A humanoid robot gripper quick-change mechanism

Abstract

The application discloses a kind of humanoid robot gripper quick-change mechanism, specifically relates to gripper quick-change technical field, including lower arm, wrist is equipped in one side of lower arm, and the end of lower arm is provided with docking ring;Quick-change shaft is set in one side of docking ring, and the outer wall of quick-change shaft is fixed with multiple locking steps, and one end of quick-change shaft is installed with quick-change assembly;Detection piece is installed in the inner wall side of locking step, and roller body is installed on detection piece.The application is inserted into the cooperation of quick-change shaft and docking ring, and the alignment structure of locking step and groove is matched, and the automatic docking of first signal power adapter plate and second signal power adapter plate can realize the quick replacement of humanoid robot gripper or dexterous hand, so as to solve the problems that the connection of existing robot joint arm and dexterous hand or gripper is difficult to realize the quick replacement of gripper and dexterous hand, and automatically compensates the self-locking operation in quick replacement process.

Description

Technical Field

[0001] This invention relates to the field of gripper quick-change technology, and more specifically, to a gripper quick-change mechanism for a humanoid robot. Background Technology

[0002] With the rapid development of technology, humanoid robots represent the highest level in the field of robotics. Because humanoid robots can mimic human movements, they can truly replace humans in performing various tasks, such as working in high-risk, high-temperature environments, thereby fundamentally changing the way humans work and live.

[0003] According to the publicly available patent announcement number CN221640909U, a quick-change mechanism for robot grippers is disclosed, which enables rapid disassembly of grippers and gripper supports, improving the efficiency of gripper replacement. The elastic element is always compressed, ensuring it remains against the second contact surface even without external force, thus preventing the positioning pin from falling off. CN221111873U, a quick-change gripper mechanism and gripper robot, uses a solenoid valve to drive the gripper cylinder, thereby driving the gripper. The insertion and removal of the elastic pin structure allows for rapid replacement of grippers on fixed components without the need for other auxiliary tools, resulting in high work efficiency and wide applicability in the gripper technology field. However, the following problems still exist.

[0004] For anthropomorphic robots to perform human actions, they need to have hands as flexible as humans. Different robotic hands need to be used according to different needs. The existing connection between the robot's articulated arm and the dexterous hand or gripper makes it difficult to achieve quick switching between grippers and dexterous hands, as well as automatic compensation for the self-locking operation that occurs during quick switching. Summary of the Invention

[0005] To overcome the above-mentioned deficiencies of the prior art, the present invention proposes the following technical solution: a humanoid robot gripper quick-change mechanism, including a lower arm, a wrist on one side of the lower arm, and a docking ring at one end of the lower arm; A quick-change shaft is located on one side of the docking ring. Multiple locking steps are fixed on the outer wall of the quick-change shaft, and a quick-change assembly is installed at one end of the quick-change shaft. A detection element is installed on one side of the inner wall of the locking step, and a roller is mounted on the detection element; Two clamping plates are both located on one side of the roller body, and a linkage locking unit is installed on the clamping plates; The lower arm and wrist are quickly swapped using the quick-change assembly. When the detection component detects the movement of the locking step, the linkage locking unit drives the two pressure plates to move, and the two pressure plates synchronously lock the docking ring.

[0006] In a preferred embodiment, the quick-change component includes: The first signal power adapter board is located at one end of the quick-change shaft. Multiple fixing screws are provided on one side of the first signal power adapter board. The first signal power adapter board is locked to the wrist by fixing screws. The sealing ring is fixedly connected to the outer wall of the quick-change shaft; Each pair of adjacent locking steps is provided with a positioning and anti-misalignment step, and all of the positioning and anti-misalignment steps are fixedly connected to the quick-change shaft. Multiple locking grooves are formed on the inner wall of the docking ring. Each locking groove has a groove on one side. The groove is aligned and inserted with the locking step, and the locking groove is aligned and inserted with the positioning and anti-misalignment step. The second signal power adapter board is installed on the inner wall of the docking ring and located on one side of the groove; A fixing sleeve is connected to the outer wall of the docking ring, and both the lower arm and the docking ring are fixedly connected to the fixing sleeve.

[0007] In a preferred embodiment, the plurality of positioning and anti-misalignment steps and the plurality of locking steps are arranged in a circumferential distribution, and the outer wall of the locking step is rounded.

[0008] In a preferred embodiment, the vertical cross-sectional shape of the groove is L-shaped, and the plurality of grooves are arranged in a circular root configuration.

[0009] In a preferred embodiment, an articulated arm is mounted on the other side of the lower arm, and the robot body is mounted on one side of the positioning and error-proof step.

[0010] In a preferred embodiment, the detection element includes: The first connecting block is fixedly connected to one side of the inner wall of the locking step. The first connecting block is used to position the rotation of the robot body. An angle sensor is installed at the bottom end of the roller body, and the angle sensor is used to sense the rotation angle of the roller body. A support bar is installed on the outer wall of the angle sensor, and the support bar is fixedly connected to the locking step.

[0011] In a preferred embodiment, the roller body is coaxial with the rotation axis of the angle sensor, and the outer wall of the roller body is made of rubber.

[0012] In a preferred embodiment, the lower surface of the support bar is arranged parallel to the upper surface of the first socket block, and a gap is provided between the first socket block and the support bar.

[0013] In a preferred embodiment, the linkage locking unit includes: Two rotating sleeve blocks are fixedly connected to one side of two clamping plates respectively. A positioning rod is installed inside the rotating sleeve block. The bottom end of the positioning rod is fixedly connected to the locking step. The positioning rod is used to position the two rotating sleeve blocks to rotate, and the two rotating sleeve blocks are rotatably connected to each other. A guide rod is fixedly connected to the outer wall of the positioning rod near its top end. A second sleeve block is installed on the outer wall of the guide rod, and the guide rod is used to guide the sliding of the second sleeve block. A limiting block is fixedly connected to one end of the guide rod. The limiting block is used to limit the movement position of the second socket block. An electromagnet is provided below the guide rod. A support rod is provided on the lower surface of the electromagnet, and the locking step and the electromagnet are both fixedly connected to the support rod; Two spring pieces are fixedly connected to the outer walls of the second socket block on both sides respectively. The spring pieces are fixedly connected to the pressure plate and are used to provide elastic force to the pressure plate.

[0014] In a preferred embodiment, each of the two rotating blocks is provided with a limiting ring on an opposite side, the limiting ring being fixedly connected to the positioning rod, and the limiting ring being used to limit the rotation of the rotating block.

[0015] The technical effects and advantages of the present invention.

[0016] 1. This invention adopts the plug-in connection of quick-change shaft and docking ring, combined with the alignment structure of locking step and groove, and the automatic docking of the first signal power adapter board and the second signal power adapter board, which can realize the quick replacement of humanoid robot gripper or dexterous hand without auxiliary tools, greatly improving the replacement efficiency and adapting to the rapid switching needs of different work tasks.

[0017] 2. This invention detects the rotation signal of the roller body through an angle sensor and controls the electromagnet to drive the second connecting block to move, thereby causing the spring to drive the two pressing plates to automatically press the connecting ring. Automatic compensation and self-locking are achieved during the quick change process, which effectively avoids loosening of the connection and improves the stability and reliability of the connection.

[0018] 3. The present invention adopts a structural design in which the locking step and the L-shaped groove cannot be inserted if they are not aligned, which effectively prevents the lower arm from being installed backwards. At the same time, the positioning and anti-misalignment step and the locking groove guide positioning reduce the difficulty of operation and the risk of incorrect installation, ensuring the accuracy and safety of the quick change process. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of the humanoid robot gripper quick-change mechanism of the present invention.

[0020] Figure 2 This is a schematic diagram of the disassembled structure of the humanoid robot gripper quick-change mechanism of the present invention.

[0021] Figure 3 This is a partial structural diagram of the disassembled docking ring and quick-change shaft of the present invention.

[0022] Figure 4 This is a partial rear view of the locking step structure of the present invention.

[0023] Figure 5 This is a partial structural diagram of the locking step cross-section of the present invention.

[0024] Figure 6 This is a partial structural diagram of the connection between the locking step and the first connecting block of the present invention.

[0025] Figure 7 For the present invention Figure 5 Enlarged structural diagram at point A in the middle.

[0026] Figure 8 This is a partial structural diagram of the second connecting block and guide rod of the present invention.

[0027] The attached diagram is labeled as follows: 1. Lower arm; 2. Wrist; 3. Docking ring; 4. Quick-change shaft; 5. Locking step; 6. Pressure plate; 7. Roller; 8. Fixing screw; 9. First signal power adapter plate; 10. Sealing ring; 11. Positioning and error prevention step; 12. Locking groove; 13. Groove; 14. Second signal power adapter plate; 15. Fixing sleeve; 16. Articulated arm; 17. Robot body; 18. First socket block; 19. Angle sensor; 20. Support bar; 21. Support rod; 22. Electromagnet; 23. Second socket block; 24. Guide rod; 25. Limiting block; 26. Spring piece; 27. Rotating sleeve block; 28. Positioning rod; 29. ​​Limiting ring. Detailed Implementation

[0028] The technical solution will now be described in detail and completely with reference to the embodiments and accompanying drawings of the present invention.

[0029] Example 1: like Figure 1 - Figure 8 The humanoid robot gripper quick-change mechanism shown includes a lower arm 1, a wrist 2 on one side of the lower arm 1, and a docking ring 3 at one end of the lower arm 1; a quick-change shaft 4, located on one side of the docking ring 3, with multiple locking steps 5 fixed to the outer wall of the quick-change shaft 4, and a quick-change assembly installed at one end of the quick-change shaft 4; a detection component, installed on one side of the inner wall of the locking steps 5, with a roller 7 installed on the detection component; two pressure plates 6, both located on one side of the roller 7, and a linkage locking unit installed on the pressure plates 6.

[0030] In use, this technology allows for quick-change installation of the lower arm 1 and wrist 2 via a quick-change assembly. Simultaneously, when the detection component detects movement of the locking step 5, it drives the two pressure plates 6 to move via a linkage locking unit. The two pressure plates 6 then synchronously lock the docking ring 3, significantly improving the efficiency of gripper replacement, reducing the time and labor costs required for replacement, and enabling the humanoid robot to adapt more quickly to different work tasks. It achieves automatic compensation and self-locking functions during the quick-change process, effectively avoiding potential loosening issues, improving connection stability and reliability, ensuring the safety and accuracy of the humanoid robot during operation, improving installation accuracy and convenience, and reducing operational difficulty and the risk of malfunctions due to incorrect installation.

[0031] Example 2: In this technology, such as Figure 1 - Figure 4 As shown, the quick-change assembly includes: a first signal power adapter plate 9, disposed at one end of the quick-change shaft 4, with multiple fixing screws 8 on one side of the first signal power adapter plate 9, and the first signal power adapter plate 9 and the wrist 2 are locked together by the fixing screws 8; a sealing ring 10, fixedly connected to the outer wall of the quick-change shaft 4; a positioning anti-misalignment step 11 between two adjacent locking steps 5, and multiple positioning anti-misalignment steps 11 are fixedly connected to the quick-change shaft 4; multiple locking grooves 12, all opened on the inner wall of the docking ring 3, with a groove 13 on one side of each locking groove 12, the groove 13 being aligned and inserted into the locking step 5, and the locking groove 12 being aligned and inserted into the positioning anti-misalignment step 11; a second signal power adapter plate 14, installed on the inner wall of the docking ring 3 and located on one side of the groove 13; and a fixing sleeve 15, connected to the outer wall of the docking ring 3, with the lower arm 1 and the docking ring 3 both fixedly connected to the fixing sleeve 15. Multiple positioning and anti-misalignment steps 11 and multiple locking steps 5 are arranged in a circular pattern, and the outer wall of the locking steps 5 is rounded. The vertical cross-section of the groove 13 is L-shaped, and multiple grooves 13 are arranged at the root of the circumference.

[0032] In this technology, such as Figure 1 As shown, an articulated arm 16 is installed on the other side of the lower arm 1, and a robot body 17 is installed on one side of the positioning and anti-error step 11. The robot body 17 supports the articulated arm 16, the articulated arm 16 supports the lower arm 1, and performs connection operations to the lower arm 1, so that the articulated arm 16 can drive the lower arm 1 to move later.

[0033] In use, this technology involves moving the quick-change shaft 4 to the left, causing the sealing ring 10 to move to the left and insert into the inner wall of the wrist 2. Moving the first signal power adapter plate 9 to the left also causes it to insert into the inner wall of the quick-change shaft 4. Moving multiple fixing screws 8 to the left, along multiple points inside the first signal power adapter plate 9, multiple points on the inner wall of the quick-change shaft 4, and points on the wrist 2, rotates the screws 8, creating threaded engagement with the wrist 2. Then, moving the wrist 2 to the right causes the quick-change shaft 4 to move to the right. Multiple locking steps 5 are inserted into multiple grooves 13 inside the mating ring 3. When the locking steps 5 and the grooves 13 are not aligned, the quick-change shaft 4 and the mating ring 3 cannot be laterally connected. This prevents the lower arm 1 from being installed backwards. At the same time, the positioning and anti-misalignment step 11 guides the lower arm 1 into the locking groove 12. Meanwhile, the first signal power adapter plate 9 inside the quick-change shaft 4 and the second signal power adapter plate 14 are mated to complete the quick-connect installation operation. The lower arm 1 supports the fixing sleeve 15, and the fixing sleeve 15 supports the mating ring 3. This structure is simple, low-cost, and compact.

[0034] Example 3: In this technology, such as Figure 5-6 As shown, the detection components include: a first connecting block 18, fixedly connected to one side of the inner wall of the locking step 5, the first connecting block 18 being used to position the rotation of the robot body 17; an angle sensor 19, installed at the bottom of the roller body 7, the angle sensor 19 being used to sense the rotation angle of the roller body 7; and a support bar 20, installed on the outer wall of the angle sensor 19, the support bar 20 being fixedly connected to the locking step 5. The rotation axis of the roller body 7 is coaxial with that of the angle sensor 19, and the outer wall of the roller body 7 is made of rubber. The lower surface of the support bar 20 is parallel to the upper surface of the first connecting block 18, and a gap is provided between the first connecting block 18 and the support bar 20.

[0035] When this technology is in use, after the locking step 5 is engaged with the groove 13, when the locking step 5 moves, it drives the first connecting block 18 to move, and the first connecting block 18 drives the roller 7 to move. The roller 7 contacts the inner wall of the groove 13, thereby rotating the roller 7. The roller 7 rotates on the inner wall of the first connecting block 18. The locking step 5 supports the support bar 20, and the support bar 20 supports the angle sensor 19. The angle sensor 19 detects the rotation angle of the roller 7. When the angle sensor 19 detects the rotation angle, the controller on the robot body 17 activates the electromagnet 22.

[0036] Example 4: In this technology, such as Figure 5 - Figure 8As shown, the linkage locking unit includes: two rotating sleeve blocks 27, which are respectively fixedly connected to one side of the two pressing plates 6. A positioning rod 28 is installed inside the rotating sleeve block 27. The bottom end of the positioning rod 28 is fixedly connected to the locking step 5. The positioning rod 28 is used to position the two rotating sleeve blocks 27 to rotate, and the two rotating sleeve blocks 27 are rotatably connected to each other; a guide rod 24, which is fixedly connected to the outer wall of the positioning rod 28 and near its top end. A second sleeve block 23 is installed on the outer wall of the guide rod 24. The guide rod 24 is used to guide the second... The second sleeve block 23 slides; a limiting block 25 is fixedly connected to one end of the guide rod 24, and the limiting block 25 is used to limit the movement position of the second sleeve block 23. An electromagnet 22 is provided below the guide rod 24; a support rod 21 is set on the lower surface of the electromagnet 22, and the locking step 5 and the electromagnet 22 are both fixedly connected to the support rod 21; two spring pieces 26 are respectively fixedly connected to both sides of the outer wall of the second sleeve block 23, and the spring pieces 26 are fixedly connected to the pressure plate 6, and the spring pieces 26 are used to provide elastic force to the pressure plate 6. A limiting ring 29 is provided on the opposite side of each of the two rotating sleeve blocks 27, and the limiting ring 29 is fixedly connected to the positioning rod 28, and the limiting ring 29 is used to limit the rotation of the rotating sleeve block 27.

[0037] In use, the locking step 5 supports the support rod 21, which in turn supports the electromagnet 22. When the electromagnet 22 is opened, it magnetically attracts the second socket block 23, causing the second socket block 23 to move forward. The second socket block 23 is guided forward along the outer wall of the guide rod 24, and the limiting block 25 limits the backward movement of the second socket block 23. This causes the second socket block 23 to press against two spring pieces 26, which in turn press against two pressure plates 6. The two pressure plates 6 then drive the two rotating sleeve blocks 27 towards each other. Rotating in the opposite direction, the rotating sleeve block 27 drives the pressing plate 6 to rotate counterclockwise along the outer wall of the positioning rod 28. At the same time, another rotating sleeve block 27 drives another pressing plate 6 to rotate clockwise. The two limiting rings 29 limit the rotation of the rotating sleeve block 27. The two pressing plates 6 press against the mating ring 3 on the inner wall of the groove 13. In this way, the two pressing plates 6 can automatically press and lock with the mating ring 3. When the locking step 5 moves, the locking operation is automatically performed to achieve automatic locking.

[0038] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, or improvements made within the technical concept and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A humanoid robot gripper quick-change mechanism, comprising a lower arm (1), wherein a wrist (2) is provided on one side of the lower arm (1), characterized in that: A docking ring (3) is provided at one end of the lower arm (1); A quick-change shaft (4) is set on one side of the docking ring (3). Multiple locking steps (5) are fixed on the outer wall of the quick-change shaft (4). A quick-change assembly is installed at one end of the quick-change shaft (4). The detection element is installed on one side of the inner wall of the locking step (5), and a roller (7) is installed on the detection element. Two clamping plates (6) are both set on one side of the roller body (7), and a linkage locking unit is installed on the clamping plates (6); The lower arm (1) and the wrist (2) are quickly swapped and installed using the quick-change assembly. At the same time, when the detection component detects that the locking step (5) is moving, the two pressure plates (6) are driven to move by the linkage locking unit, and the two pressure plates (6) perform synchronous locking operation on the docking ring (3).

2. The humanoid robot gripper quick-change mechanism according to claim 1, characterized in that: The quick-change component includes: The first signal power adapter plate (9) is set at one end of the quick-change shaft (4). A plurality of fixing screws (8) are provided on one side of the first signal power adapter plate (9). The first signal power adapter plate (9) and the wrist (2) are locked together by the fixing screws (8). A sealing ring (10) is fixedly connected to the outer wall of the quick-change shaft (4); A positioning and anti-misalignment step (11) is provided between two adjacent locking steps (5), and multiple positioning and anti-misalignment steps (11) are fixedly connected to the quick-change shaft (4); Multiple locking grooves (12) are opened on the inner wall of the docking ring (3). Each locking groove (12) has a groove (13) on one side. The groove (13) is aligned and inserted with the locking step (5), and the locking groove (12) is aligned and inserted with the positioning and anti-misalignment step (11). The second signal power adapter plate (14) is installed on the inner wall of the docking ring (3) and located on one side of the groove (13); The fixing sleeve (15) is connected to the outer wall of the docking ring (3), and the lower arm (1) and the docking ring (3) are both fixedly connected to the fixing sleeve (15).

3. The humanoid robot gripper quick-change mechanism according to claim 2, characterized in that: The multiple positioning and anti-misalignment steps (11) and the multiple locking steps (5) are arranged in a circular distribution, and the outer wall of the locking step (5) is rounded.

4. The humanoid robot gripper quick-change mechanism according to claim 2, characterized in that: The vertical cross-sectional shape of the groove (13) is L-shaped, and multiple grooves (13) are arranged in a circular root configuration.

5. The humanoid robot gripper quick-change mechanism according to claim 1, characterized in that: A joint wrist (16) is installed on the other side of the lower arm (1), and a robot body (17) is installed on one side of the positioning and error prevention step (11).

6. The humanoid robot gripper quick-change mechanism according to claim 1, characterized in that: The detection component includes: The first connecting block (18) is fixedly connected to one side of the inner wall of the locking step (5). The first connecting block (18) is used to position the robot body (17) to rotate. An angle sensor (19) is installed at the bottom of the roller body (7) and is used to sense the rotation angle of the roller body (7). A support bar (20) is installed on the outer wall of the angle sensor (19), and the support bar (20) is fixedly connected to the locking step (5).

7. The humanoid robot gripper quick-change mechanism according to claim 6, characterized in that: The roller (7) is coaxial with the rotation axis of the angle sensor (19), and the outer wall of the roller (7) is made of rubber.

8. The humanoid robot gripper quick-change mechanism according to claim 6, characterized in that: The lower surface of the support bar (20) is arranged parallel to the upper surface of the first socket block (18), and there is a gap between the first socket block (18) and the support bar (20).

9. The humanoid robot gripper quick-change mechanism according to claim 1, characterized in that: The linkage locking unit includes: Two rotating sleeve blocks (27) are fixedly connected to one side of two clamping plates (6), and a positioning rod (28) is installed inside the rotating sleeve block (27). The bottom end of the positioning rod (28) is fixedly connected to the locking step (5). The positioning rod (28) is used to position the two rotating sleeve blocks (27) to rotate, and the two rotating sleeve blocks (27) are rotatably connected to each other. The guide rod (24) is fixedly connected to the outer wall of the positioning rod (28) and near its top. The outer wall of the guide rod (24) is equipped with a second sleeve block (23). The guide rod (24) is used to guide the second sleeve block (23) to slide. A limiting block (25) is fixedly connected to one end of the guide rod (24). The limiting block (25) is used to limit the movement position of the second socket block (23). An electromagnet (22) is provided below the guide rod (24). The support rod (21) is set on the lower surface of the electromagnet (22), and the locking step (5) and the electromagnet (22) are both fixedly connected to the support rod (21); Two spring pieces (26) are fixedly connected to the outer walls of the second socket block (23) respectively. The spring pieces (26) are fixedly connected to the pressure plate (6). The spring pieces (26) are used to provide elastic force to the pressure plate (6).

10. The humanoid robot gripper quick-change mechanism according to claim 9, characterized in that: Each of the two rotating sleeve blocks (27) is provided with a limiting ring (29) on the opposite side. The limiting ring (29) is fixedly connected to the positioning rod (28). The limiting ring (29) is used to limit the rotation of the rotating sleeve block (27).

Images