Quick dismounting and mounting mechanism for mechanical arm tail end tool

Abstract

The utility model discloses a quick dismounting and mounting mechanism for a mechanical arm end tool, which comprises a mounting base connected with a mechanical arm and an adaptive interface, the adaptive interface is detachably connected with the mounting base, and the adaptive interface is provided with an end tool mounting position. According to the utility model, the transfer connecting piece is arranged between the mechanical arm and the tail end tool, the two mounting bases which can be quickly disassembled and the adaptive interface are used for connection, the adaptive interface has certain universality, the assembled tail end tool can be replaced, and a specific tail end tool mounting structure does not need to be arranged on the mechanical arm; and the tail end can bear large torque, axial stability is guaranteed, meanwhile, disassembly and assembly are convenient and fast, the operation time for replacing the tail end tool is shortened, and the operation skill is reduced.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, specifically relating to a quick assembly and disassembly mechanism for end-effector tools of robotic arms. Background Technology

[0002] Robotic arms have a wide range of applications, including industry, healthcare, and service sectors. Different applications typically require different tools at the end effector. Current end effector tool installation methods mostly involve fixed connections, requiring manual disassembly and reinstallation each time a tool is changed. This method is not only time-consuming but also requires a high level of operational skill. Especially for inexperienced operators, errors can easily occur during installation, such as installing the tool backwards or failing to secure it properly.

[0003] Currently, some robotic arms use standard flange interfaces to connect end effectors, but their design is mainly for industrial scenarios. The installation process still requires the use of screws or specific tools and lacks quick-release functionality. On the other hand, some quick-release structures available on the market are mainly used in lighter equipment and cannot withstand the higher torque requirements of scenarios such as physiotherapy robots. Furthermore, these quick-release devices are not optimized for the versatility of various end effectors, limiting the multi-scenario application capabilities of robotic arms. Utility Model Content

[0004] This utility model provides a quick assembly and disassembly mechanism for end-effector tools of robotic arms. This mechanism serves as a connection and transfer point between the robotic arm and the end-effector tool. It is connected to the robotic arm via a mounting base and the end-effector tool is assembled and connected via an adapter interface. The adapter interface can be removed from the mounting base, and only the end-effector tool on the adapter interface needs to be replaced. The adapter interface has strong versatility and solves the shortcomings described in the prior art.

[0005] The technical solution adopted in this utility model is as follows:

[0006] A quick-release mechanism for end-effector tools of a robotic arm includes a mounting base connected to the robotic arm and an adapter interface. The adapter interface is detachably connected to the mounting base and has an end-effector tool mounting position. The mounting base is used to fix the robotic arm, and the adapter interface is used to connect to the end-effector tool. The adapter interface and the mounting base can be quickly detached, providing convenience for the installation and removal of the end-effector tool. Moreover, the adapter interface has strong versatility and is applicable to various end-effector tools. The applicable end-effector tool types can also be expanded by changing the adapter interface.

[0007] In a preferred embodiment of this invention, the mounting base is provided with mounting holes for the robotic arm flange. The mounting holes are precisely matched and installed with the robotic arm flange.

[0008] As a preferred embodiment of this utility model, a camera mounting plate is installed on the edge of the mounting base, and the camera mounting plate is used to fix the depth camera.

[0009] As a preferred embodiment of this utility model, the edge of the mounting base is provided with a recessed groove, and a camera mounting plate positioning hole is provided in the recessed groove; one end of the camera mounting plate is fixed in the recessed groove through the camera mounting plate positioning hole, and the other end of the camera mounting plate extends away from the mounting base.

[0010] In a preferred embodiment of this invention, a sleeve is provided in the middle of the mounting base, and an insert is provided at the end of the adapter interface away from the end tool mounting position. The insert is inserted into the sleeve. This allows for a direct, tight fit assembly connection, and the length of the insert is greater than the depth of the sleeve.

[0011] As a preferred embodiment of this utility model, the mounting base at the bottom of the sleeve is provided with a socket, and the bottom of the plug is provided with a plug strip. The plug strip is inserted into the socket. The socket and plug strip configuration can make the connection between the mounting base and the adapter interface more stable, and also play a certain role in assembly guidance, providing a reference for the correct assembly of the adapter interface.

[0012] As a preferred embodiment of this utility model, a locking hole is provided at the top of the sleeve along the sleeve axis, and a locking element is fitted on the outer wall of the sleeve. When the outer diameter of the insert is smaller than the inner diameter of the sleeve, the locking element is used to reduce the diameter of the sleeve to stably fix the insert. The locking element can be a clamp or a locking collar with an opening. The locking collar is locked at the opening using a bicycle seatpost quick-release lever. The mounting base and the adapter interface can be quickly locked and released by adjusting the handle of the bicycle seatpost quick-release lever.

[0013] As a preferred embodiment of this utility model, the insert block and the sleeve are connected by a thread or by magnetic attraction. Besides using a plug-in locking mechanism, threaded connection or magnetic attraction can also be used, all of which allow for quick assembly and disassembly of the mounting base and adapter interface.

[0014] In a preferred embodiment of this utility model, the adapter interface is provided with an end-tool assembly cavity, the side wall of which has a disassembly opening, and the area defined by the inner wall of the end-tool assembly cavity and the disassembly opening is the end-tool mounting position; the opening direction of the disassembly opening is perpendicular to the setting direction of the camera mounting plate. The bottom of the end-tool assembly cavity has an end-tool mounting hole for fixed connection to the end-tool via bolts.

[0015] In a preferred embodiment of this invention, the top opening of the end-tool assembly cavity is provided with a cover, and the cover has a clearance hole, which is in the same direction as the disassembly / assembly opening. The cover restricts the end-tool at the top, and the clearance hole allows space for the vertical rod on the end-tool.

[0016] This invention incorporates a transfer connector between the robotic arm and the end effector, using two quick-detachable mounting bases and an adapter interface for connection. The adapter interface is universally compatible, allowing for easy replacement of the end effector without requiring a specific end effector mounting structure on the robotic arm. Furthermore, the adapter interface can be changed to accommodate more types of end effectors. While ensuring the end effector can withstand significant torque and maintain axial stability, the design allows for convenient and quick assembly and disassembly, reducing end effector replacement time and lowering operator skill requirements. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the structure of this utility model.

[0019] Figure 2 This is a diagram showing the usage state of this utility model.

[0020] Figure 3 This is a schematic diagram of the mounting base of this utility model.

[0021] Figure 4 This is a schematic diagram of the interface adapted to this utility model.

[0022] Figure 5 This is a top view of the interface adapted to this utility model.

[0023] Figure 6 This is a bottom view of the interface adapted to this utility model. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Example 1:

[0026] A quick-release mechanism for end-effector tools of robotic arms, such as Figure 1 and 2 As shown, it includes a mounting base 1 for connecting to a robotic arm and an adapter interface 2. The mounting base is used to fix the robotic arm in place, for example... Figure 3 As shown, the mounting base 1 is provided with an assembly hole 11 for the robotic arm flange. The assembly hole is precisely matched with the robotic arm flange for installation. A recessed groove 12 is provided along the edge of the mounting base 1, and a camera mounting plate positioning hole 13 is provided within the recessed groove 12. A camera mounting plate 3 for fixing a depth camera is installed in the recessed groove 12. One end of the camera mounting plate 3 is provided with a threaded hole corresponding to the camera mounting plate positioning hole 13. The camera mounting plate 3 is fixed in the recessed groove 12 by bolts passing through the threaded hole and the camera mounting plate positioning hole 13. The other end of the camera mounting plate 3 extends downward away from the mounting base 1, and a threaded hole is also provided at the other end of the camera mounting plate 3 for fixing the depth camera, which is connected to the depth camera via a positioning pin.

[0027] Adapter interface 2 is used to connect to the end effector, and adapter interface 2 is detachably connected to the mounting base 1. In this embodiment, a plug-in quick-release method is used, such as... Figure 1-4 As shown, the mounting base 1 has a sleeve 14 in the middle, and a locking hole 16 is provided on the top of the sleeve 14 along the sleeve axis. A locking element 17 is fitted on the outer wall of the sleeve 14. The adapter interface 2 has an insert 26 at its end away from the end tool mounting position. The insert 26 is inserted into the sleeve 14. The length of the insert is greater than the depth of the sleeve, and the inner diameter of the sleeve is greater than the outer diameter of the insert. Therefore, the locking block is needed to adjust whether the adapter interface is fixed. The locking element is a locking collar with an opening. A bicycle seatpost quick-release lever is used to lock the locking collar at the opening. By adjusting the handle of the bicycle seatpost quick-release lever, the mounting base and adapter interface can be quickly locked and released. The lever design of the bicycle seatpost quick-release lever makes the installation and removal of the end tool simple and quick. Of course, a locking clamp can also be used as the locking element.

[0028] To ensure a more stable connection between the mounting base and the adapter interface, and to provide a certain assembly guide for the correct assembly of the adapter interface, the mounting base 1 has a socket 15 at the bottom of the sleeve 14, and the bottom of the plug block 26 has a plug strip 27, which is inserted into the socket 15.

[0029] Of course, it is also possible to insert the plug and sleeve tightly without using the locking hole and locking mechanism, and directly plug and unplug them to fix them in place. However, it is preferable to use the locking mechanism and locking hole structure to prevent the adapter interface of the end tool from falling off due to gravity.

[0030] In order to connect with terminal tools, such as Figure 4-6As shown, the adapter interface 2 has an end-tool mounting cavity 22. The side wall of the end-tool mounting cavity 22 has a disassembly / removal opening 23. The area defined by the inner wall of the end-tool mounting cavity 22 and the disassembly / removal opening 23 is the end-tool mounting position 21. The bottom of the end-tool mounting cavity 22 has an end-tool mounting hole, which is fixedly connected to the end-tool by bolts. The opening direction of the disassembly / removal opening 23 is perpendicular to the setting direction of the camera mounting plate 3. Furthermore, a cover 24 is provided at the top opening of the end-tool mounting cavity 22. The cover 24 has a clearance hole 25, which is in the same direction as the disassembly / removal opening 23. The cover restricts the end-tool at the top, and the clearance hole allows space for the vertical rod on the end-tool. The end-tool 4 is installed in place by a fixing pin, as shown below. Figure 2 As shown.

[0031] The adapter interface is highly versatile and applicable to a variety of terminal tools. The types of terminal tools that can be used can also be expanded by changing the adapter interface.

[0032] Example 2:

[0033] A quick-release mechanism for end-effector tools of robotic arms, wherein the insert is threadedly connected to the sleeve, and the rest is the same as in Embodiment 1.

[0034] Example 3:

[0035] A quick assembly and disassembly mechanism for end-effector tools of robotic arms is provided, wherein the insert and the sleeve are magnetically connected, and a magnet is provided at the contact point to achieve adsorption. The rest is the same as in Embodiment 1.

[0036] In this specification, the terms "an embodiment," "example," "specific example," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A quick-release mechanism for end-effector tools of robotic arms, characterized in that: It includes a mounting base (1) connected to the robotic arm and an adapter interface (2). The adapter interface (2) is detachably connected to the mounting base (1), and the adapter interface (2) is provided with an end tool mounting position (21). The adapter interface (2) is provided with an end tool assembly cavity (22). The side wall of the end tool assembly cavity (22) is provided with a disassembly opening (23). The area defined by the inner wall of the end tool assembly cavity (22) and the disassembly opening (23) is the end tool mounting position (21).

2. The quick-release mechanism for end-effector tools of a robotic arm according to claim 1, characterized in that: The mounting base (1) is provided with mounting holes (11) for the robotic arm flange.

3. The quick-release mechanism for end-effector tools of a robotic arm according to claim 2, characterized in that: The mounting base (1) has a camera mounting plate (3) installed on its edge.

4. The quick-release mechanism for end-effector tools of a robotic arm according to claim 3, characterized in that: The mounting base (1) has a recessed groove (12) on its edge, and a camera mounting plate positioning hole (13) is provided in the recessed groove (12); one end of the camera mounting plate (3) is fixed in the recessed groove (12) through the camera mounting plate positioning hole (13), and the other end of the camera mounting plate (3) extends away from the mounting base (1).

5. The quick-release mechanism for end-effector tools of a robotic arm according to any one of claims 1-4, characterized in that: The mounting base (1) has a sleeve (14) in the middle, and the adapter interface (2) has a plug (26) at the end away from the end tool mounting position. The plug (26) is inserted into the sleeve (14).

6. The quick-release mechanism for end-effector tools of a robotic arm according to claim 5, characterized in that: The mounting base (1) has a socket (15) at the bottom of the sleeve (14), and the bottom of the plug (26) has a plug strip (27) which is inserted into the socket (15).

7. The quick-release mechanism for end-effector tools of a robotic arm according to claim 6, characterized in that: A locking hole (16) is provided at the top of the sleeve (14) along the sleeve axis, and a locking element (17) is provided on the outer wall of the sleeve (14).

8. The quick-release mechanism for end-effector tools of a robotic arm according to claim 6, characterized in that: The insert (26) is threaded to the sleeve (14) or magnetically connected to the sleeve (14).

9. The quick-release mechanism for end-effector tools of a robotic arm according to claim 5, characterized in that: The opening direction of the disassembly opening (23) is perpendicular to the setting direction of the camera mounting plate (3).

10. The quick-release mechanism for a robotic arm end-effector tool according to claim 9, characterized in that: The top opening of the end tool assembly cavity (22) is provided with a cover (24), and the cover (24) is provided with a clearance hole (25), which is in the same direction as the disassembly opening (23).

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