Quick connecting device and mechanical arm

Abstract

The utility model relates to the technical field of mechanical arms, and discloses a quick connecting device and a mechanical arm. The quick connecting device comprises a first connecting unit and a second connecting unit, the first connecting unit comprises a first connecting seat, a positioning sleeve and a connecting driving part, connecting balls are arranged on the circumferential side wall of the positioning sleeve, can move in the radial direction of the positioning sleeve, and are at least partially arranged on the inner wall of the positioning sleeve in a protruding mode; one end of the positioning sleeve is convexly arranged on the first connecting seat; the connecting driving piece is slidably arranged on the first connecting seat; the second connecting unit comprises a second connecting base, a positioning hole is formed in the second connecting base, a first connecting groove is formed in the inner side of the positioning hole, the positioning sleeve can be arranged in the positioning hole in a penetrating mode, and the connecting driving piece can be selectively arranged on the inner side of the positioning sleeve and drives the connecting ball to move outwards in the radial direction of the positioning sleeve. And at least part of the connecting ball is arranged in the first connecting groove. According to the utility model, the connection operation is more convenient, and the efficiency is higher.

Description

Technical Field

[0001] The utility model relates to the technical field of robotic arms, in particular to a quick connection device and a robotic arm. Background Art

[0002] During the cigarette production process, robotic arms are often used to carry cigarette packets, cigarette bars or cigarette boxes. The robotic arm mainly consists of a robotic arm and an end effector. The end effector is used to perform corresponding actions, and the robotic arm is used to drive the end effector for position conversion.

[0003] In the prior art, the robotic arm and the end effector are mostly fixedly connected by bolts. In some working conditions, different models of end effectors need to be frequently replaced, resulting in cumbersome replacement operations of the end effector and long time consumption, which affects production efficiency.

[0004] Therefore, there is an urgent need for a quick connection device and a robotic arm to solve the above problems. Summary of the Utility Model

[0005] Based on the above, the purpose of the utility model is to provide a quick connection device and a robotic arm, which can achieve quick connection without using tools and additional connectors, and the connection operation is more convenient and has higher efficiency.

[0006] To achieve the above purpose, the utility model adopts the following technical solutions:

[0007] The quick connection device includes:

[0008] The first connection unit includes a first connection seat, a positioning sleeve and a connection driving member. The circumferential side wall of the positioning sleeve is provided with connection balls. The connection balls can move radially along the positioning sleeve, and at least part of them protrude from the inner wall of the positioning sleeve. One end of the positioning sleeve protrudes from the first connection seat, and the connection driving member is slidably arranged on the first connection seat;

[0009] The second connection unit includes a second connection seat. A positioning hole is provided on the second connection seat, and a first connection groove is arranged inside the positioning hole. The positioning sleeve can pass through the positioning hole, and the connection driving member can be selectively placed inside the positioning sleeve and drive the connection balls to move radially outward along the positioning sleeve, so that at least part of the connection balls are placed in the first connection groove.

[0010] As a preferred solution of the quick connection device, a driving cavity is arranged inside the first connection seat. The connection driving member includes a movable end and a driving end. The movable end is slidably arranged in the driving cavity and divides the driving cavity into a first cavity and a second cavity. When the volume of the first cavity increases and the volume of the second cavity decreases, the driving end is placed inside the positioning sleeve.

[0011] As a preferred embodiment of the quick-connect device, a first control hole communicating with the first cavity and a second control hole communicating with the second cavity are provided on the outer wall of the first connection seat. The first control hole is used to introduce or discharge a medium into the first cavity, and the second control hole is used to introduce or discharge a medium into the second cavity to change the volumes of the first cavity and the second cavity.

[0012] As a preferred embodiment of the quick-connect device, the second connection unit further includes a connecting ring seat. The second connection seat is provided with a ring seat hole communicating with the positioning hole. The diameter of the ring seat hole is larger than that of the positioning hole. The connecting ring seat is disposed in the ring seat hole, and the first connection groove is provided on the inner wall of the connecting ring seat.

[0013] As a preferred embodiment of the quick-connect device, the connecting ring seat is further provided with a first guiding surface communicating with the first connection groove.

[0014] As a preferred embodiment of the quick-connect device, the quick-connect device further includes a detection unit for detecting the position of the connection driving member relative to the positioning sleeve.

[0015] As a preferred embodiment of the quick-connect device, the detection unit includes a detection member and a transmission member. The transmission member is connected to the connection driving member, and the detection member is used to detect the position of the transmission member.

[0016] As a preferred embodiment of the quick-connect device, the detection unit further includes a detection seat connected to the first connection seat. The detection seat is provided with a detection cavity. At least a part of the transmission member is located in the detection cavity. The detection member includes the first detection member and the second detection member spaced apart along the moving direction of the transmission member.

[0017] As a preferred embodiment of the quick-connect device, the connection driving member is provided with a second connection groove. When at least a part of the connection ball is placed in the first connection groove, at least another part is also placed in the second connection groove.

[0018] A robotic arm includes a robotic arm, an end effector, and the quick-connect device according to any of the above embodiments. The first connection unit is disposed at the end of the robotic arm, and the second connection unit is disposed at the end effector.

[0019] The beneficial effects of the present utility model are as follows:

[0020] The utility model realizes the positioning between the first connecting seat and the second connecting seat by arranging a positioning sleeve and a positioning hole so that the positioning sleeve can be placed in the positioning hole. By arranging connecting balls on the positioning sleeve and a connecting driving member at the same time, after the positioning between the first connecting seat and the second connecting seat is completed, the connecting driving member can drive the connecting balls to move radially outward along the positioning sleeve and make at least part of the connecting balls placed in the first connecting groove, thereby realizing the connection between the first connecting unit and the second connecting unit. No tools and additional connecting parts are required, the connection process is more convenient and the efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required to be used in the description of the embodiments of the present utility model. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the content of the embodiments of the present utility model and these drawings.

[0022] Figure 1 is a cross-sectional view of the quick-connect device provided by the specific embodiment of the present utility model;

[0023] Figure 2 is an exploded view of the quick-connect device provided by the specific embodiment of the present utility model.

[0024] In the figure:

[0025] 100, the first connecting unit; 110, the first connecting seat; 111, the driving cavity; 1111, the first cavity; 1112, the second cavity; 112, the first control hole; 113, the second control hole; 120, the positioning sleeve; 121, the assembly hole; 130, the connecting driving member; 131, the movable end; 132, the driving end; 1321, the second connecting groove; 1322, the second guiding surface; 140, the connecting ball;

[0026] 200, the second connecting unit; 210, the second connecting seat; 211, the positioning hole; 212, the ring seat hole; 220, the connecting ring seat; 221, the first connecting groove; 222, the first guiding surface;

[0027] 300, the detection unit; 310, the detection member; 311, the first detection member; 312, the second detection member; 320, the transmission member; 330, the detection seat; 331, the detection cavity. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Embodiments of the present utility model will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where like or similar reference numerals denote like or similar elements or elements having like or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present utility model, and should not be construed as limiting the present utility model.

[0029] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These are only for the convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as limiting the present utility model. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. Among them, the terms "first position" and "second position" are two different positions.

[0030] Unless otherwise clearly specified and defined, the terms "installed", "connected", "connected to", "fixed" should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. It can be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0031] In the present utility model, unless otherwise clearly specified and defined, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "below", "under" and "beneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0032] The technical solution of the present utility model will be further described below with reference to the accompanying drawings and through specific embodiments.

[0033] As Figure 1 and Figure 2As shown in the figure, this embodiment provides a quick-connect device. The quick-connect device includes a first connection unit 100 and a second connection unit 200. The first connection unit 100 includes a first connection seat 110, a positioning sleeve 120, and a connection driving member 130. The circumferential side wall of the positioning sleeve 120 is provided with connection balls 140. The connection balls 140 can move radially along the positioning sleeve 120 and at least partially protrude from the inner wall of the positioning sleeve 120. One end of the positioning sleeve 120 protrudes from the first connection seat 110, and the connection driving member 130 is slidably arranged on the first connection seat 110. The second connection unit 200 includes a second connection seat 210. A positioning hole 211 is provided on the second connection seat 210, and a first connection groove 221 is arranged inside the positioning hole 211. The positioning sleeve 120 can be inserted into the positioning hole 211, and the connection driving member 130 can be selectively placed inside the positioning sleeve 120 and drive the connection balls 140 to move radially outward along the positioning sleeve 120, so that at least part of the connection balls 140 are placed in the first connection groove 221.

[0034] By providing the positioning sleeve 120 and the positioning hole 211, the positioning sleeve 120 can be placed in the positioning hole 211 to achieve the positioning between the first connection seat 110 and the second connection seat 210. By providing the connection balls 140 on the positioning sleeve 120 and at the same time providing the connection driving member 130, after the positioning between the first connection seat 110 and the second connection seat 210 is completed, the connection driving member 130 can drive the connection balls 140 to move radially outward along the positioning sleeve 120 and make at least part of the connection balls 140 placed in the first connection groove 221, thereby realizing the connection between the first connection unit 100 and the second connection unit 200. Without tools and additional connecting parts, the connection process is more convenient and the efficiency is higher.

[0035] Optionally, the sliding mode of the connection driving member 130 can be realized by arranging a linear driving component in the first connection seat 110. The linear driving component can adopt a cylinder, an electric telescopic rod, etc.

[0036] In this embodiment, a driving cavity 111 is provided in the first connecting seat 110. The connecting driving member 130 includes a movable end 131 and a driving end 132. The axial direction of the movable end 131 is hermetically connected to the inner wall of the driving cavity 111 and is slidably disposed in the driving cavity 111 to divide the driving cavity 111 into a first cavity 1111 and a second cavity 1112. By changing the volumes of the first cavity 1111 and the second cavity 1112, the movable end 131 is driven to move, thereby realizing the movement of the connecting driving member 130. Exemplarily, when the volume of the first cavity 1111 becomes larger and the volume of the second cavity 1112 becomes smaller, the connecting driving member 130 moves towards the second connecting seat 210, and the driving end 132 is placed inside the positioning sleeve 120 for driving the connecting ball 140 to move radially outward along the positioning sleeve 120, so that at least part of the connecting ball 140 is placed in the first connecting groove 221.

[0037] Specifically, to realize the change of the volumes of the first cavity 1111 and the second cavity 1112, a first control hole 112 communicating with the first cavity 1111 and a second control hole 113 communicating with the second cavity 1112 are provided on the outer wall of the first connecting seat 110. The first control hole 112 is used to introduce or discharge a medium into or from the first cavity 1111, and the second control hole 113 is used to introduce or discharge a medium into or from the second cavity 1112 to change the volumes of the first cavity 1111 and the second cavity 1112. Optionally, the medium can be selected from hydraulic oil, water or air.

[0038] Further, an installation hole is provided at one end of the driving cavity 111 close to the second connecting seat 210. Installation steps are circumferentially provided on the installation hole. One end of the positioning sleeve 120 is provided with an installation flange. When the positioning sleeve 120 is inserted through the installation hole, the installation flange is connected with the installation steps in a matching manner. In addition, the driving end 132 is hermetically connected to the driving cavity 111 through a first sealing member; the driving end 132 is hermetically connected to the inner side of the positioning sleeve 120 through a second sealing member.

[0039] As an alternative solution of the quick-connecting device, the second connecting unit 200 is further provided with a connecting ring seat 220. The second connecting seat 210 is provided with a ring seat hole 212 communicating with the positioning hole 211. The diameter of the ring seat hole 212 is larger than that of the positioning hole 211. The connecting ring seat 220 is disposed in the ring seat hole 212, and the first connecting groove 221 is disposed on the inner wall of the connecting ring seat 220. By providing the connecting ring seat 220, the cooperation between the second connecting seat 210 and the connecting ball 140 is realized.

[0040] Further, the connecting ring seat 220 is further provided with a first guiding surface 222 communicating with the first connecting groove 221. By providing the first guiding surface 222, it is convenient to provide guidance for the connecting roller to retract to the outer wall of the positioning sleeve 120 when the positioning sleeve 120 disengages from the positioning hole 211.

[0041] Preferably, the connection driving member 130 is provided with a second connection groove 1321. When at least a part of the connection ball 140 is placed in the first connection groove 221, at least another part thereof is also placed in the second connection groove 1321. By providing the second connection groove 1321, the reliability of the cooperation between the connection ball 140 and the connection driving member 130 can be improved. At the same time, a second guiding surface 1322 is provided at the end of the connection driving member 130 to guide the connection ball 140 into the second connection groove 1321.

[0042] Exemplarily, at least three connection balls 140 are provided. The at least three connection balls 140 are evenly spaced along the circumferential direction of the connection sleeve. The first connection groove 221 and the second connection groove 1321 are arranged in one-to-one correspondence with the connection balls 140. The positioning sleeve 120 is provided with an assembly hole 121 for assembling the connection balls 140.

[0043] As an alternative solution of the quick-connection device, the quick-connection device further includes a detection unit 300. By providing the detection unit 300, it is convenient for the detection unit 300 to detect the position of the connection driving member 130 relative to the positioning sleeve 120, and thus it is convenient for the operator to judge the real-time connection situation according to the position of the connection driving member 130 relative to the positioning sleeve 120.

[0044] Specifically, the detection unit 300 includes a detection member 310 and a transmission member 320. The transmission member 320 is connected to the connection driving member 130. The detection member 310 is used to detect the position of the transmission member 320. The detection member 310 includes a first detection member 311 and a second detection member 312 that are spaced apart along the moving direction of the transmission member 320. The first detection member 311 and the second detection member 312 are used to detect two limit positions of the transmission member 320. Optionally, the first detection member 311 and the second detection member 312 can be set as proximity switches and are both communicatively connected to the control system of the robotic arm, which is convenient for the robotic arm to judge and control whether to introduce or discharge the medium into the driving cavity 111 according to the actual position of the connection driving member 130. It can be understood that introducing or discharging the medium into the driving cavity 111 is also controlled by the control system of the robotic arm.

[0045] Further, the detection unit 300 further includes a detection seat 330 connected to the first connection seat 110. The detection seat 330 is provided with a detection cavity 331. At least a part of the transmission member 320 is located in the detection cavity 331. By providing the detection cavity 331, it is used to realize the installation of the transmission member 320, the first detection member 311 and the second detection member 312. At the same time, the detection cavity 331 is hermetically connected to the first connection seat 110 to enclose a first cavity 1111.

[0046] In this embodiment, the distance between the end face connecting the rolling ball 140 and the first connecting seat 110 and the distance between the first connecting groove 221 and the end face of the second connecting seat 210 are adapted to each other, so that when the end face of one connecting seat abuts against the end face of the second connecting seat 210, the rolling ball 140 can just be placed in the first connecting groove 221.

[0047] This embodiment also discloses a robotic arm, which includes a robotic arm, an end effector, and a quick-connect device as described in any of the above solutions. The first connecting unit 100 is arranged at the end of the robotic arm, and the second connecting unit 200 is arranged at the end effector. By providing the quick-connect device, the connection between the robotic arm and the end effector is made more convenient and the connection efficiency is higher.

[0048] When connecting, first place the end effector at a fixed position and expose the positioning hole 211 outward. At this time, the transmission member 320 triggers the first detection member 311, and the connection driving member 130 is located at the first extreme position away from the second connecting seat 210, and the rolling ball 140 retracts to the outer wall of the positioning sleeve 120; then drive the robotic arm so that the positioning sleeve 120 aims at the positioning hole 211; the robotic arm moves so that the positioning sleeve 120 is inserted into the positioning hole 211; next, drive the connection driving member 130 to move towards the second connecting seat 210 until the transmission member 320 triggers the second detection member 312, so that the driving end 132 drives the rolling ball 140 to move outward to extend from the outer wall of the positioning sleeve 120 and at least partially placed in the first connecting groove 221, thereby realizing the connection between the robotic arm and the end effector. When disassembling, first drive the connection driving member 130 to move away from the second connecting seat 210 so that the driving end 132 is disconnected from the rolling ball 140, and then move the robotic arm so that the positioning sleeve 120 is disengaged from the positioning hole 211.

[0049] The above content is only the preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. Quick connection device, characterized in that, Comprising: A first connection unit (100), including a first connection base (110), a positioning sleeve (120), and a connection driving member (130). The circumferential side wall of the positioning sleeve (120) is provided with connection balls (140). The connection balls (140) can move radially along the positioning sleeve (120) and at least partially protrude from the inner wall of the positioning sleeve (120). One end of the positioning sleeve (120) protrudes from the first connection base (110), and the connection driving member (130) is slidably arranged on the first connection base (110); A second connection unit (200), including a second connection base (210). A positioning hole (211) is provided on the second connection base (210). A first connection groove (221) is arranged on the inner side of the positioning hole (211). The positioning sleeve (120) can pass through the positioning hole (211), and the connection driving member (130) can be selectively placed inside the positioning sleeve (120) and drive the connection balls (140) to move radially outward along the positioning sleeve (120) so that the connection balls (140) are at least partially placed in the first connection groove (221).

2. The quick-connect device according to claim 1, wherein, A driving cavity (111) is arranged inside the first connection base (110). The connection driving member (130) includes a movable end (131) and a driving end (132). The movable end (131) is slidably arranged in the driving cavity (111) and divides the driving cavity (111) into a first cavity (1111) and a second cavity (1112). When the volume of the first cavity (1111) becomes larger and the volume of the second cavity (1112) becomes smaller, the driving end (132) is placed inside the positioning sleeve (120).

3. The quick-connecting device according to claim 2, characterized in that, An outer wall of the first connection base (110) is provided with a first control hole (112) communicating with the first cavity (1111) and a second control hole (113) communicating with the second cavity (1112). The first control hole (112) is used to introduce or discharge a medium into or from the first cavity (1111), and the second control hole (113) is used to introduce or discharge a medium into or from the second cavity (1112) to change the volumes of the first cavity (1111) and the second cavity (1112).

4. The quick-connect device according to claim 1, wherein The second connection unit (200) is further provided with a connection ring base (220). The second connection base (210) is provided with a ring base hole (212) communicating with the positioning hole (211). The diameter of the ring base hole (212) is larger than that of the positioning hole (211). The connection ring base (220) is arranged in the ring base hole (212), and the first connection groove (221) is arranged on the inner wall of the connection ring base (220).

5. The quick-connect device according to claim 4, characterized in that, The connection ring base (220) is further provided with a first guiding surface (222) communicating with the first connection groove (221).

6. The quick-connect device according to claim 1, wherein, The quick connection device further includes a detection unit (300), and the detection unit (300) is used to detect the position of the connection driving member (130) relative to the positioning sleeve (120).

7. The quick-connect device according to claim 6, wherein The detection unit (300) includes a detection member (310) and a transmission member (320). The transmission member (320) is connected to the connection driving member (130), and the detection member (310) is used to detect the position of the transmission member (320).

8. The quick-connect device according to claim 7, characterized in that, The detection unit (300) further includes a detection seat (330) connected to the first connection seat (110). The detection seat (330) is provided with a detection cavity (331). At least a part of the transmission member (320) is located in the detection cavity (331). The detection member (310) includes a first detection member (311) and a second detection member (312) arranged at intervals along the moving direction of the transmission member (320).

9. The quick-connect device according to any one of claims 1-8, characterized in that, The connection driving member (130) is provided with a second connection groove (1321). When at least a part of the connection ball (140) is placed in the first connection groove (221), at least another part is placed in the second connection groove (1321).

10. Robotic arm, characterized in that, It includes a robotic arm, an end effector, and a quick-connect device as described in any one of claims 1-9. The first connection unit (100) is arranged at the end of the robotic arm, and the second connection unit (200) is arranged at the end effector.

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