Mechanical arm automatic plugging mechanism

Abstract

The utility model discloses a kind of automatic plug-in mechanism of mechanical arm, including mechanical arm and the mobile trolley of carrying it, male end is installed on the rotating shaft of mechanical arm through floating component, rotating shaft is equipped with visual positioning component in the side of floating component, floating component further includes base plate, fixed sleeve and baffle, the outer connection of movable disc in sleeve connects male end, male end is inserted with female end, movable disc is equipped with support ball in the conical groove of the side center of base plate, first elastic member of extrusion state is arranged between ball and base plate, second elastic member is arranged between floating ring outside ball and base plate, first elastic member outside.The utility model can make the cooperation of mechanical arm and visual component realize the automatic blind insertion between male end and female end of joint, and also can realize the direction of male end and female end between joint during plug-in by movable disc radial deviation, full swing, to improve the precision and convenience of blind insertion operation.

Description

Technical Field

[0001] This utility model relates to an automatic insertion mechanism for a robotic arm, belonging to the technical field of liquid cooling equipment. Background Technology

[0002] With global digitalization, computing power has long been integrated into various aspects of production and daily life. Whether it's the research and development of technological projects or the operation of everyday software, powerful computing support is essential. Data centers, as the physical carriers of computing power, are key information infrastructure for the digital and intelligent development of industries. Liquid cooling has a specific heat capacity thousands of times higher than air cooling, resulting in significantly improved heat dissipation efficiency and energy savings. However, liquid cooling technology is more complex than air cooling, requiring the establishment of liquid cooling circulation equipment and pipelines to transport coolant, which is then circulated back to cool before being put into use again. Therefore, data centers all require liquid cooling delivery equipment. The components of the liquid cooling equipment, including storage, pumping, cooling, and circulation, all need to be connected via pipes and connectors to form a complete liquid cooling system. During the connection of liquid-cooled cabinets, the coolant for each chassis unit needs to be transported through a water collector, and appropriate matching connectors and sockets must be selected when connecting the chassis units. However, the on-site environment for liquid-cooled cabinets is complex, with aisle widths of only about 1.2 meters, making manual connection of connectors difficult and labor-intensive. Summary of the Invention

[0003] The purpose of this utility model is to provide an automatic insertion mechanism for a robotic arm. This automatic insertion mechanism can realize automatic blind insertion between the male and female ends of the connector, as well as the compound swing and centering reset of the movable plate. It can also realize the orientation and centering between the male and female ends of the connector during the blind insertion process, thereby improving the operation accuracy.

[0004] To achieve the above objectives, the technical solution adopted by this utility model is as follows: an automatic insertion mechanism for a robotic arm, comprising: a robotic arm having at least three rotating axes and a mobile trolley for carrying the robotic arm; a male connector is installed on the rotating axis of the other end of the robotic arm, which is connected to the mobile trolley at one end; the male connector is installed on the rotating axis of the robotic arm via a floating assembly; a vision positioning assembly is installed on the rotating axis of the robotic arm and on one side of the floating assembly; the floating assembly further comprises: a base plate connected to the rotating axis of the robotic arm, a fixed sleeve connected to the base plate at one end, and a baffle connected to the other end of the fixed sleeve; a movable disk is provided inside the sleeve; the movable disk has an outer part extending axially toward the baffle and passing through the baffle; the other end of the male connector, which is connected to the outer part at one end, is used for insertion and connection with a female connector. A conical groove is formed in the center of the surface of the movable disk facing the substrate. A supporting ball is disposed in the conical groove. One end of the supporting ball is in rolling contact with the inner wall of the conical groove. The other end of the supporting ball is disposed between the supporting ball and the substrate and is in a compressed state. A floating ring coaxial with the supporting ball is disposed on the side of the movable disk facing the substrate and outside the supporting ball. A second elastic element is disposed between the floating ring and the substrate and outside the first elastic element. The two side surfaces of the movable disk, which can move radially, are in sliding engagement with the baffle and the floating ring through at least three spaced balls.

[0005] The following are further improvements to the above technical solution: 1. In the above scheme, the robotic arm is a six-axis robotic arm with six rotation axes.

[0006] 2. In the above scheme, the mobile vehicle is an AGV (Automated Guided Vehicle).

[0007] 3. In the above scheme, the automatic insertion mechanism of the robotic arm also has a vehicle base station that cooperates with the mobile vehicle.

[0008] 4. In the above scheme, the base plate of the floating component and the vision positioning component are both mounted on the rotating shaft of the robotic arm via a flange bracket.

[0009] 5. In the above scheme, the external part is located at the center of the surface of the movable disk facing the baffle.

[0010] 6. In the above scheme, a clamping sleeve is installed on the outer part of the movable disk by screws, and the male end of the connector is installed on the clamping sleeve.

[0011] 7. In the above scheme, an annular seat is provided at the edge of both sides of the movable disk, and each annular seat has at least 3 ball grooves for the ball to be inserted.

[0012] 8. In the above scheme, the ball grooves are evenly distributed along the circumference.

[0013] 9. In the above scheme, one of the annular seats is connected to the side surface of the movable disk facing the baffle by at least two pins, one end of the ball is embedded in the ball groove opened on the annular seat, and the other end of the ball rolls in contact with the surface of the baffle facing the movable disk. The other annular seat is installed on the floating ring by at least one set of mutually cooperating positioning protrusions and positioning grooves.

[0014] Due to the application of the above technical solution, this utility model has the following advantages compared with the prior art: This utility model relates to an automatic insertion mechanism for a robotic arm. The male connector, used for insertion and connection with the female connector, is mounted on the rotating shaft of the robotic arm via a floating assembly. A vision positioning component is mounted on the rotating shaft of the robotic arm, located to one side of the floating assembly. The floating assembly includes: a base plate connected to the rotating shaft of the robotic arm; a fixed sleeve connected at one end to the base plate; and a baffle connected to the other end of the fixed sleeve. A movable disk is disposed within the sleeve. The movable disk has an external connection portion extending axially towards the baffle and extending through the baffle to connect with the male connector. A conical groove is formed in the center of the movable disk's surface facing the base plate. A support ball is disposed within the conical groove. One end of the support ball rolls in contact with the inner wall of the conical groove, while the other end is positioned between the support ball and the base plate. A first elastic element in a compressed state is provided. A floating ring coaxial with the supporting ball is provided on the side of the movable disk facing the substrate and on the outside of the supporting ball. A second elastic element is provided between the floating ring and the substrate and on the outside of the first elastic element. The two side surfaces of the movable disk, which can move radially, are slidably engaged with the baffle and the floating ring by at least three spaced balls. This can realize automatic blind insertion between the male and female ends of the connector, and can also make the movable disk radially offset and swing in the full circumference to realize the compound swing of the movable disk. The ball can realize the centering and reset of the movable disk's own position, thereby realizing the directional guidance and centering between the male and female ends of the connector during blind insertion, thus improving the accuracy and convenience of blind insertion operation. Attached Figure Description

[0015] Appendix Figure 1 This is a schematic diagram of the automatic insertion mechanism for the robotic arm of this utility model; Appendix Figure 2 For the appendix Figure 1 Enlarged view of the structure at point A in the middle; Appendix Figure 3 This is a schematic diagram of the floating device in the automatic connection machine of the connector of this utility model; Appendix Figure 4 For the appendix Figure 3 A cross-sectional view; Appendix Figure 5 For the appendix Figure 4 Enlarged view of the structure at point B in the middle; Appendix Figure 6 This is a partial structural diagram of the floating device in the automatic insertion mechanism of the robotic arm of this utility model.

[0016] In the above figures: 1. Base plate; 2. Fixing sleeve; 3. Baffle; 4. Bolt; 5. Flange; 6. Movable disc; 61. External connection; 7. Ball; 8. Annular seat; 81. Ball groove; 9. Pin; 10. Conical groove; 11. Support ball; 12. First elastic element; 13. Annular protrusion; 131. Receiving groove; 132. Groove; 14. Floating ring; 141. Annular limiting groove; 15. Second elastic element; 16. Guide groove; 17. Limiting part; 181. Positioning protrusion; 182. Positioning groove; 19. Robotic arm; 191. Rotating shaft; 20. Moving trolley; 21. Trolley base station; 22. Male connector; 23. Visual positioning component; 24. Flange bracket; 25. Screw; 26. Clamping sleeve. Detailed Implementation

[0017] The present patent can be further understood through the specific embodiments given below, but they are not intended to limit the present patent.

[0018] Example 1: An automatic insertion mechanism for a robotic arm includes: a robotic arm 19 having at least three rotating shafts 191 and a mobile trolley 20 for carrying the robotic arm 19. A male connector 22 is installed on the rotating shaft 191 at the other end of the robotic arm 19, which is connected to the mobile trolley 20 at one end. The male connector 22 is mounted on the rotating shaft 191 of the robotic arm 19 via a floating assembly. A vision positioning assembly 23 is installed on the rotating shaft 191 of the robotic arm 19 and located on one side of the floating assembly. The floating assembly further includes: a base plate 1 connected to the rotating shaft 191 of the robotic arm 19, a fixed sleeve 2 connected to the base plate 1 at one end, and a baffle 3 connected to the other end of the fixed sleeve 2. A movable disk 6 is provided inside the sleeve 2. The movable disk 6 has an outer part 61 extending axially toward the baffle 3 and passing through the baffle 3. The other end of the male connector 22, which is connected to the outer part 61 at one end, is used for insertion connection with a female connector. A conical groove 10 is formed in the center of the surface of the movable disk 6 facing the substrate 1. A support ball 11 is provided in the conical groove 10. One end of the support ball 11 is in rolling contact with the inner wall of the conical groove 10. The other end of the support ball 11 is provided with a first elastic element 12 in a compressed state between it and the substrate 1. A floating ring 14 coaxial with the support ball 11 is provided on the side of the movable disk 6 facing the substrate 1 and outside the support ball 11. A second elastic element 15 is provided between the floating ring 14 and the substrate 1 and outside the first elastic element 12. The two side surfaces of the movable disk 6, which can move radially, are slidably engaged with the baffle 3 and the floating ring 14 by at least three spaced balls 7.

[0019] The second elastic member 15 is coaxially sleeved with the first elastic member 12; an annular limiting groove 141 is provided on the floating ring 14 for one end of the second elastic member 15 to be inserted; the floating ring 14 and the second elastic member 15 are both sleeved on the outside of the annular protrusion 13 and located in the guide groove 16 formed by the flange 5 on the fixed sleeve 2 and the annular protrusion 13; at least one limiting part 17 is provided on the side of the floating ring 14 facing the substrate 1, which is respectively in clearance fit with the flange 5 and the annular protrusion 13 on the fixed sleeve 2; the limiting part 17 is a limiting inner flange extending from the inner wall of the flange 5 toward the annular protrusion 13 and / or a limiting outer flange extending from the outer wall of the annular protrusion 13 toward the flange 5.

[0020] The fixed sleeve 2 has a radially inward flange 5 on the inner wall of the end away from the baffle 3, and the movable disk 6 is disposed between the flange 5 and the baffle 3; the fixed sleeve 2 is fixedly connected to the base plate 1 and the baffle 3 by a number of bolts 4 distributed circumferentially.

[0021] The substrate 1 has a groove 132 that communicates with the receiving groove 131. The end of the elastic member 12 away from the supporting ball 11 is pressed into contact with the bottom surface of the groove 132. The substrate 1 has an annular protrusion 13 extending in the direction of the supporting ball 11 on the side facing the supporting ball 11. The annular protrusion 13, which is coaxially arranged with the supporting ball 11, forms a receiving groove 131 in the center. The elastic member 12 is disposed in the receiving groove 131.

[0022] The base plate 1 of the floating component and the vision positioning component 23 are both mounted on the rotation axis 191 of the robotic arm 19 via a flange bracket 24; the robotic arm 19 is a six-axis robotic arm with six rotation axes 191.

[0023] An annular seat 8 is provided at the edge of both sides of the aforementioned movable disk 6. Each annular seat 8 has at least three ball grooves 81 for the ball 7 to be inserted. The annular seat 8 is connected to the side surface of the movable disk 6 facing the baffle 3 by at least two pins 9. One end of the ball 7 is inserted into the ball groove 81 on the annular seat 8, and the other end of the ball 7 rolls in contact with the surface of the baffle 3 facing the movable disk 6. Another annular seat 8 is mounted on the floating ring 14 by at least one set of mutually cooperating positioning protrusions 181 and positioning grooves 182.

[0024] Example 2: An automatic insertion mechanism for a robotic arm includes: a robotic arm 19 having at least three rotating shafts 191 and a mobile trolley 20 for carrying the robotic arm 19. A male connector 22 is installed on the rotating shaft 191 at the other end of the robotic arm 19, which is connected to the mobile trolley 20 at one end. The male connector 22 is mounted on the rotating shaft 191 of the robotic arm 19 via a floating assembly. A vision positioning assembly 23 is installed on the rotating shaft 191 of the robotic arm 19 and located on one side of the floating assembly. The floating assembly further includes: a base plate 1 connected to the rotating shaft 191 of the robotic arm 19, a fixed sleeve 2 connected to the base plate 1 at one end, and a baffle 3 connected to the other end of the fixed sleeve 2. A movable disk 6 is provided inside the sleeve 2. The movable disk 6 has an outer part 61 extending axially toward the baffle 3 and passing through the baffle 3. The other end of the male connector 22, which is connected to the outer part 61 at one end, is used for insertion connection with a female connector. A conical groove 10 is formed in the center of the surface of the movable disk 6 facing the substrate 1. A support ball 11 is provided in the conical groove 10. One end of the support ball 11 is in rolling contact with the inner wall of the conical groove 10. The other end of the support ball 11 is provided with a first elastic element 12 in a compressed state between it and the substrate 1. A floating ring 14 coaxial with the support ball 11 is provided on the side of the movable disk 6 facing the substrate 1 and outside the support ball 11. A second elastic element 15 is provided between the floating ring 14 and the substrate 1 and outside the first elastic element 12. The two side surfaces of the movable disk 6, which can move radially, are slidably engaged with the baffle 3 and the floating ring 14 by at least three spaced balls 7.

[0025] The aforementioned robotic arm automatic insertion mechanism also has a vehicle base station 21 that cooperates with the aforementioned mobile vehicle 20; the aforementioned mobile vehicle 20 is an AGV vehicle.

[0026] The aforementioned external part 61 is located at the center of the surface of the movable disk 6 facing the baffle 3; a clamping sleeve 26 is installed on the external part 61 of the movable disk 6 by screws 25, and the aforementioned male end 22 of the connector is installed on the clamping sleeve 26; an annular seat 8 is provided at the edges on both sides of the movable disk 6, and each of the aforementioned annular seats 8 has at least 3 ball grooves 81 for the aforementioned ball 7 to be inserted; the aforementioned ball grooves 81 are evenly distributed along the circumference.

[0027] The aforementioned annular seat 8 is connected to the side surface of the movable disk 6 facing the baffle 3. One end of the aforementioned ball 7 is embedded in the ball groove 81 opened on the annular seat 8, and the other end of the aforementioned ball 7 rolls in contact with the surface of the baffle 3 facing the movable disk 6. Another aforementioned annular seat 8 is mounted on the floating ring 14 through at least one set of mutually cooperating positioning protrusions 181 and positioning grooves 182.

[0028] The working principle of this patent is as follows: When it is necessary to connect the male end of the connector to the female end, and it is inconvenient to operate manually due to the small space, the male end of the connector is first installed on the rotating shaft at the end of the robotic arm. The rotating shaft is also equipped with a visual positioning component to replace the human eye for visual recognition. A floating component is installed between the male end of the connector and the rotation axis of the robotic arm, and the male end of the connector is indirectly connected to the movable plate of the floating component, so that the male end of the connector can move with the movable plate. When connecting the male and female connectors, the female connector remains stationary. A trolley moves the robotic arm and the male connector mounted on it toward the female connector. Once the male connector is close to the female connector, the insertion operation is performed with the assistance of a vision positioning component. Specifically, the male connector is initially embedded into the female connector with the assistance of the vision positioning component, but it is difficult to achieve concentric alignment with the female connector. As the male connector gradually moves toward the female connector, the movable plate drives the male connector to offset in various radial directions and swing in the full circumference, achieving a compound sway of the movable plate. The ball under elastic support continuously resets the position of the movable plate, thus enabling the alignment and centering of the male and female connectors during blind insertion. This improves the accuracy and convenience of blind insertion, completely eliminating reliance on manual labor and facilitating rapid and accurate insertion of the male and female connectors in confined spaces or other environments where manual operation is inconvenient. The robotic arm, mobile vehicle, and visual positioning components mentioned above all fall within the scope of existing technology and can be obtained through external purchase; therefore, this application will not elaborate further.

[0029] When the above-mentioned robotic arm automatic insertion mechanism is used, it can realize automatic blind insertion between the male and female ends of the connector, and can also realize the compound swing of the movable plate. The ball under elastic support can realize centering and reset, thereby realizing the guidance and centering of the male and female ends of the connector during the blind insertion process, thus improving the accuracy and convenience of blind insertion operation.

[0030] The above embodiments are only for illustrating the technical concept and features of this utility model, and are intended to enable those skilled in the art to understand the content of this utility model and implement it accordingly. They should not be construed as limiting the scope of protection of this utility model. All equivalent changes or modifications made in accordance with the spirit and essence of this utility model should be included within the scope of protection of this utility model.

Claims

1. An automatic insertion mechanism for a robotic arm, comprising: A robotic arm (19) having at least three rotating axes (191) and a mobile trolley (20) for mounting the robotic arm (19), wherein a male connector (22) is mounted on the rotating axis (191) at the other end of the robotic arm (19) which is connected to the mobile trolley (20) at one end, characterized in that: the male connector (22) is mounted on the rotating axis (191) of the robotic arm (19) via a floating assembly, and a visual positioning assembly is mounted on the rotating axis (191) of the robotic arm (19) and located on one side of the floating assembly. 23), the floating assembly further includes: a base plate (1) connected to the rotation axis (191) of the robotic arm (19), a fixed sleeve (2) connected to the base plate (1) at one end, and a baffle (3) connected to the other end of the fixed sleeve (2). A movable disk (6) is provided inside the sleeve (2). The movable disk (6) has an outer part (61) extending axially toward the baffle (3) and passing through the baffle (3). The other end of the male end (22) of the connector, which is connected to the outer part (61) at one end, is used to be plugged into the female end of the connector. A conical groove (10) is provided in the center of the side surface of the movable disk (6) facing the substrate (1). A support ball (11) is provided in the conical groove (10). One end of the support ball (11) is in rolling contact with the inner wall of the conical groove (10). The other end of the support ball (11) is provided with a first elastic element (12) in a compressed state between it and the substrate (1). A floating ring (14) coaxial with the support ball (11) is provided on the side of the movable disk (6) facing the substrate (1) and located outside the support ball (11). A second elastic element (15) is provided between the floating ring (14) and the substrate (1) and located outside the first elastic element (12). The two side surfaces of the movable disk (6) that can move radially are in sliding contact with the baffle (3) and the floating ring (14) through at least three spaced balls (7).

2. The automatic insertion mechanism for the robotic arm according to claim 1, characterized in that: The robotic arm (19) is a six-axis robotic arm with six rotation axes (191).

3. The automatic insertion mechanism for the robotic arm according to claim 1, characterized in that: The mobile vehicle (20) is an AGV vehicle.

4. The automatic insertion mechanism for a robotic arm according to claim 1 or 3, characterized in that: It also has a vehicle base station (21) that works in conjunction with the mobile vehicle (20).

5. The automatic insertion mechanism for the robotic arm according to claim 1, characterized in that: The base plate (1) of the floating component and the vision positioning component (23) are both mounted on the rotation axis (191) of the robotic arm (19) via a flange bracket (24).

6. The automatic insertion mechanism for a robotic arm according to claim 1, characterized in that: The external part (61) is located at the center of the surface of the movable plate (6) facing the baffle (3).

7. The automatic insertion mechanism for a robotic arm according to claim 1 or 6, characterized in that: A clamping sleeve (26) is installed on the outer part (61) of the movable plate (6) by screws (25), and the male end (22) of the connector is installed on the clamping sleeve (26).

8. The automatic insertion mechanism for a robotic arm according to claim 1, characterized in that: An annular seat (8) is provided on both sides of the movable disc (6), and each annular seat (8) has at least 3 ball grooves (81) for the ball (7) to be inserted.

9. The automatic insertion mechanism for a robotic arm according to claim 8, characterized in that: Several ball grooves (81) are evenly distributed along the circumference.

10. The automatic insertion mechanism for a robotic arm according to claim 8 or 9, characterized in that: One of the ring seats (8) is connected to the side surface of the movable disk (6) facing the baffle (3) by at least two pins (9). One end of the ball (7) is embedded in the ball groove (81) opened on the ring seat (8), and the other end of the ball (7) rolls in contact with the surface of the baffle (3) facing the movable disk (6). The other ring seat (8) is mounted on the floating ring (14) by at least one set of mutually cooperating positioning protrusions (181) and positioning grooves (182).

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