A modular topological elastomer array system

Abstract

The utility model relates to elastic sensing equipment technical field discloses a kind of modular topological elastomer array systems, including base, top seat and the replacement mechanism of realizing the quick locking and separation of both;Replacement mechanism includes the slider of sliding connection in base sliding slot and the slide column of driving slider, the slot hole on slider is aligned or staggered with the clamping groove on top seat by pushing slide column, the quick installation and locking of top seat are realized, and with self-locking bolt secondary reinforcement is equipped.Quickly replaceable top seat is fixed with connecting mechanism, connecting mechanism is equipped with elastomer beam as sensing core, and adjusting assembly, which is composed of force cylinder, plug-in column and tool bit, is used for transmitting external force and executing operation. It also includes by reinforcing cylinder platform.The utility model passes through the quick-change mechanism of modularization, solve the problem that tool head replacement is complex, low efficiency in prior art, with convenient replacement, reliable connection, task adaptability is strong beneficial effect.

Description

Technical Field

[0001] This utility model relates to the field of elastic sensing equipment technology, and in particular to a modular topological elastomer array system. Background Technology

[0002] In the field of robotics and automated production, the end effector, as a key component that directly interacts with the external environment and workpiece, directly determines the capability range and operational accuracy of the entire automated system. To adapt to advanced application scenarios such as precision assembly, flexible grinding, or human-robot collaboration, elastomer sensing devices integrating force or tactile functions have emerged. These devices enable robots to sense and control contact forces.

[0003] With the increasing demand for flexible manufacturing and personalized customization, single-function end effectors are no longer sufficient to meet diverse production tasks. Existing elastomer sensing devices, in pursuit of measurement accuracy and structural stability, often employ integrated or highly integrated designs. This results in an exceptionally complex and time-consuming changeover process when tool heads with different functions or specifications need to be replaced to adapt to new tasks. Operators often need to perform tedious disassembly, rewiring, and even system recalibration, which significantly reduces production line changeover efficiency and equipment versatility, contradicting the original intention of automation to improve efficiency.

[0004] Therefore, this invention proposes a modular topological elastomer array system to address the shortcomings of existing technologies. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a modular topological elastomer array system, which aims to improve the problems of complex tool head replacement structure, inconvenient operation, and difficulty in adapting to different working requirements in some existing modular topological elastomer array systems.

[0006] This utility model provides a modular topological elastomer array system, including: a base, a top mount; and a replacement mechanism.

[0007] The replacement mechanism includes a latching assembly, which includes a slider that is slidably connected to a groove in the base and a sliding post that is fixedly connected to the slider. The slider has a slot. This structure is designed to achieve complex locking and unlocking functions through simple linear motion.

[0008] Furthermore, the base has a groove for accommodating and guiding the slider, and the top seat is fitted to the base and has a slot that matches the slot on the slider; the sliding column extends out of the base for operation, and by pushing and pulling the sliding column, the slider is driven to slide back and forth along the length of the groove, so that the slot on the slider can be selectively fully aligned with the slot on the top seat, allowing the top seat to be freely installed or removed, or completely misaligned with the slot, at which point the solid part of the slider will be embedded in the slot, thereby firmly locking the top seat onto the base.

[0009] Preferably, it also includes a self-locking bolt, and a corresponding through hole is provided on the base. The self-locking bolt passes through the through hole and is threaded to the top seat, which is used to perform secondary locking after the top seat is initially locked by the buckle assembly, forming a double fixation, which greatly enhances the stability and vibration resistance of the connection structure.

[0010] Preferably, it also includes a connecting mechanism, which is a complete functional unit and is fixedly connected to the top seat, so that it can be quickly installed or disassembled together with the top seat; the internal structure of the connecting mechanism includes a protective shell and an elastic beam disposed inside the protective shell, the elastic beam being the core component for realizing mechanical sensing.

[0011] Furthermore, the connecting mechanism also includes a cylindrical segment b, with the protective shell fixedly connected to one end of the cylindrical segment b, together forming the external load-bearing frame of the functional module; the system also includes an adjustment component, one end of which passes through the protective shell and is connected to the force-bearing end of the elastic beam, for accurately transmitting external physical forces to the elastic beam.

[0012] In one specific implementation, the adjustment assembly includes a force-bearing cylinder, a cartridge column, and a cutter head. The force-bearing cylinder is directly connected to the elastic beam, the cartridge column is fixedly connected to the force-bearing cylinder, and the cutter head, as the final actuating component that contacts the workpiece, can be easily disassembled and installed in the cartridge column. This split structure clearly defines the force transmission path and enables diversified replacement of the end effector.

[0013] Preferably, it also includes sensor signal lead wires, and the machine body is provided with a dedicated lead wire channel; the sensor signal lead wires are run through the lead wire channel and electrically connected to the sensor associated with the elastic beam. The lead wire channel provides reliable physical shielding and a neat wiring path for the precision signal cable, which can effectively prevent the signal cable from being damaged by external force scratches or squeezing or from electromagnetic interference during the movement of the equipment.

[0014] Preferably, it also includes a reinforcing cylindrical platform, a transition cylindrical platform, and cylindrical segment a as the main frame; the reinforcing cylindrical platform is connected to the transition cylindrical platform, the transition cylindrical platform is connected to cylindrical segment a, and the other end of cylindrical segment a is fixedly connected to the base. This layered rigid connection method provides a stable and reliable mounting base for the entire quick-change mechanism and the upper functional modules.

[0015] Furthermore, in order to ensure the coaxiality and positional accuracy of the assembly of each component of the main frame, pin holes for precise positioning during assembly are provided at the connection between the reinforced cylindrical platform and the transition cylindrical platform, as well as at the connection between the transition cylindrical platform and cylindrical segment a.

[0016] This utility model has the following beneficial effects: 1. This utility model solves the problems of complex structure, long time consumption and inconvenient operation of tool head replacement of elastic sensing devices in the prior art by setting a replacement mechanism composed of a top seat, a base and a buckle assembly integrating a sliding column, a sliding block and a sliding groove. It achieves the technical effect of quick disassembly and assembly of functional modules and significantly improves the working efficiency and task adaptability of the equipment.

[0017] 2. This utility model solves the problems of traditional integrated sensing devices being single-function, difficult to maintain or upgrade, by integrating the connection mechanism of the elastic beam and sensor into an independent module and fixing it to a top base that can be quickly disassembled. It achieves the technical effect of expandable function, convenient maintenance, and flexible system configuration according to different sensing needs.

[0018] 3. This utility model solves the problems of loosening of the quick-change mechanism under long-term or high-frequency operation and easy interference or damage to the sensor signal lead-out line by using self-locking bolts for secondary locking and setting lead-out line channels to protect the sensor signal lead-out line. It achieves the technical effect of improving the connection reliability, operation stability and signal transmission quality of the device. Attached Figure Description

[0019] Figure 1 This is a three-dimensional schematic diagram of a modular topological elastomer array system proposed in this utility model; Figure 2 This is a schematic diagram of the cutter head of a modular topological elastomer array system proposed in this utility model; Figure 3 This is a schematic diagram of the structure of the protective shell for a modular topological elastomer array system proposed in this utility model; Figure 4 This is a schematic diagram of the sliding column of a modular topological elastomer array system proposed in this utility model.

[0020] Legend: 1. Reinforced cylindrical platform; 2. Pin hole; 3. Transition cylindrical platform; 4. Cylindrical section a; 5. Replacement mechanism; 51. Top seat; 52. Base; 53. Snap-fit ​​assembly; 531. Sliding column; 532. Sliding block; 533. Slot; 534. Sliding groove; 535. Snap-fit ​​groove; 54. Through hole; 55. Self-locking bolt; 6. Connecting mechanism; 61. Elastic beam; 62. Protective shell; 63. Cylindrical section b; 64. Adjustment assembly; 641. Force-bearing cylinder; 642. Insertion column; 643. Cutting head; 7. Lead wire channel; 8. Sensor signal lead wire. Detailed Implementation

[0021] 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.

[0022] Example: Reference Figures 1 to 4 This utility model provides a modular topological elastomer array system, which aims to solve the problems of complex tool head replacement structure, inconvenient operation, and difficulty in adapting to different working requirements in the prior art.

[0023] Reference Figure 1 The overall basic frame is composed of a reinforcing cylindrical platform 1, a transition cylindrical platform 3, and a cylindrical segment a4 connected in sequence. Pin holes 2 for assembly positioning are provided at the connection between the reinforcing cylindrical platform 1 and the transition cylindrical platform 3, and at the connection between the transition cylindrical platform 3 and the cylindrical segment a4. The pin holes 2 ensure the precise alignment of each component during the assembly process. One end of the cylindrical segment a4 is fixedly connected to the base 52, providing a stable installation foundation for the replacement mechanism 5.

[0024] Reference Figure 1 , Figure 3 and Figure 4The replacement mechanism 5 includes a base 52, a top seat 51, and a latching assembly 53 for locking and unlocking. The base 52 has a sliding groove 534 and a through hole 54. The top seat 51 is fitted to the base 52, and a slot 535 is provided on the top seat 51 corresponding to the sliding groove 534. The latching assembly 53 includes a slider 532 and a sliding post 531. The slider 532 is slidably connected to the inside of the sliding groove 534, and a slot 533 is provided on the slider 532. One end of the sliding post 531 is fixedly connected to the slider 532, and the other end extends out of the base 52 for operation. By pushing or pulling the sliding post 531, the slider 532 is driven to slide along the groove 534. The groove 534 slides back and forth along its length. When the groove 533 is aligned with the slot 535, the top seat 51 can be installed on or removed from the base 52. When the slider 532 slides to a position that makes the groove 533 and the slot 535 misaligned, the solid part of the slider 532 is engaged in the slot 535, thereby locking the top seat 51 onto the base 52 and achieving quick locking. To further strengthen the connection, the system also includes a self-locking bolt 55. After the top seat 51 is locked, the self-locking bolt 55 passes through the through hole 54 on the base 52 and is threaded onto the top seat 51, thereby completing the final tightening and ensuring the absolute reliability of the connection.

[0025] Reference Figure 1 and Figure 2 The internal structure of the connecting mechanism 6 is described in detail below: The connecting mechanism 6 includes a protective shell 62 as an external support and protection, and an elastic beam 61 housed inside the protective shell 62. The elastic beam 61 serves as the core sensing element, used to generate elastic deformation under external force. The connecting mechanism 6 also includes a cylindrical section b63, one end of which is fixedly connected to the cylindrical section b63, together forming the load-bearing body of the connecting mechanism 6. It also includes an adjustment component 64, one end of which passes through the protective shell 62 and is connected to the elastic beam 61, while the other end of the adjustment component 64 is exposed to the outside, used to transmit external force to the elastic beam 61. This structure accurately converts external physical force into internal deformation of the elastic beam 61, providing a structural basis for achieving high-precision force sensing function.

[0026] Reference Figure 2 The adjustment component 64 specifically includes a force-bearing cylinder 641, a insert post 642, and a cutter head 643. The force-bearing cylinder 641 is connected to the elastic body beam 61 and is used to concentrate the external force transmitted from the cutter head 643 onto the elastic body beam 61. The insert post 642 is fixedly connected to the force-bearing cylinder 641 and has a slot for installing the cutter head 643. The cutter head 643, as a working part that directly interacts with the outside world, is detachably installed in the slot of the insert post 642. This structure not only forms a clear force transmission path but also allows for easy replacement of cutter heads 643 of different shapes or materials according to different working objects or tasks.

[0027] Reference Figure 1 Inside the body, which is composed of a reinforced cylindrical platform 1, a transition cylindrical platform 3, and a cylindrical section a4, there is a lead wire channel 7. The system also includes a sensor signal lead wire 8, which passes through the inside of the lead wire channel 7 and is electrically connected to the sensor associated with the elastic beam 61. The design of the lead wire channel 7 provides physical shielding for the fragile sensor signal lead wire 8, effectively preventing signal interruption or damage caused by scratching or squeezing during equipment movement or operation.

[0028] The implementation principle of this application embodiment is as follows: When replacing a functional module, operate the replacement mechanism 5, first loosen the self-locking bolt 55, then push and pull the slide column 531 to drive the slider 532 to slide in the slide groove 534 of the base 52 until the slot 533 on the slider 532 is aligned with the slot 535 on the top seat 51. At this time, the top seat 51 and the base 52 are unlocked, and the top seat 51 connected with the connecting mechanism 6 can be separated from the base 52. During installation, place the new top seat 51 on the base 52, operate the slide column 531 in the opposite direction, so that the physical part of the slider 532 re-engages with the slot 535 to complete the quick locking. Finally, tighten the self-locking bolt 55 to complete the quick and stable replacement of the entire functional module.

[0029] During operation, the cutter head 643 mounted on the insert post 642 comes into contact with an external object and generates a force. This force is transmitted completely to the elastic beam 61 inside the protective shell 62 through the adjustment assembly 64, which consists of the insert post 642 and the force-bearing cylinder 641, causing the elastic beam 61 to undergo elastic deformation. The sensor associated with the elastic beam 61 detects this deformation in real time and converts it into an electrical signal. The electrical signal is led out through the sensor signal lead-out line 8 under the protection of the lead-out channel 7, thereby realizing the precise perception and feedback control of the end contact force. The entire system ensures the stability of operation through the rigid body composed of the reinforced cylindrical platform 1, the transition cylindrical platform 3, the cylindrical section a4, and the pin hole 2.

Claims

1. A modular topological elastomer array system, comprising: The base (52) has a sliding groove (534) on it; Top seat (51), which is fitted to the base (52), and the top seat (51) is provided with a slot (535); The feature is that it further includes a replacement mechanism (5), the replacement mechanism (5) including a snap-fit ​​assembly (53), the snap-fit ​​assembly (53) including: A slider (532) is slidably connected to the groove (534), and a slot (533) is provided on the slider (532). A sliding column (531) is fixedly connected at one end to the slider (532), and the other end of the sliding column (531) extends out of the base (52) for operation. It is used to drive the slider (532) to slide back and forth along the length direction of the groove (534) to selectively align the slot (533) with the card slot (535) to allow the top seat (51) to be installed, or to offset it to lock the top seat (51) onto the base (52).

2. The modular topological elastomer array system according to claim 1, characterized in that, The base (52) is also provided with a through hole (54) and a self-locking bolt (55). The self-locking bolt (55) passes through the through hole (54) and is threaded to the top seat (51) for further tightening after the top seat (51) is locked.

3. The modular topological elastomer array system according to claim 1, characterized in that, It also includes a connecting mechanism (6), which is fixedly connected to the top seat (51), and the connecting mechanism (6) includes: Protective casing (62); An elastic beam (61) is disposed inside the protective shell (62).

4. A modular topological elastomer array system according to claim 3, characterized in that, The connecting mechanism (6) further includes a cylindrical segment b (63), and the protective shell (62) is fixedly connected to one end of the cylindrical segment b (63); the system further includes an adjusting component (64), one end of which passes through the protective shell (62) and is connected to the elastic beam (61).

5. A modular topological elastomer array system according to claim 4, characterized in that, The adjustment component (64) includes: A stressed cylinder (641) is connected to the elastic beam (61). Inserted post (642), the inserted post (642) is fixedly connected to the force-bearing cylinder (641); The cutting head (643) is detachably mounted inside the insert post (642).

6. A modular topological elastomer array system according to claim 3, characterized in that, It also includes a sensor signal lead-out line (8), and a lead-out channel (7) is provided inside the body. The sensor signal lead-out line (8) passes through the lead-out channel (7) and is electrically connected to the sensor associated with the elastic beam (61).

7. A modular topological elastomer array system according to claim 1, characterized in that, Also includes: Strengthen the cylindrical frustum (1); Transition cylindrical platform (3), the transition cylindrical platform (3) is connected to the reinforcing cylindrical platform (1); Cylindrical segment a (4), one end of which is connected to the transition cylindrical platform (3), and the other end of which is fixedly connected to the base (52).

8. A modular topological elastomer array system according to claim 7, characterized in that, The connection between the reinforced cylindrical platform (1) and the transition cylindrical platform (3), as well as the connection between the transition cylindrical platform (3) and the cylindrical segment a (4), are provided with pin holes (2) for assembly positioning.

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