CN109958686A - Axial quick connector for manipulator operation - Google Patents

Abstract

An axial quick-plug joint for manipulator operation, comprising: a fixing mechanism, a movable mechanism and an elastic snap member, wherein: the fixed mechanism is connected with the movable mechanism through the elastic snap member; the elastic snap member comprises: a snap and a second energy storage element, wherein: the buckle is arranged in the movable mechanism and is slidingly matched with the movable mechanism, and the second energy storage element is arranged between the buckles. The fixing mechanism is a female joint; the movable mechanism includes: a male joint, a joint sleeve and a first energy storage element; the buckle includes: a locking shoe and a cylindrical pin; There is a circular hole on the wall of the locking tile cylinder for fixing and matching with the cylindrical pin. In the invention, the elastic snap member is arranged in the axial direction to connect the fixed member and the movable member, so that there is no gap in the joint connection process, the assembly is simple, the assembly efficiency is improved, and it is suitable for manual operation and manipulator operation.

Description

Axial quick connector for manipulator operation

technical field

The invention relates to a technology in the field of quick connection, in particular to an axial quick plug-in joint for manipulator operation.

Background technique

Generally, large-scale structures are assembled by means of screwing or fixing. Screwing and disassembling is time-consuming and inconvenient for robots to operate, and fixing will cause the non-removable components of the structure to be unable to be reused. For high-volume assembly work, the use of robotic operations can greatly improve production efficiency. In some environments, such as the construction of large-scale structures in space in orbit, nuclear power plants, etc., it is often carried out by humans, which often brings great risks to the operator.

Most of the existing joint technologies are only suitable for the ground environment, and are not suitable for robot operation, assembly and disassembly, and cannot be unmanned; and most robot hands are difficult to handle the assembly of multiple parts, and the connection of joints is not easy to disassemble and reassemble. use.

SUMMARY OF THE INVENTION

Aiming at the above-mentioned shortcomings of the prior art, the present invention proposes an axial quick-plug joint for manipulator operation. By arranging an elastic snap member in the axial direction to connect the fixed member and the movable member, there is no gap in the joint connection process. , The assembly is simple, the assembly efficiency is improved, and it is suitable for manual operation and manipulator operation.

The present invention is achieved through the following technical solutions:

The present invention includes: a fixing mechanism, a moving mechanism and an elastic snapping member, wherein: the fixing mechanism is connected with the moving mechanism through the elastic snapping member.

The fixing mechanism is a female connector.

The movable mechanism includes: a male joint, a joint sleeve and a first energy storage element, wherein: the male joint is arranged on the inner side of the joint sleeve and is matched with the elastic buckle member, and the joint sleeve is slidably connected with the fixing mechanism and the elastic buckle member, The first energy storage element is arranged on one end of the joint sleeve away from the elastic snap-fitting member.

The elastic buckle member includes a buckle and a second energy storage element, wherein the buckle is arranged in the movable mechanism and is slidably matched with the movable mechanism, and the second energy storage element is arranged between the buckles.

The buckle includes: a locking shoe and a cylindrical pin, wherein: the cylindrical pin is arranged in the locking shoe and is slidably matched with the movable mechanism, and the locking shoe is arranged on the fixed mechanism and the movable mechanism and cooperates with both.

The locking shoe is in a semi-cylindrical shape, the inner sides of the two edges of the locking shoe are provided with protruding tooth shapes, and the cylindrical wall of the locking shoe is provided with a circular hole for fixedly matching with the cylindrical pin.

technical effect

Compared with the prior art, the present invention has the following beneficial effects:

1. The use of energy storage elements to achieve rapid locking and unlocking, compact structure, greatly improve the efficiency of assembly and disassembly, suitable for manual operation and manipulator operation.

2. There are expansion slots reserved in the male and female connectors, which are not only suitable for mechanical structure connection, but also expand the installation of electrical, gas or signal interfaces.

Description of drawings

Fig. 1 is the exploded structure schematic diagram of the present invention;

Fig. 2 is the structural representation when the present invention is disassembled;

Fig. 3 is the structural representation in the disassembled state of the present invention;

Fig. 4 is the structural representation when the present invention is fully assembled;

5 is a schematic structural diagram of the assembly of the present invention;

Fig. 6 is the structural schematic diagram that the assembly of the present invention is fully assembled;

In the figure: fixed mechanism 1, movable mechanism 2, elastic snap member 3, snap 4, male joint 5, locking shoe 6, cylindrical pin 7, joint sleeve 8, first energy storage element 9, second energy storage element 10. Fixed frame 11, movable frame 12, round hole 13.

Detailed ways

Example 1

As shown in FIG. 1 , an axial quick-plug joint for manipulator operation involved in this embodiment includes: a fixing mechanism 1 , a moving mechanism 2 and an elastic snap member 3 , wherein: the fixing mechanism 1 is elastically snapped The member 3 is connected with the movable mechanism 2 .

The fixing mechanism 1 is a female connector, wherein: the female connector and the male connector 5 are matched and connected.

The movable mechanism 2 includes: a male joint 5, a joint sleeve 8 and a first energy storage element 10, wherein: the male joint 5 is arranged on the inner side of the joint sleeve 8 and cooperates with the elastic snap member 3, and the joint sleeve 8 and the male joint 5 and the elastic snap member 3 are slidably connected, and the first energy storage element 10 is disposed on one end of the joint sleeve 8 away from the elastic clip member 3 for pushing the joint sleeve 8 to the other end.

The elastic buckle member 3 includes: a buckle 4 and a second energy storage element 10, wherein: the buckle 4 is arranged in the joint sleeve 8 and slidingly fits with the male joint 5, and the second energy storage element 10 is arranged in the buckle. 4 to push the buckle 4 outwards.

The buckle 4 includes: a locking shoe 6 and a cylindrical pin 7, wherein: the cylindrical pin 7 is arranged in the locking shoe 6 and is slidably matched with the male joint 5, and the locking shoe 6 is arranged on the male joint 5 and the female joint 1. on and in conjunction with both.

The main body of the locking shoe 6 is in the shape of a semi-cylindrical, and there are protruding teeth on the inner sides of the two edges of the semi-cylindrical to lock the female joint 1 and the male joint 5 respectively, and the semi-cylindrical wall is provided with a cylindrical pin 7 for fixed cooperation the round hole 13.

The process of finally changing from the state of FIG. 2 to the state of FIG. 4 to FIG. 4 is the assembly process. In this embodiment, the specific assembly operation is as follows:

1. First, the human hand or the manipulator (hereinafter referred to as the hand) clamps the movable mechanism 2 and moves to the left in the same axis, so that the fixed mechanism 1 is in complete contact with the movable member 2;

2. Use the other hand to hold the two locking tiles 6 to charge the second energy storage element 10, so that the two locking tiles 6 lock the fixing mechanism 1 and the movable mechanism 2 to a deadlock. At this point, the process of changing from Figure 2 to Figure 3 is completed;

3. When the two locking tiles 6 are fully clamped in place, the axial movement of the joint sleeve 8 will be unlocked, and the male joint sleeve 8 will slide to the left under the action of the first energy storage element 9 to release the clamp. After holding the hands of the two locking shoes 6 , the joint sleeve 8 will slide to the leftmost end along the axis direction, and lock the two locking shoes 6 . At this point, the process of changing from FIG. 3 to FIG. 4 is completed, and the entire assembly process is completed.

The process of finally changing from the state of FIG. 4 to the state of FIG. 2 to FIG. 2 is the disassembly process. In this embodiment, the specific disassembly operation is:

4. First, hold the movable mechanism 2 with one hand, slide the joint sleeve 8 with the other hand, and charge the first energy storage element to make the joint sleeve 8 move to the right. After the joint sleeve 8 moves to be separated from the two locking shoes 6 , the two locking shoes 6 move along the axial direction of the cylindrical pin 7 to unlock. At this point, the process of changing from Figure 3 to Figure 2 is completed;

5. Under the action of the second energy storage element 10, the two locking shoes 6 move away from each other, and finally move to the limit position and stop. So far, there is no locking relationship between the movable mechanism 2 and the fixing mechanism 1 , and the hand-held movable mechanism 2 is disengaged from the fixing mechanism 1 . At this point, the process of changing from FIG. 3 to FIG. 2 is completed, and the entire disassembly process is completed.

Example 2

This embodiment provides a case of using the joint of the present invention to realize the rapid assembly of the frame unit.

As shown in FIG. 5 , a series of quick joints are arranged between the ball point and the rod, wherein: the female joint is fixedly connected to the ball point, and the male joint is fixedly connected to the rod to form a fixed frame 11 and a movable frame 12 . Move the movable frame 12 downward, and make a joint match with the fixed frame 11 to press. Then another manipulator is used to operate the four sets of joints according to the operation in Embodiment 1 to lock the four sets of movable mechanisms 2 and fixing mechanisms 1 in sequence, so that the rapid assembly between the frame units can be realized. The assembled new frame is shown in Figure 6. On the basis of the frame in Figure 6, it can be further expanded.

The above-mentioned specific implementation can be partially adjusted by those skilled in the art in different ways without departing from the principle and purpose of the present invention. The protection scope of the present invention is subject to the claims and is not limited by the above-mentioned specific implementation. Each implementation within the scope is bound by the present invention.

Claims (5)

1. An axial quick-plug joint for manipulator operation, characterized in that it comprises: a fixed mechanism, a movable mechanism and an elastic snap-fit member, wherein: the fixed mechanism is connected with the movable mechanism through the elastic snap-fit member; The elastic buckle member includes a buckle and a second energy storage element, wherein the buckle is arranged in the movable mechanism and is slidably matched with the movable mechanism, and the second energy storage element is arranged between the buckles. 2 . The axial quick-plug connector for manipulator operation according to claim 1 , wherein the fixing mechanism is a female connector. 3 . 3. The axial quick-plug joint for manipulator operation according to claim 1, wherein the movable mechanism comprises: a male joint, a joint sleeve and a first energy storage element, wherein: the male joint is arranged on the joint sleeve The inner side is matched with the elastic buckle member, the joint sleeve is slidably connected with the fixing mechanism and the elastic buckle member, and the first energy storage element is arranged on the end of the joint sleeve away from the elastic buckle member. 4. The axial quick-plug joint for manipulator operation according to claim 1, wherein the buckle comprises: a locking shoe and a cylindrical pin, wherein: the cylindrical pin is arranged in the locking shoe and is connected with the movable The mechanism is slidably matched, and the locking shoe is arranged on the fixed mechanism and the movable mechanism and cooperates with both. 5 . The axial quick-plug joint for manipulator operation according to claim 4 , wherein the locking shoe is in a semi-cylindrical shape, the inner sides of the two edges of the locking shoe are provided with protruding tooth shapes, and the locking shoe cylinder The wall is provided with a circular hole for fixedly matching with the cylindrical pin.