Quick change device based on sensor action detection

Abstract

A quick change device based on sensor action detection comprises a male assembly body and a female assembly body. The male assembly body comprises a rack A, an upper pin shaft, a male head base, a lower pin shaft and a male head; the female assembly body comprises a rack B, a hydraulic cylinder, a female joint base, a locking rod and a female joint; when the male assembly body and the female assembly body are connected into a whole, the male connector and the female connector are connected in an inserted mode, the hook groove hooks the hooking section of the upper pin shaft through the U-shaped notch, the lower end of the locking rod stretches out of the rod penetrating hole of the corresponding locking block, and the lower end of the locking rod and the concave arc face of the locking block jointly lock the locking section of the lower pin shaft. The quick-change device has the advantages that the butt joint or separation process of the male assembly and the female assembly is monitored on the basis of detection of the positions of specific components through the two proximity sensors, an alarm is triggered when accidents happen in the separation or butt joint process, an operator is reminded to go to process, and the stability and reliability of the quick-change device are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot terminal tool automatic change connection technical field, especially a quick change device based on sensor action detection. BACKGROUND

[0002] In recent years, with the service life of early nuclear power plants, countries have started to close military and civilian nuclear power plants, and the nuclear facility decommissioning problem brought by this has also emerged. With the in-depth development of decommissioning work, a considerable part of the decommissioning work difficulty is concentrated in the work site with high radiation level and limited space, such as the equipment room below the "0" plane often involved in the decommissioning process.

[0003] Based on the above background, it is of great significance to design and manufacture a nuclear decommissioning robot to disassemble various equipment to avoid personnel directly entering the site to be exposed to radiation. In the actual operation of nuclear decommissioning, a nuclear decommissioning robot is often required to perform multiple operations, and then a variety of end tools need to be matched, such as a shovel, a hydraulic shear, a hydraulic clamp, a hydraulic hammer, etc. Several types of quick change devices have been able to realize automatic replacement of robot end tools, such as the invention patent "Robot terminal tool separation and docking device and separation and docking method" with the announcement number CN112091944A, the invention patent "Robot terminal tool quick change device" with the announcement number CN211615675U and the invention patent "Robot end effector quick change device and change method" with the announcement number CN110919682A.

[0004] On the basis of the existing quick change device, how to improve the stability and reliability of its working process is the current main research direction. INVENTION CONTENTS

[0005] The utility model aims at overcoming the deficiency of prior art, and provides a quick change device based on sensor action detection, which can realize automatic replacement of nuclear decommissioning robot end tools, and has better stability and reliability compared with the existing quick change device.

[0006] The technical scheme of the utility model is: a quick change device based on sensor action detection, comprising a male assembly body and a female assembly body.

[0007] The male assembly body comprises a frame A, an upper pin shaft, a male head base, a lower pin shaft and male connectors; one side of the frame A is provided with a tool connecting surface for connecting an end tool, and the other side of the frame A is provided with two oppositely arranged ear plates A; the upper pin shaft is fixedly connected to the upper ends of the two ear plates A and located between the two ear plates A, and the two ends of the upper pin shaft are respectively provided with hooking sections; the male head base is fixedly installed in the middle part of the lower pin shaft; the lower pin shaft is fixedly connected to the lower ends of the two ear plates A and located between the two ear plates A, and the two ends of the lower pin shaft are respectively provided with locking sections; and the plurality of male connectors are fixedly installed on the male head base.

[0008] The female assembly body comprises a frame B, a hydraulic cylinder, a female head base, locking rods and female connectors; two oppositely arranged ear plates B are fixedly arranged on the rear side of the frame B, two oppositely arranged hook grooves are fixedly arranged on the upper end of the front side of the frame B, U-shaped notches for hooking the hooking sections of the upper pin shaft are arranged in the hook grooves, two oppositely arranged locking blocks are fixedly arranged on the lower end of the front side of the frame B, and concave surfaces and rod penetrating holes are arranged on the locking blocks; the hydraulic cylinder is fixedly installed in the middle part of the front side of the frame B, and the telescopic rod of the hydraulic cylinder extends towards the lower part of the front side of the frame B; the female head base is provided with a connecting section, and the connecting section is fixedly connected to the telescopic rod of the hydraulic cylinder in the middle part of the connecting section; the upper ends of the two locking rods are fixedly connected to the lower ends of the two sides of the female head base, the lower ends of the two locking rods are respectively movably inserted into the rod penetrating holes of the two locking blocks, and under the driving of the hydraulic cylinder, the lower ends of the two locking rods are synchronously retracted or extended out of the rod penetrating holes of the corresponding locking blocks; when the lower ends of the locking rods extend out of the rod penetrating holes of the corresponding locking blocks, the lower ends of the locking rods and the concave surfaces of the locking blocks are used for locking the locking sections of the lower pin shaft; and the plurality of female connectors are fixedly installed on the connecting section of the female head base.

[0009] The further technical scheme of the utility model is: when the male assembly body and the female assembly body are connected into one, the male connectors and the female connectors are mutually inserted, the hook grooves hook the hooking sections of the upper pin shaft through the U-shaped notches, the lower ends of the locking rods extend out of the rod penetrating holes of the corresponding locking blocks, and the lower ends of the locking rods and the concave surfaces of the locking blocks jointly lock the locking sections of the lower pin shaft.

[0010] The further technical scheme of the utility model is: the quick change device based on sensor action detection further comprises a sensor detection assembly; the sensor detection assembly comprises a proximity sensor A, a proximity sensor B, a state indicating lamp, an electro-hydraulic proportional valve and a controller; the proximity sensor A is embeddedly installed below the concave surface of the locking block, and is used for detecting whether the locking sections of the lower pin shaft are close to the concave surface of the locking block; the proximity sensor B is embeddedly installed in the frame B, and is used for detecting whether the female head base reaches the lower end of the moving stroke; the state indicating lamp is directly or indirectly fixedly installed on the frame B; the electro-hydraulic proportional valve is installed on the hydraulic oil way of the hydraulic cylinder, and is used for controlling the action of the telescopic rod of the hydraulic cylinder; the output port of the controller is electrically connected with the state indicating lamp and the electro-hydraulic proportional valve, and the input port of the controller is electrically connected with the proximity sensor A and the proximity sensor B.

[0011] The further technical scheme of the utility model is: the female head base is equipped with guide section on both sides of the connecting section, and is equipped with guide hole on the guide section; the female assembly body further includes guide assembly; the guide assembly includes linear bearing, guide rod and outer side guard plate; two linear bearings are fixedly installed in the two guide holes of the female head base respectively; the upper ends of the two guide rods are fixedly connected to the lower ends of the two hook grooves respectively, the lower ends of the two guide rods are movably inserted into the two linear bearings and extend into the two guide holes of the female head base respectively; two outer side guard plates are fixedly connected to the two sides of the rack B and form sliding contact with the side wall surfaces of the two guide sections of the female head base respectively.

[0012] The further technical scheme of the utility model is: the hooking section of the upper pin shaft is opposite to the locking section of the lower pin shaft and has the same length.

[0013] The further technical scheme of the utility model is: the male connector includes hydraulic male connector and / or electrical male connector and / or gas circuit male connector, and the female connector includes hydraulic female connector and / or electrical female connector and / or gas circuit female connector; the hydraulic male connector is matched with the hydraulic female connector, the electrical male connector is matched with the electrical female connector, and the gas circuit male connector is matched with the gas circuit female connector.

[0014] Compared with the prior art, the utility model has the following advantages:

[0015] Based on the detection of the position of specific components by two proximity sensors, the docking or separation process of the male assembly body and the female assembly body is monitored, and the alarm is triggered when an accident occurs during the separation or docking process, reminding the operator to come and handle, and the stability and reliability of the quick changer are improved.

[0016] The utility model will be further described in combination with the drawings and embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is the state diagram of the utility model in the docking process of the male assembly body and the female assembly body;

[0018] Figure 2 It is the appearance diagram of the male assembly body;

[0019] Figure 3 It is the appearance diagram of the female assembly body;

[0020] Figure 4 It is the internal structure diagram of the female assembly body under the first kind of visual angle;

[0021] Figure 5 It is the internal structure diagram of the female assembly body under the second kind of visual angle;

[0022] Figure 6 It is the appearance diagram of the female head base;

[0023] Figure 7 is an internal structure diagram of the female head base;

[0024] Figure 8 is an electrical connection and hydraulic oil circuit connection relationship diagram of various components in the utility model;

[0025] Figure 9 is an assembly relationship diagram of the male head base, the lower pin shaft and the male connector in the male assembly.

[0026] Legend: rack A11; upper pin shaft 12; hooking section 121; male head base 13; lower pin shaft 14; locking section 141; male connector 15; ear plate A16; rack B21; hydraulic cylinder 22; female head base 23; connecting section 231; guide section 232; guide hole 233; locking rod 24; female connector 25; ear plate B26; hook groove 27; U-shaped notch 271; locking block 28; concave arc surface 281; rod passing hole 282; guide rod 291; linear bearing 292; outer side guard plate 293; proximity sensor A31; proximity sensor B32; status indicator light 33; electro-hydraulic proportional valve 34; controller 35. DETAILED DESCRIPTION EMBODIMENT

[0027] As shown in Figures 1-9 , the quick-change device based on sensor action detection includes a male assembly, a female assembly and a sensor detection assembly.

[0028] The male assembly is connected with the robot end tool. The male assembly includes a rack A11, an upper pin shaft 12, a male head base 13, a lower pin shaft 14 and a male connector 15. One side of the rack A11 is provided with a tool connecting surface for connecting the end tool, and the other side of the rack A11 is provided with two oppositely arranged ear plates A16 which are fixedly arranged at intervals. The upper pin shaft 12 is fixedly connected with the upper ends of the two ear plates A16 and located between the two ear plates A16, and the two ends of the upper pin shaft 12 are respectively provided with hooking sections 121. The male head base 13 is fixedly installed in the middle of the lower pin shaft 14. The lower pin shaft 14 is fixedly connected with the lower ends of the two ear plates A16 and located between the two ear plates A16, and the two ends of the lower pin shaft 14 are respectively provided with locking sections 141. A plurality of male connectors 15 are fixedly installed on the male head base 13.

[0029] The female assembly is connected with the robot mechanical arm. The female assembly comprises a frame B21, a hydraulic cylinder 22, a female head base 23, locking rods 24 and female joints 25. Two ear plates B26 for connecting the robot mechanical arm are arranged opposite on the rear side of the frame B21. Two hook grooves 27 are arranged opposite on the upper end of the front side of the frame B21, and a U-shaped notch 271 for hooking the hooking section 121 of the upper pin shaft 12 is arranged in the hook groove 27. Two locking blocks 28 are arranged opposite on the lower end of the front side of the frame B21, and a concave surface 281 and a rod hole 282 are arranged on the locking block 28. The hydraulic cylinder 22 is fixedly installed on the middle of the front side of the frame B21, and the telescopic rod of the hydraulic cylinder 22 extends towards the lower part of the front side of the frame B21. The female head base 23 is provided with a connecting section 231, and the connecting section 231 is fixedly connected with the telescopic rod of the hydraulic cylinder 22. The upper ends of the two locking rods 24 are fixedly connected with the lower ends of the two sides of the female head base 23, and the lower ends of the two locking rods 24 are movably inserted into the rod holes 282 of the two locking blocks 28. Under the driving of the hydraulic cylinder 22, the lower ends of the two locking rods 24 are synchronously retracted or extended out of the rod holes 282 of the corresponding locking blocks 28. When the lower ends of the locking rods 24 extend out of the rod holes 282 of the corresponding locking blocks 28, the lower ends of the locking rods 24 and the concave surfaces 281 of the locking blocks 28 are used together to lock the locking section 141 of the lower pin shaft 14. A plurality of female joints 25 are fixedly installed on the connecting section 231 of the female head base 23.

[0030] The sensor detection assembly comprises a proximity sensor A31, a proximity sensor B32, a status indicator lamp 33, an electro-hydraulic proportional valve 34 and a controller 35. The proximity sensor A31 is embeddedly installed below the concave surface 281 of the locking block 28, and is used to detect whether the locking section 141 of the lower pin shaft 14 is close to the concave surface 281 of the locking block 28. The proximity sensor B32 is embeddedly installed in the frame B21, and is used to detect whether the female head base 23 reaches the lower end of the moving stroke. The status indicator lamp 33 is directly or indirectly fixedly installed on the frame B21. The electro-hydraulic proportional valve 34 is installed on the hydraulic oil way of the hydraulic cylinder 22, and is used to control the action of the telescopic rod of the hydraulic cylinder 22. The output port of the controller 35 is electrically connected with the status indicator lamp and the electro-hydraulic proportional valve, and the input port of the controller 35 is electrically connected with the proximity sensor A31 and the proximity sensor B32. The controller 35 is an STM32 single-chip microcomputer.

[0031] When the male assembly is connected with the female assembly: the upper end of the male joint 15 and the lower end of the female joint 25 are inserted into each other, the hook groove 27 hooks the hooking section 121 of the upper pin shaft 12 through the U-shaped notch 271, the lower end of the locking rod 24 extends out of the rod hole 282 of the corresponding locking block 28, and the lower end of the locking rod 24 and the concave surface 281 of the locking block 28 jointly lock the locking section 141 of the lower pin shaft 14.

[0032] Preferably, the female head base 23 is provided with a guide segment 232 on both sides of the connecting segment 231, and the guide segment 232 is provided with a guide hole 233. The female assembly further comprises a guide assembly, which comprises a linear bearing 292, a guide rod 291 and an outer side guard plate 293. The two linear bearings 292 are fixedly installed in the two guide holes 233 of the female head base 23 respectively; the upper ends of the two guide rods 291 are fixedly connected to the lower ends of the two hook grooves 27 respectively, and the lower ends of the two guide rods 291 are movably inserted into the two linear bearings 292 and extend into the two guide holes 233 of the female head base 23 respectively. The two outer side guard plates 293 are fixedly connected to the two sides of the rack B21 respectively and form sliding contact with the side wall surfaces of the two guide segments 232 of the female head base 23 respectively.

[0033] Preferably, the male assembly further comprises a transition pipe 17, the upper end of the transition pipe 17 is provided with a thread, the upper end of the transition pipe 17 is threadedly connected with the lower end of the male connector 15, the lower end of the transition pipe 17 extends out of the lower end of the lower pin shaft 14 by penetrating the middle part of the lower pin shaft 14, and the lower end of the transition pipe 17 is used for connecting a hydraulic pipeline.

[0034] Preferably, the hooking segment 121 of the upper pin shaft 12 is opposite to the locking segment 141 of the lower pin shaft 14 in the up-down direction and has the same length.

[0035] Preferably, the male connector 15 comprises a hydraulic male connector and / or an electrical male connector and / or a gas path male connector, and the female connector 25 comprises a hydraulic female connector and / or an electrical female connector and / or a gas path female connector. The hydraulic male connector is matched with the hydraulic female connector, the electrical male connector is matched with the electrical female connector, and the gas path male connector is matched with the gas path female connector.

[0036] Brief working principle of the utility model:

[0037] The quick change device based on sensor action detection can realize quick connection and disconnection of the end tool of the robot, and the quick connection and disconnection includes a connection process and a disconnection process.

[0038] Before the quick connection and disconnection, the following preparatory work needs to be performed:

[0039] a. The two ear plates B26 of the female assembly are connected to the end of the mechanical arm of the robot through pin shafts, and the female connector is connected to a hydraulic system or a gas path system or an electrical circuit system;

[0040] b. The end tool is first connected to the tool connecting surface of the male assembly, and then the male assembly is placed on the ground or a table top.

[0041] In the above preparatory work, the steps a and b are not in a certain order.

[0042] The connection process is as follows:

[0043] S01, the male assembly and the female assembly are hooked with each other:

[0044] The pose of the mechanical arm is controlled so that the two hook grooves 27 of the female assembly body respectively hook the two hooking sections 121 of the upper pin shaft 12 of the male assembly body through the U-shaped notches 271. The pose of the mechanical arm is controlled so that the male assembly body is separated from the ground and rotates around the upper pin shaft 12 under the action of gravity to be attached to the female assembly body. When the male assembly body is attached to the female assembly body, the two locking sections 141 of the lower pin shaft 14 of the male assembly body are respectively pressed on the two concave arc surfaces 281 of the locking blocks 28 of the female assembly body.

[0045] In this step, whether the locking sections 141 of the lower pin shaft 14 are attached to the concave arc surfaces 281 of the locking blocks 28 is detected by the proximity sensor A31. If not, the proximity sensor A31 is not triggered, the status indicator light 33 is not lit, and the subsequent operation is not performed, waiting for the operator to troubleshoot. If yes, the proximity sensor A31 is triggered and immediately sends an electrical signal to the controller 35. The controller 35 first controls the status indicator light 33 to flash for several times, indicating that the male assembly body and the female assembly body have been attached, and then controls the subsequent operation to be performed.

[0046] S02, the male assembly body and the female assembly body are locked to each other:

[0047] The controller 35 controls the electro-hydraulic proportional valve 34 to act, so that the piston rod of the hydraulic cylinder 22 extends, the piston rod of the hydraulic cylinder 22 drives the female head base 23 to move downward under the guidance of the two guide rods 291, and then drives the two locking rods 24 connected to the lower end of the female head base 23 to extend from the corresponding rod hole 282 of the locking block 28, and then locks the lower pin shaft 14 through the locking of the lower end of the locking rod 24 and the concave arc surface 281 of the locking block 28.

[0048] In this step, whether the piston rod of the hydraulic cylinder 22 extends to the right position is detected by the proximity sensor B32. If yes, the female head base 23 will trigger the proximity sensor B32, and the proximity sensor B32 will immediately send an electrical signal to the controller 35, which will control the status indicator light 33 to be always on, indicating that the male assembly body and the female assembly body are locked. If not, the proximity sensor B33 will not be triggered, and the status indicator light 33 will not be lit, waiting for the operator to troubleshoot.

[0049] After the operation of this step is completed, if there is no signal from the proximity sensor A31 and the proximity sensor B32, the status indicator light 33 is extinguished. If there is a signal from the proximity sensor A31 and no signal from the proximity sensor B32, or there is a signal from the proximity sensor B32 and no signal from the proximity sensor A31, the status indicator light 33 flashes.

[0050] After the operation of this step is completed, if the controller 35 detects that any one of the proximity sensor A31 or the proximity sensor B32 loses signal, it indicates that the quick change device connection is unreliable (loose), then the control status indicator light 33 flashes, prompting personnel to come to troubleshoot.

[0051] The disassembly process is as follows:

[0052] S01, the male assembly and the female assembly are unlocked:

[0053] The pose of the mechanical arm is controlled to make the male assembly contact the ground, and the controller 35 controls the electro-hydraulic proportional valve 34 to act, so that the piston rod of the hydraulic cylinder 22 retracts, and the piston rod of the hydraulic cylinder 22 drives the female head base 23 to move upward under the guidance of the two guide rods 291, and then drives the two locking rods 24 connected to the lower end of the female head base 23 to retract into the corresponding rod hole 282 of the locking block 28, thereby releasing the locking state of the lower pin shaft 14.

[0054] S02, the male assembly and the female assembly are separated from each other:

[0055] The pose of the mechanical arm is controlled to make the male assembly and the female assembly separate from each other at the lower end, at this time, the male assembly is only hooked with the female assembly through the upper pin shaft 12 and the hook slot 27, the pose of the mechanical arm is controlled to make the hook slot 27 of the female assembly and the upper pin shaft 12 of the male assembly separate from each other, at this time, the separation process of the male assembly and the female assembly is completed.

[0056] In this step, after the male assembly and the female assembly are separated from each other at the lower end, the proximity sensor A31 changes from the triggered state to the untriggered state, and the controller 35 controls the status indicator light 33 to flash several times 3 seconds after the state of the proximity sensor A31 changes, indicating that the male assembly and the female assembly have been separated from each other at the lower end, and the operator sees the status indicator light 33 bright before performing the subsequent hook slot 27 and upper pin shaft 12 separation operation.

Claims

1. Quick-change device based on sensor action detection, characterized by: The male assembly body, the female assembly body, and the sensor detection assembly are provided; The male assembly body comprises a frame A, an upper pin shaft, a male head base, a lower pin shaft, and a male joint; the frame A is provided with a tool connecting surface on one side for connecting an end tool, and is provided with two oppositely arranged ear plates A on the other side; the upper pin shaft is fixedly connected to the upper ends of the two ear plates A and located between the two ear plates A, and the two ends of the upper pin shaft are respectively provided with hooking sections; the male head base is fixedly installed in the middle part of the lower pin shaft; the lower pin shaft is fixedly connected to the lower ends of the two ear plates A and located between the two ear plates A, and the two ends of the lower pin shaft are respectively provided with locking sections; and a plurality of male joints are fixedly installed on the male head base; The female assembly body comprises a frame B, a hydraulic cylinder, a female head base, locking rods, and female joints; the frame B is provided with two oppositely arranged ear plates B on the rear side, is provided with two oppositely arranged hook grooves on the upper front side, and is provided with two oppositely arranged locking blocks on the lower front side; the hook grooves are provided with U-shaped notches for hooking the hooking sections of the upper pin shaft; the locking blocks are provided with concave surfaces and rod insertion holes; the hydraulic cylinder is fixedly installed in the middle part of the front side of the frame B, and the telescopic rod of the hydraulic cylinder extends towards the lower part of the front side of the frame B; the female head base is provided with a connecting section, and the connecting section is fixedly connected to the telescopic rod of the hydraulic cylinder in the middle part; the upper ends of the two locking rods are fixedly connected to the lower ends of the two sides of the female head base, and the lower ends of the two locking rods are respectively inserted into the rod insertion holes of the two locking blocks; under the driving of the hydraulic cylinder, the lower ends of the two locking rods are synchronously retracted or extended out of the rod insertion holes of the corresponding locking blocks; when the lower ends of the locking rods extend out of the rod insertion holes of the corresponding locking blocks, the lower ends of the locking rods and the concave surfaces of the locking blocks are used for locking the locking sections of the lower pin shaft; and a plurality of female joints are fixedly installed on the connecting section of the female head base; The sensor detection assembly comprises a proximity sensor A, a proximity sensor B, a status indicator lamp, an electro-hydraulic proportional valve, and a controller; The proximity sensor A is embeddedly installed below the concave surface of the locking block, and is used for detecting whether the locking section of the lower pin shaft is close to the concave surface of the locking block; The proximity sensor B is embeddedly installed in the frame B, and is used for detecting whether the female head base reaches the lower end of the moving stroke; the status indicator lamp is directly or indirectly fixedly installed on the frame B; the electro-hydraulic proportional valve is installed on the hydraulic oil path of the hydraulic cylinder, and is used for controlling the action of the telescopic rod of the hydraulic cylinder; the output port of the controller is electrically connected to the status indicator lamp and the electro-hydraulic proportional valve, and the input port of the controller is electrically connected to the proximity sensor A and the proximity sensor B.

2. The quick change device based on sensor action detection as claimed in claim 1, wherein: When the male assembly body and the female assembly body are connected into one body, the male joint and the female joint are inserted into each other, the hook groove hooks the hooking section of the upper pin shaft through the U-shaped notch, the lower end of the locking rod extends out of the rod insertion hole of the corresponding locking block, and the lower end of the locking rod and the concave surface of the locking block jointly lock the locking section of the lower pin shaft.

3. The quick change device based on sensor action detection as claimed in claim 2, wherein: The female head base is provided with guiding segments on both sides of the connecting segment, and guiding holes are arranged on the guiding segments; the female assembly body further comprises a guiding assembly; the guiding assembly comprises linear bearings, guide rods and outer side guards; two linear bearings are fixedly installed in the two guiding holes of the female head base respectively; the upper ends of the two guide rods are fixedly connected to the lower ends of the two hook grooves respectively, the lower ends of the two guide rods are movably inserted into the two linear bearings respectively and extend into the two guiding holes of the female head base respectively; the two outer side guards are fixedly connected to the two sides of the rack B respectively and form sliding contact with the side wall surfaces of the two guiding segments of the female head base respectively.

4. The quick change device based on sensor action detection as claimed in claim 3, wherein: The hooking segment of the upper pin shaft is opposite to the locking segment of the lower pin shaft in the up-down direction and has the same length.

5. The quick change device based on sensor action detection as claimed in claim 4, wherein: The male connector comprises a hydraulic male connector and / or an electrical male connector and / or a gas path male connector, and the female connector comprises a hydraulic female connector and / or an electrical female connector and / or a gas path female connector; the hydraulic male connector is matched with the hydraulic female connector, the electrical male connector is matched with the electrical female connector, and the gas path male connector is matched with the gas path female connector.

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