2. The docking flange for robots and end-effectors according to claim 1, characterized in that: An installation part (4) is fixedly provided on the outer wall of the installation ring (2) in the vertical direction. The top of the connecting rod (22) is rotatably connected to the support rod (42) through the first installation shaft (41). The end of the support rod (42) away from the connecting rod (22) is slidably provided on the installation part (4) in the vertical direction. The bottom of the connecting rod (22) is hinged to the leveling ring (21) through the second installation shaft (43). The axis of the first installation shaft (41) and the axis of the second installation shaft (43) are perpendicular to each other. A limit component (5) is provided on the installation part (4). The limit component (5) is used to limit the position of the support rod (42) on the installation part (4).

3. A docking flange suitable for robots and end-effectors according to claim 2, characterized in that: The mounting part (4) has a vertical groove (44) on its upper side. A slide rod (45) is fixedly installed in the vertical direction in the groove (44). A slider (46) is slidably installed in the groove (44). The slider (46) is slidably sleeved on the slide rod (45). The slider (46) is fixedly connected to the end of the support rod (42) away from the connecting rod (22). The limiting component (5) is used to limit the position of the slider (46) in the groove (44).

4. A docking flange suitable for robots and end-effectors according to claim 3, characterized in that: The limiting component (5) includes a limiting rod (51), a first limiting tooth (52), and a second limiting tooth (53). Mounting grooves (54) are provided on both the left and right sidewalls of the slide groove (44) along its length. Two limiting rods (51) are provided, each located within one of the two mounting grooves (54). The length direction of the limiting rods (51) is parallel to the length direction of the mounting grooves (54). The two limiting rods (51) are located on opposite sides of the slider (46). The first limiting tooth (52) is located on the limiting rod. On the side wall of the rod (51) near the slider (46), there are multiple first limiting teeth (52) evenly arranged along the length direction of the limiting rod (51). On the side wall of the slider (46) near the limiting rod (51), there are multiple second limiting teeth (53) evenly arranged. The first limiting teeth (52) and the second limiting teeth (53) mesh with each other. The mounting ring (2) is provided with a driving component (55). The driving component (55) is used to drive the limiting rod (51) to move in a direction that is closer to or further away from each other.

5. A docking flange suitable for robots and end-effectors according to claim 4, characterized in that: The mounting ring (2) has a receiving groove (47) inside, and the receiving groove (47) is connected to the sliding groove (44) and the mounting groove (54); The drive assembly (55) includes a drive motor (56) and a lead screw (57). The lead screw (57) is rotatably disposed in the receiving groove (47) along the length direction of the receiving groove (47). A connecting block (58) is slidably disposed in the receiving groove (47). There are two connecting blocks (58). The two connecting blocks (58) are respectively fixedly connected to the two limiting rods (51). The two ends of the lead screw (57) are provided with threaded grooves with opposite rotation directions. The two connecting blocks (58) are respectively threaded onto the two ends of the lead screw (57). The drive motor (56) is fixedly disposed on the mounting ring (2). The output shaft of the drive motor (56) is connected to the lead screw (57) for transmission.

6. A docking flange suitable for robots and end-effectors according to any one of claims 2-5, characterized in that: The bottom of the connecting rod (22) is provided with a strip groove (6) along the length direction of the connecting rod (22), and a strip block (61) is provided in the strip groove (6). The strip block (61) is fixedly connected to the support member (23). The elastic component (3) includes a first elastic element (31) and a second elastic element (32). A guide rod (62) is fixedly arranged in the vertical direction in the strip groove (6). The strip block (61) is slidably sleeved on the guide rod (62). The first elastic element (31) and the second elastic element (32) are respectively arranged on the upper and lower sides of the strip block (61). The elastic sensor (301) is arranged at the end of the first elastic element (31) and the second elastic element (32) away from the strip block (61).

7. A docking flange suitable for robots and end-effectors according to claim 6, characterized in that: The support member (23) includes two support rods, which are respectively disposed on both sides of the connecting rod (22). The tops of the two support rods are fixedly connected by a connecting frame. The connecting frame is slidably sleeved on the connecting rod (22). The connecting frame is fixedly connected to the strip block (61). A support plate (24) is fixedly provided at the bottom of the support rod. The cross-sectional area of ​​the support plate (24) is larger than the cross-sectional area of ​​the support rod.

8. A method for docking robots with end-effectors, characterized in that, The steps are as follows: S1. The robotic arm (1) moves above the tool (11) to be connected and resets the elastic force value measured by the elastic sensor (301) to zero. The operator uses manual vision to initially level the end of the robotic arm (1) with the tool (11). S2. Start the drive assembly (55) to drive the limit rod (51) to move towards each other, so that the first limit tooth (52) and the second limit tooth (53) mesh together to limit the position of the slider (46) in the slide groove (44), and then drive the end of the robotic arm (1) to move along the length of the robotic arm (1) so that the bottom of the leveling ring (21) abuts against the top of the tool (11) to be connected; S3. Measure the elastic forces of two elastic components (3) that are symmetrically distributed on the leveling ring (21) by means of elastic sensor (301), and record them as F1 and F2 respectively. S4. Start or stop the rotating component based on the difference between F1 and F2; S5. Start the robotic arm (1) and rotate the robotic arm (1) around the axis of the second mounting shaft (43) until the difference between F1 and F2 is 0, thereby completing the leveling. S6. Start the drive assembly (55) to move the limit rod (51) in a direction away from each other, so that the limit rod (51) and the slider (46) are disengaged, so that the slider (46) can move in the groove (44). Start the robotic arm (1) and move the end of the robotic arm (1) along the length of the robotic arm (1). The end of the robotic arm (1) is connected to the tool (11) through the first connector (12) and the second connector (13).

9. A method for docking a robot with an end-effector according to claim 8, characterized in that, S4. Based on the difference between F1 and F2, start or stop the rotating component, including: S41. When the leveling ring (21) comes into contact with the top of the tool (11), record the difference between F1 and F2 as X. S42. During the continued movement of the robotic arm (1), start the rotating part to rotate clockwise. If X increases, start the rotating part to rotate counterclockwise. Find the position where X is 0 and then stop the rotating part. S43. If X continues to decrease, start the rotating component to rotate clockwise until X is found to be 0, then stop the rotating component.

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