CN108258473A - A kind of isomorphism formula rapid replacing interface based on cooperation robot - Google Patents

Abstract

The invention discloses an isomorphic quick-change interface for collaborative robots, belonging to the technical field of robots. The isomorphic quick-change interface for collaborative robots of the present invention includes an interface body and a sealing end, the sealing end matches the interface body to form a hollow cylindrical structure, and a socket is fixed at the axis of the interface body, and the socket There are a pair of plugs and a pair of ferrules arranged in the circumferential direction. The plugs and ferrules are arranged alternately. The central angle between adjacent plugs and ferrules is 90 degrees. There is a hole on the sealing end for the plugs and ferrules to pass through. A pair of locking columns and a pair of locking through holes are also arranged on the sealing end in the circumferential direction, a pair of locking columns and a pair of locking through holes are arranged alternately, and the adjacent locking columns and the The central angle between the locking through holes is 90 degrees, and a locking mechanism is provided between the interface main body and the sealing end corresponding to the position of the locking through holes. The isomorphic quick-change interface for collaborative robots of the present invention has the beneficial effects of simple structure and convenient docking.

Description

An Isomorphic Quick-Change Interface Based on Collaborative Robots

technical field

The invention belongs to the technical field of robots, and in particular relates to an isomorphic quick-change interface for collaborative robots.

Background technique

The development of robot technology has made the ability of robots continuously improved, and the fields and scope of robot applications are constantly expanding. People hope that robots can complete more complex tasks. Robots can be easily reprogrammed to perform many different tasks, but the range of tasks a robot can perform is limited by its own mechanics. For painting or welding operations, a manipulator with a vertical joint structure is generally used; for high-precision desktop precision assembly operations, a manipulator with a horizontal SCARA structure is used. Therefore, for the ever-changing working environment, the optimal structure of the robot is also constantly changing. If a robot with different kinematics and dynamics characteristics is used for each situation to complete the task, this will greatly increase the operating cost. Expensive, if not impossible. For example, many tasks on the space station require robots to complete. Due to weight limitations, it is impossible to launch all robots into the space station. Therefore, a robot that can change its configuration according to the mission requirements is needed to complete unpredictable operations. Task. The research on reconfigurable robots started under the background of such applications.

A reconfigurable robot is a robot that can be reconfigured according to the needs of the task. It is developed on the basis of the research of modular robots, and can use some interchangeable connecting rods and joint modules of different sizes and performances. , combined into a robot with a specific configuration like building blocks, this combination is not a simple mechanical reconstruction, but also includes the reconstruction of the control system (sub-hardware, control algorithm, software, etc.), so the modular joint itself is a kind of A unit that integrates communication, control, drive, and transmission, using reconfigurable modular ring units, can be reassembled into robots with different structures and motion characteristics according to specific tasks. By changing its control and motion strategies, better Adapt to the environment, thereby improving the movement capability and use efficiency of the entire robot system.

Reconfigurable robots are widely used in the aviation field. In order to meet the long-term stable operation of large space maintenance platforms such as space stations, the on-orbit life of large space manipulators is generally more than 10 years, and the cost of manipulators and launch costs is extremely expensive. To ensure The long-term stable operation of the manipulator also needs to consider the joint replacement through the astronaut's out-of-vehicle activities in the event of joint failure. This requires the space manipulator joint to be designed as a structure that can realize on-orbit replacement.

Contents of the invention

The technical problem to be solved by the present invention is to provide an isomorphic quick-change interface for collaborative robots, which is portable and convenient for docking.

The solution adopted by the present invention to solve the above-mentioned technical problems is to provide an isomorphic quick-change interface for collaborative robots, including an interface body and a sealing end fixed on the interface body, the sealing end Matching with the interface main body to form a hollow cylindrical structure, a socket is fixed at the axial center of the interface main body, a pair of plugs and a pair of ferrules are arranged on the socket and in the circumferential direction, and the plug and the The ferrules are arranged alternately, and the central angle between the adjacent plugs and the ferrules is 90 degrees, and the sealing end is provided with a via hole for the plugs and the ferrules to pass through. A pair of locking posts and a pair of locking through holes are also arranged on the sealing end in a circumferential direction, and a pair of locking posts and a pair of locking through holes are alternately arranged, and the adjacent locking posts and the The central angle between the locking through holes is 90 degrees, and a locking mechanism is provided between the interface main body and the sealing end, corresponding to the position of the locking through holes. Rotate one of the isomorphic quick-change interfaces of the collaborative robot by 90 degrees so that the plugs and ferrules of the two are matched with each other, and the locking column is inserted into the locking through hole, and passes through the lock The locking mechanism locks the locking column.

As a further improvement of the above-mentioned technical solution, the locking mechanism includes a first locking gear lever corresponding to one of the locking openings, a first tensioning rope, a first memory alloy, and a first locking lever corresponding to the other of the locking openings. The second locking gear lever, the second tensioning rope, and the second memory alloy provided at the mouth, one end of the first locking gear lever is rotatably arranged on the sealing end, and the other end is connected to the first tensioning rope And the first memory alloy is fixedly connected, the first tensioning rope is arranged in a direction away from the corresponding locking opening, the first memory alloy is arranged in the direction of the corresponding locking opening, and the second lock One end of the gear lever is rotatably arranged on the sealing end, and the other end of the second locking gear lever is fixedly connected with the second tensioning rope and the second memory alloy, and the second tensioning rope is The second memory alloy is arranged in the direction away from the corresponding locking port, and the second memory alloy is arranged in the direction of the corresponding locking port. The first tensioning rope and the second memory alloy are elastically connected by the first spring. connected, the first memory alloy is elastically connected to the second tensioning rope through a second spring.

As a further improvement of the above technical solution, a locking groove is provided on the locking column for the corresponding first locking lever or the second locking lever to be embedded.

As a further improvement of the above technical solution, the locking groove and the corresponding first locking lever or the second locking lever are provided with mutually matching slopes.

As a further improvement of the above technical solution, the locking mechanism further includes a first guide roller matched with the first tensioning rope, a second guide roller matched with the first memory alloy, and a second guide roller matched with the second tension rope. The third guide roller matched with the tight rope, and the fourth guide roller matched with the second memory alloy.

As a further improvement of the above technical solution, a first tension screw is fixed at the end of the connection between the first memory alloy and the first spring, and both the first memory alloy and the first spring are wound around the first spring. On the tensioning screw, the end of the second memory alloy connected to the second spring is also fixed with a second tensioning screw, and the second memory alloy and the second spring spring are both wound around the On the second tensioning screw, the first memory alloy and the first spring can be tightened or loosened by turning the first tensioning screw, and the first memory alloy and the first spring can be tightened by turning the second tensioning screw. The second memory alloy and the second spring are tensioned or relaxed.

As a further improvement of the above technical solution, a sliding channel is fixed at the axial position of the interface main body, the sliding channel is hollow, a pair of electromagnets with opposite magnetic fields are fixed in the sliding channel, and the socket Slidingly arranged in the sliding groove, one of the electromagnets is fixed on the interface body, and the other of the electromagnets is opposed to the socket. When the two electromagnets are energized, they will The electromagnet held by the socket is driven by the magnetic field to move the socket away from the interface main body.

As a further improvement of the above technical solution, a push ring is slidably arranged in the sliding channel, the push ring is opposed to the socket, and a pair of the electromagnets are embedded in the push ring, the push ring The ring is provided with a resisting wall that resists the electromagnet away from the interface main body. After a pair of electromagnets are energized, the electromagnet far away from the interface body is pushed by the resisting wall The push ring slides, and then drives the socket to slide.

As a further improvement of the above technical solution, a recovery spring is wound around the push ring.

As a further improvement of the above technical solution, a pair of butt grooves and a pair of butt blocks are arranged circumferentially on the sealing end, and the butt grooves and the butt blocks are arranged alternately along the circumference of the sealing end, and adjacent The central angle between the docking groove and the docking block is 90 degrees.

The beneficial effects of the present invention are:

The isomorphic quick-change interface for collaborative robots of the present invention includes an interface body and a sealing end fixed on the interface body, the sealing end matches the interface body to form a hollow cylindrical structure, A socket is fixed at the axial center of the interface body, a pair of plugs and a pair of ferrules are arranged on the socket and in the circumferential direction, the plugs and the ferrules are arranged alternately, and the adjacent plugs and the ferrules The central angle between the ferrules is 90 degrees, the sealing end is provided with a via hole for the plug and the ferrule to pass through, and a pair of locking pins are arranged on the sealing end in the circumferential direction. Columns and a pair of locking through holes, a pair of locking columns and a pair of locking through holes are arranged alternately, and the central angle between the adjacent locking columns and the locking through holes is 90 degrees, the Between the interface main body and the sealing end, a locking mechanism is provided at the position corresponding to the locking through hole. When docking, one of the two homogeneous quick-change interfaces for collaborative robots is rotated 90 degrees, so that the plugs and ferrules of the two are matched with each other, and the locking column is inserted into the locking through hole, and the locking column is locked by the locking mechanism. The isomorphic quick-change interface for collaborative robots of the present invention adopts a center-symmetrical design structure, which is simpler in structure and convenient in docking.

Description of drawings

Fig. 1 is a structural schematic diagram of an isomorphic quick-change interface for a collaborative robot of the present invention;

Fig. 2 is a schematic diagram of the internal structure of the isomorphic quick-change interface for collaborative robots of the present invention;

Fig. 3 is the structural representation of locking mechanism of the present invention;

Fig. 4 is a schematic cross-sectional structure diagram of the present invention.

Detailed ways

The idea, specific structure and technical effects of the present invention will be clearly and completely described below in conjunction with the embodiments and accompanying drawings, so as to fully understand the purpose, features and effects of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, other embodiments obtained by those skilled in the art without creative efforts belong to The protection scope of the present invention. In addition, all the connection/connection relationships involved in the patent do not simply refer to the direct connection of components, but mean that a better connection structure can be formed by adding or reducing connection accessories according to specific implementation conditions. The various technical features in the present invention can be combined interactively on the premise of not conflicting with each other.

As shown in Figure 1, the isomorphic quick-change interface for collaborative robots of the present invention includes an interface body 1 and a sealing end 10 fixed on the interface body 1, the sealing end 10 cooperates with the interface body 1 to form a Hollow cylindrical structure, a pair of docking grooves 100 and a pair of docking blocks 101 are arranged in the circumferential direction of the sealing end 10, and the docking grooves 100 and the docking blocks 101 are arranged alternately, the central angle between the adjacent docking grooves 100 and the docking blocks 101 When two quick-change interfaces are docked together, only one of the quick-change interfaces needs to be rotated 90 degrees, so that the docking slots 100 of the two can be mated with the docking block 101, thereby realizing the quick-change The axial fixation of the interface is fixed in the radial direction.

Please refer to Fig. 1 and Fig. 4 together, there is a via hole 102 at the axial center of the sealing end 10, a socket 110 is fixed at the axial center of the interface body 1, and a pair of plugs 111 are axially arranged on the socket 110 With a pair of ferrule 112, the plug 111 and the ferrule 112 are arranged alternately, the central angle between the adjacent plug 111 and the ferrule 112 is 90 degrees, and the plug 111 and the ferrule 112 are set corresponding to the position of the via hole 102. When docking, Rotate one of the quick-change interfaces by 90 degrees, so that the plugs 111 and ferrules 112 of the two quick-change interfaces can be matched and mated with each other, which is very convenient for docking.

A pair of locking posts 103 and a pair of locking through-holes 104 are also circumferentially arranged on the sealing end 10, and the locking posts 103 and the locking through-holes 104 are alternately arranged, and the adjacent locking posts 103 and the through-holes The central angle between 104 is 90 degrees. When docking, the locking column 103 of one quick-change interface is inserted into the locking through hole 104 of the other quick-change interface 104, and then the two quick-change interfaces are locked by the locking mechanism. fasten.

As shown in Figure 2 and Figure 3, a locking mechanism is provided in the hollow structure formed by the interface body 1 and the sealing end 10, and the locking mechanism is fixed on the sealing end 10, and the locking mechanism includes a locking mechanism corresponding to one of them. The first locking gear lever 200, the first tensioning rope 201, the first memory alloy 202 set at the position of the through hole 104 and the second locking gear lever 210, the second The tension rope 211, the second memory alloy 212, one end of the first locking gear lever 200 is arranged on the sealing end 10 through the rotation of the pin, and the other end is connected with the first tension rope 201 and the first memory alloy 202, the first The tight rope 201 is set in the direction of driving the first locking gear lever 200 away from the corresponding locking opening 104, and the first memory alloy 202 is set in the direction of driving the first locking gear lever 200 to approach the corresponding locking opening 104, corresponding to Yes, the second locking gear lever 210, the second tensioning rope 211, and the second memory alloy 212 are also connected in the same connection manner. In particular, the first locking gear lever 200, the first tensioning rope 201, the second A memory alloy 202 is arranged symmetrically with the second locking lever 210, the second tensioning rope 211, and the second memory alloy 212, and the first tensioning rope 201 and the second memory alloy 212 are elastically connected by the first spring 203, The first memory alloy 202 is elastically connected to the second tensioning rope 211 through the second spring 213, so that the locking mechanism forms an end-to-end closed structure. When the first memory alloy 202 and the second memory alloy 212 are energized, the first memory alloy 202 and the second memory alloy 212 are heated to restore the original length, which is shown as a shortened length, and then the first locking lever 200 and the second lock The shift lever 210 rotates toward the locking column 103, and then presses the locking column 103 to lock the two quick-change interfaces. When the first memory alloy 202 and the second memory alloy 212 are powered off, the second Under the action of the first spring 203 and the second spring 213, the length of the first memory alloy 202 and the second memory alloy 212 is extended, and then the first locking lever 200 and the second locking lever 210 are moved away from the locking column 103 Turn in the direction to release the two quick-change ports.

Preferably, the locking mechanism further includes a first guide roller 204 matched with the first tensioning rope 201 , a second guide roller 205 matched with the first memory alloy 202 , a third guide roller matched with the second tensioning rope 211 214, the fourth guide roller 215 matched with the second memory alloy 212, through the first guide roller 204, the second guide roller 205, the third guide roller 214, the fourth guide roller 215, the first tensioning rope 201, the second guide roller A memory alloy 202, a second tensioning rope 211, and a second memory alloy 212 are tensioned, and the first tensioning rope 201 and the first memory alloy 202 are set in a tangential direction in which the first locking gear lever 200 rotates, and the second The tensioning rope 211 and the second memory alloy 212 are arranged in the tangential direction of the rotation of the second locking lever 210 .

In this embodiment, a first tension screw 206 is fixed at the connection position between the first spring 203 and the second memory alloy 212, and both the first spring 203 and the second memory alloy 212 are wound around the first tension screw 206. Above, the expansion and contraction of the first spring 203 and the second memory alloy 212 can be adjusted by turning the first tension screw 206, and a second tension screw is also provided at the connection position between the second spring 213 and the first memory alloy 202 216 , the second spring 213 and the first memory alloy 202 are both wound on the second tension screw 216 , and the stretching amount of the second spring 213 and the first memory alloy 202 can be adjusted by turning the second tension screw 216 .

In this embodiment, a first fixing frame 207 and a second fixing frame 217 are fixed on the sealing end 10, the first memory alloy 202 is installed through the first fixing frame 207, and the second memory alloy 212 is installed through the second fixing frame. The frame 217 is set, and the two ends on the vertical direction of the first fixed frame 207 are alternately provided with several passing wheels (not shown in the figure), and the first memory alloy 202 is wound around the above-mentioned passing wheels in turn, so that the first memory alloy 202 is The direction of the fixed frame 207 is reversed many times, which greatly increases the length of the first memory alloy 202 in the limited space. Similarly, the second fixed frame 217 is also provided with a number of wheels for the second memory alloy 212 to be wound around. , to increase the length of the second memory alloy 212 .

In this embodiment, as shown in Figure 4, a slide channel 11 is fixed at the axial position of the interface body 1, the slide channel 11 is hollow, and the socket 110 is slidably arranged in the slide channel 11 and runs through the slide channel The channel 11 is far away from one end of the interface main body 1, and a pair of electromagnets 12 with opposite magnetic properties are arranged in the sliding channel 11, one of the electromagnets 12 is fixedly connected with the interface main body 1, and the other electromagnet 12 is held against the socket 110, And it is slidably connected with the sliding channel 11. When a pair of electromagnets 12 are energized, the electromagnets 12 against the socket 110 will push the socket 110 to move away from the interface main body 1 under the action of the magnetic field, thereby facilitating the two The plug 111 of a quick change interface and the ferrule 112 are mated.

Preferably, in this embodiment, in order to ensure that the first locking gear lever 200, the second locking gear lever 210 are fastened and locked with the corresponding locking column 103, the locking column 103 is provided with a lock for the first locking gear. The locking groove 1030 in which the rod 200 or the second locking lever 210 is embedded, and the locking groove 1030 and the first locking lever 200 or the second locking lever 210 are provided with mutually matching slopes.

Preferably, a push ring 13 is slidably provided in the sliding channel 11, a pair of electromagnets 12 are embedded in the push ring 13, one end of the push ring 13 is opposed to the socket 110, and the push ring 13 is also provided with a The electromagnet 12 of 1 is opposed to the abutting wall 130. When a pair of electromagnets 12 are energized, the electromagnet 12 away from the interface body 1 drives the push ring 13 to slide through the abutting wall 130, and then drives the socket 110 to slide.

Preferably, a recovery spring 14 is wrapped around the outer surface of the push ring 13. After the pair of electromagnets 12 are powered off, the recovery spring 14 drives the push ring 13 to return to the original position, and then drives the electromagnet 12 and the socket 110 to return to the original position.

The above is a specific description of the preferred embodiments of the present invention, but the present invention is not limited to the described embodiments, those skilled in the art can also make various equivalent deformations or replacements without violating the spirit of the present invention , these equivalent modifications or replacements are all within the scope defined by the claims of the present application.

Claims (10)

1. a kind of isomorphism formula rapid replacing interface for the robot that cooperates, it is characterised in that：Including interface agent and it is fixedly arranged on institute The sealing end on interface agent is stated, the sealing end matches to form a hollow cylindrical structure with the interface agent, described It is installed with socket at the shaft core position of interface agent, on the socket, is circumferentially provided with a pair of of plug and a pair of of lock pin, it is described Plug is staggered with the lock pin, and the central angle between the adjacent plug and the lock pin is 90 degree, the sealing The via passed through for the plug and the lock pin is offered on end, be also circumferentially provided in the sealing end a pair of sealed column with And a pair of sealed through-hole, a pair of sealed column are staggered with the sealed through-hole of a pair, and the adjacent sealed column with it is described sealed Central angle is 90 degree between through-hole, between the interface agent and the sealing end, corresponding to being set at the sealed lead to the hole site Locking mechanism is equipped with, during docking, by one of rotation 90 of the isomorphism formula rapid replacing interface for the robot that is used to cooperating described in two Degree is mutually matched the plug of the two, lock pin, and the sealed column is inserted into the sealed through-hole, and pass through the lock Mechanism is closed to lock the sealed column.

2. the isomorphism formula rapid replacing interface according to claim 1 for the robot that cooperates, it is characterised in that：The sealed machine Structure include corresponding to the first sealed lever of one of them sealed mouth setting, the first tensioned lines, the first memorial alloy and Corresponding to the second sealed lever, the second tensioned lines, the second memorial alloy of sealed mouth setting described in other in which, described first Sealed lever one end is rotatably dispose in the sealing end, the other end and first tensioned lines and first memorial alloy It is fixedly connected, first tensioned lines are set to the corresponding sealed mouth direction is away from, and first memorial alloy is to right The sealed mouth direction setting answered, described second sealed lever one end are rotatably dispose in the sealing end, second lock It closes the lever other end and is fixedly connected with second tensioned lines and second memorial alloy, second tensioned lines are to separate In the corresponding sealed mouth direction setting, second memorial alloy is set to the corresponding sealed mouth direction It puts, first tensioned lines are connect with second memorial alloy by the first spring, first memorial alloy and institute It states the second tensioned lines and passes through second spring elastic connection.

3. the isomorphism formula rapid replacing interface according to claim 2 for the robot that cooperates, it is characterised in that：The sealed column On open up sealed slot, for the corresponding first sealed lever or the second sealed lever insertion.

4. the isomorphism formula rapid replacing interface according to claim 3 for the robot that cooperates, it is characterised in that：The sealed slot The inclined-plane being mutually matched is provided with on the corresponding first sealed lever or the second sealed lever.

5. the isomorphism formula rapid replacing interface according to claim 2 for the robot that cooperates, it is characterised in that：The sealed machine Structure further includes the first guide roller matched with first tensioned lines and matched second orienting roll of first memorial alloy Wheel and the matched third guide roller of second tensioned lines and matched 4th guide roller of second memorial alloy.

6. the isomorphism formula rapid replacing interface according to any one of claims 1-5 for the robot that cooperates, it is characterised in that： First memorial alloy connect one end with first spring and is fixedly provided with the first tensioning screw, first memorial alloy with First spring is wound on first tensioning screw, and second memorial alloy is connected one with the second spring End is fixedly provided with the second tensioning screw, and second memorial alloy is wound in second tensioning with the second spring spring On screw, by first memorial alloy and first spring straining or it can be put by turning first tensioning screw Second memorial alloy and the second spring can be tensed or loosened by pine by turning second tensioning screw.

7. the isomorphism formula rapid replacing interface according to claim 6 for the robot that cooperates, it is characterised in that：The interface master Slip conduit, the slip hollow setting of conduit are fixedly provided at body axis position, described slide in conduit is installed with a pair of of magnetic Property opposite electromagnet, and the socket is slideably positioned in the sliding groove in, one of them described electromagnet is fixedly arranged on institute It states on interface agent, electromagnet described in other in which is supported with the socket, and described when two electromagnet are powered The electromagnet that socket supports is driven the socket to be moved to the interface agent direction is away from by magnetic fields.

8. the isomorphism formula rapid replacing interface according to claim 7 for the robot that cooperates, it is characterised in that：The sliding groove It is also slided in road and is provided with promoting ring, the promoting ring is supported with the socket, and a pair of electromagnet is embedded and is pushed away with described It is provided with and is away from that the electromagnet of the interface agent supports supports wall, Yi Duisuo in moving-coil, on the promoting ring After stating electromagnet energization, the electromagnet for being away from the interface agent pushes the promoting ring to slide by the wall that supports It is dynamic, and then the socket is driven to slide.

9. the isomorphism formula rapid replacing interface according to claim 8 for the robot that cooperates, it is characterised in that：The promoting ring On be also wound with recovery spring.

10. the isomorphism formula rapid replacing interface according to claim 1 for the robot that cooperates, it is characterised in that：The sealing A pair of of docking groove, a pair of of docking block are circumferentially provided on end, the docking groove is circumferentially handed over the block that docks along the sealing end Mistake setting, the adjacent docking groove are 90 degree with the central angle docked between block.