WO2021077858A1 - 快速连接装置、功能臂及机器人 - Google Patents

快速连接装置、功能臂及机器人 Download PDF

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Publication number
WO2021077858A1
WO2021077858A1 PCT/CN2020/108143 CN2020108143W WO2021077858A1 WO 2021077858 A1 WO2021077858 A1 WO 2021077858A1 CN 2020108143 W CN2020108143 W CN 2020108143W WO 2021077858 A1 WO2021077858 A1 WO 2021077858A1
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WO
WIPO (PCT)
Prior art keywords
mounting seat
seat
sleeve
connection device
quick connection
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2020/108143
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English (en)
French (fr)
Inventor
程二亭
韩久琦
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Haiyi Tongzhan Information Technology Co Ltd
Original Assignee
Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Beijing Haiyi Tongzhan Information Technology Co Ltd filed Critical Beijing Haiyi Tongzhan Information Technology Co Ltd
Priority to US17/770,252 priority Critical patent/US20220266457A1/en
Priority to EP20879466.9A priority patent/EP4032664B1/en
Publication of WO2021077858A1 publication Critical patent/WO2021077858A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J17/00—Joints
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms

Definitions

  • the present disclosure relates to the technical field of quick connection devices, in particular to a quick connection device, a functional arm and a robot.
  • the robot has a robotic arm, and the end of the robotic arm is equipped with an end effector. According to the different functions that need to be realized, the end effector needs to be replaced, which will often involve the end effector. Disassembly from the robotic arm.
  • the end effector and the mechanical arm are generally locked by fasteners such as screws.
  • This fixing method is not convenient for the user to quickly disassemble, which brings great inconvenience to the use process, and
  • the end effector cannot be rotated relative to the mechanical arm, and can only be installed in a fixed position, and the installation position cannot be adjusted, and the flexibility of use is poor.
  • a quick connection device including:
  • a sleeve and a movable component the sleeve is configured to be connected with the first to-be-connected piece, and the movable component is movably arranged in the sleeve along the axial direction of the sleeve; wherein the movable component includes:
  • the support seat is set in the sleeve
  • the mounting seat is configured to be connected to the second to-be-connected piece and is movably arranged in the axial direction relative to the support seat;
  • the locking member is fixed to the mounting seat and is configured to cooperate with the support seat to realize the locked state and the unlocked state.
  • the mounting seat In the locked state, the mounting seat is restricted from moving away from the support seat.
  • the unlocked state the mounting seat is allowed to face away from the support seat. Move;
  • the limiter is configured to limit the movement of the movable component in the sleeve when the mounting seat is in the initial position corresponding to the locked state, and to release the limit when the mounting seat moves a preset distance away from the support seat to allow The movable assembly is moved out of the sleeve.
  • the movable assembly further includes: a stroke limiting component connected to the mounting base and configured to restrict the mounting base from continuing to move relative to the supporting base when the mounting base moves a predetermined distance.
  • the support seat is provided with a through hole in the axial direction, and one end of the mounting seat is inserted into the through hole.
  • the movable assembly further includes a blocking ring connected to the support seat and an end close to the insertion end of the mounting seat in the axial direction. The insertion end of the valve penetrates the blocking ring through the through hole, and the stroke limiting component abuts against the blocking ring when the mounting seat moves a preset distance.
  • the stroke limiting component includes: a connecting rod and a limiting part, the first end of the connecting rod is connected to the insertion end of the mounting seat, the second end of the connecting rod is connected to the limiting part, and the length of the connecting rod is configured In order to make the limit part abut the blocking ring when the mounting seat moves to the preset position.
  • the movable assembly further includes a fixing seat and a first fastener, the fixing seat is fixed to the insertion end of the mounting seat by the first fastener, the locking member is provided in the mounting seat, and the head of the first fastener The part protrudes from the end face of the blocking ring;
  • the stroke limiting component includes a limit ring, which is fixed to the mounting seat, and is located at the end of the first fastener away from the mounting seat in the axial direction.
  • a gap is formed between the limit ring and the blocking ring and is configured to move on the mounting seat. When the displacement is preset, the limit ring is abutted with the blocking ring.
  • the blocking ring is embedded in the through hole, and the side wall of the through hole is provided with a thrust portion configured to limit the freedom of movement of the blocking ring toward the mounting seat in the axial direction.
  • a raceway is provided along the inner side wall of the sleeve, and the limiting member includes a plurality of rolling elements, and each rolling element is configured to be located between the mounting seat and the supporting seat and with the raceway in the initial position. Cooperate and completely leave the raceway when the limit position is released.
  • the raceway extends in the circumferential direction to form a ring shape; or the raceway includes a plurality of raceway sections arranged at intervals along the circumferential direction, and each raceway section is matched with at least one rolling element.
  • the mounting seat is provided with a first guide surface, which is configured to gradually reduce the radial dimension from the mounting seat to the support seat, so that when the mounting seat moves in a direction away from the support seat, a plurality of The rolling elements move inward in the radial direction.
  • the mounting seat is provided with a first mating surface, the first mating surface is connected to the end of the first guide surface with the largest radial dimension, and the supporting seat is provided with a second mating surface;
  • the area of the first guide surface close to the first mating surface is configured to allow the rolling elements to enter the cavity formed by the first mating surface, the second mating surface, and the first guide surface.
  • the mounting base is rotatably disposed relative to the supporting base, so that the locking member can be switched between the locked state and the unlocked state by rotating the mounting base relative to the supporting base.
  • the support seat is provided with a through hole along the axial direction, and the through hole includes:
  • the second hole section, the diameter of the second hole section is larger than that of the first hole section, and is located on the side of the first hole section away from the mounting seat in the axial direction.
  • the side wall of the second hole section is provided with a boss, and the boss is along the diameter
  • the top surface of the direction is not lower than the inner wall of the first hole section in the radial direction, and a transition surface is provided between the boss and the side wall of the second hole section;
  • the locking member is configured to overlap on the connecting surface of the first hole section and the second hole section in the locked state, and when switching from the locked state to the unlocked state, move along the transition surface to abut against the boss edge The radial top surface.
  • the top surface of the boss in the radial direction is provided with a groove, the groove extends in the axial direction and penetrates the entire axial direction of the through hole, and the bottom surface of the groove in the radial direction is higher than the first hole section.
  • the inner wall is provided.
  • the movable assembly further includes a fixing seat connected to the mounting seat, the fixing seat is provided with a guide groove extending in a radial direction, and the locking member is movably arranged in the guide groove.
  • the movable assembly further includes a reset element, which is provided between the fixing base and the locking member, and is configured to reset the locking member from an unlocked state to a locked state.
  • the quick connect device further includes a damping ring, which is arranged in the sleeve at the position of the insertion end of the movable component, and the damping ring is fixed to the sleeve.
  • a damping ring which is arranged in the sleeve at the position of the insertion end of the movable component, and the damping ring is fixed to the sleeve.
  • a functional arm including the quick connect device of the above-mentioned embodiment, the first to be connected includes an arm, and the second to be connected includes a hand.
  • the functional arm includes a robotic arm or a prosthesis.
  • the third aspect of the embodiments of the present disclosure provides a robot including the functional arm of the above-mentioned embodiment, the functional arm is a mechanical arm, and the hand includes an end effector.
  • Figure 1 is a cross-sectional view of some embodiments of the quick connect device of the present disclosure
  • Fig. 2 is a first angle schematic diagram of the cooperation between the support seat and the locking component in the quick connection device of the present disclosure
  • Fig. 3 is a second angle schematic diagram of the cooperation between the support seat and the locking component in the quick connection device of the present disclosure
  • Fig. 4 is a schematic diagram of the state in which the mounting seat is moved outwardly to make the rolling body move radially inward in the quick connect device of the present disclosure
  • Figure 5 is a schematic diagram of a state where the movable assembly is separated from the sleeve as a whole;
  • FIG. 6 is a schematic structural diagram of a movable component in the quick connect device of the present disclosure from a first angle
  • FIG. 7 is a schematic structural diagram of a second angle of the movable component in the quick connect device of the present disclosure.
  • FIG. 8 is a schematic structural diagram of some embodiments of the mounting seat in the quick connect device of the present disclosure.
  • FIG. 9 is a schematic structural diagram of a first angle of the support base in the quick connection device of the present disclosure.
  • FIG. 10 is a schematic structural diagram of a second angle of the support base in the quick connect device of the present disclosure.
  • first and second appearing in the present disclosure are only for convenience of description, to distinguish different components with the same name, and do not indicate a sequence or a primary-secondary relationship.
  • the embodiments of the present disclosure provide a quick connection device, a functional arm and a robot, which can realize the quick disassembly and assembly of two parts to be connected.
  • the mounting seat when the locking member is in the locked state, the mounting seat is restricted from moving in the direction away from the support seat, so that the limiting member is in the initial position, and the movable component is restricted from moving in the sleeve, so that the first The to-be-connected piece is connected with the second to-be-connected piece; when the locking piece is in the unlocked state, the mounting base is allowed to move away from the support base, and the limit is released when the mounting base moves a preset distance away from the support base to allow The movable assembly is moved out of the sleeve to separate the first to-be-connected part and the second to-be-connected part.
  • the connecting device can realize the quick connection and separation of two pieces to be connected, is easy to operate, and can improve the efficiency of disassembly and assembly.
  • the present disclosure provides a quick connection device, including: a sleeve 5 and a movable assembly A, the sleeve 5 is used to connect with the first to-be-connected piece, and the movable assembly A is movably arranged in the sleeve 5 along the axial direction of the sleeve 5.
  • the "axial”, “radial” and “circumferential” mentioned herein are all defined relative to the sleeve 5.
  • the movable assembly A includes: a support base 3, a mounting base 1, a locking member 12, and a limiting member.
  • the support base 3 is arranged in the sleeve 5, and the mounting base 1 is used to connect with the second to-be-connected member, and is movably arranged in the axial direction relative to the support base 3.
  • the locking member 12 is fixed to the mounting base 1, and is configured to cooperate with the support base 3 to realize the locked state and the unlocked state, and in the locked state, restricts the mounting base 1 to move away from the support base 3, and allows the mounting base 1 in the unlocked state Move towards 3 directions away from the support base.
  • the limiter is configured to limit the movement of the movable assembly A in the sleeve 5 when the mounting base 1 is in the initial position corresponding to the locked state, so as to realize the connection between the first to-be-connected part and the second to-be-connected part; and When the seat 1 moves a preset distance away from the support seat 3, the limit is released to allow the movable assembly A to move out of the sleeve 5 to realize the separation of the first to-be-connected part and the second to-be-connected part.
  • the working principle of this embodiment is: when the locking member 12 is in the locked state, the mounting base 1 is restricted from moving in a direction away from the supporting base 3, so that the restricting member is in the initial position, and the movable assembly A is restricted from moving in the sleeve 5. , So as to realize the connection of the first to-be-connected part and the second to-be-connected part; when the locking part 12 is in the unlocked state, the mounting base 1 is allowed to move away from the supporting base 3, and when the mounting base 1 faces away from the supporting base 3 When the preset distance is moved, the limit is released to allow the movable assembly A to move out of the sleeve 5, so as to realize the separation of the first to-be-connected part and the second to-be-connected part.
  • the connecting device can realize the quick connection and separation of the two pieces to be connected, so as to realize the detachable connection of the two pieces to be connected, is easy to operate, can improve disassembly and assembly efficiency and use flexibility, and has a wide range of applications.
  • the connecting device can be used for the detachable connection of two pieces to be connected in various fields.
  • the connecting device can be used for a functional arm, the first to be connected includes an arm, the second to be connected includes a hand, and the quick connection device is connected between the arm and the hand for connecting the hand It is detachably arranged on the wrist end of the arm.
  • This kind of connecting device can realize the quick connection and separation of the arm and the hand, so as to realize the detachable connection of the hand and the arm, which is easy to operate, can improve the efficiency of disassembly and assembly of the hand, and is easy to change different types and sizes according to the needs of use. Hands.
  • the functional arm can be a prosthesis to assist the disabled.
  • the functional arm can be a prosthesis to assist the disabled.
  • hands of different sizes can be quickly changed to flexibly meet the needs of different patients.
  • the functional arm may also be a mechanical arm of a robot, which is used to realize industrial automation through automatic execution of functions.
  • the robotic arm includes an arm and a hand.
  • the hand can be an end effector, such as a mechanical claw or a suction cup.
  • the arm can position the end effector to a desired working position through multi-degree-of-freedom motion. According to the functions that the robot needs to perform, the end effector can be replaced quickly and conveniently, meeting the diversified operation requirements of the robot arm, and improving the versatility of the robot arm.
  • the movable assembly A further includes: a stroke limiting component, connected to the mounting base 1, configured to limit the mounting base 1 relative to the support when the mounting base 1 moves outwards relative to the sleeve 5 by a preset distance
  • the seat 3 continues to move, so that the mounting seat 1 drives the supporting seat 3 to move outward together, so that the movable assembly A is separated from the sleeve 5, thereby realizing the separation of the first to-be-connected part and the second to-be-connected part.
  • the stroke limiting component By providing the stroke limiting component, the movable assembly A can be moved outward relative to the sleeve 5 as a whole after the limit member is released by the outward movement of the mounting seat 1.
  • the support base 3 is provided with a through hole 31 along the axial direction.
  • One end of the mounting base 1 is inserted into the through hole 31.
  • the movable assembly A also includes a blocking ring 4, which is connected to the upper edge of the support base 3.
  • the seat 1 abuts against the blocking ring 4 when it moves a preset distance.
  • the insertion end of the mounting seat 1 is an end located in the sleeve 5.
  • the stroke limiting component includes: a connecting rod 7 and a limiting portion 8.
  • the first end of the connecting rod 7 is connected to the insertion end of the mounting seat 1, that is, the bottom end in FIG. 1,
  • the limiting portion 8 is connected to the second end of the connecting rod 7, and the length of the connecting rod 7 is configured to make the limiting portion 8 abut the blocking ring 4 when the mounting base 1 moves by a preset displacement.
  • This embodiment can limit the stroke of the mounting seat 1 through a simple and compact structure, and there is no special restriction on the positional relationship of the end face blocking ring 4 at the insertion end of the mounting seat 1 away from the end face of the support seat 3 in the axial direction, and the length of the connecting rod 7 can be determined.
  • the preset displacement of the mounting seat 1 is limited.
  • the movable assembly A further includes a fixing base 10 and a first fastener 9.
  • the fixing base 10 is fixed to the insertion end of the mounting base 1 by the first fastener 9, and the locking member 12 is arranged in the mounting seat 1, and the head of the first fastener 9 protrudes from the end surface of the blocking ring 4.
  • the first fastener 9 may be a bolt, and the bolt head protrudes from the end surface of the blocking ring 4 after being fixed.
  • the first fastener 9 is arranged in the circumferential direction, and one or more can be provided.
  • the stroke limiting component includes a limit ring 15, which is fixed to the mounting seat 1, and the outer diameter of the limit ring 15 is larger than the inner diameter of the stop ring 4. .
  • This structure forms a gap between the blocking ring 4 and the limiting ring 15.
  • the gap is configured to abut the limiting ring 15 and the blocking ring 4 when the mounting seat 1 moves by a preset displacement, and the first fastener 9 protrudes
  • the size of the blocking ring 4 needs to be smaller than the gap. If the gap size is larger than the first fastener 9, the gap size can be ensured by setting spacers.
  • bolts can be used to fix the fixing base 10 and the supporting base 3, and compared with countersunk screws, it has a higher connection strength.
  • the bottom surface of the limit ring 15 forms a plane, and after the movable assembly A is pulled out as a whole, it is easy to stand upright on the surface of the water platform, which is convenient for debugging.
  • the movable assembly A can be placed vertically on the surface of the water platform together with the hand to prevent damage to the hand.
  • the blocking ring 4 is embedded in the through hole 31, and the side wall of the through hole 31 is provided with a thrust portion 317, which is configured to limit the freedom of movement of the blocking ring 4 toward the mounting seat 1 in the axial direction.
  • the end surface of the blocking ring 4 may be flush with the end surface of the support base 3.
  • the blocking ring 4 can be fixed to the support base 3 by a second fastener 6.
  • the blocking ring 4 is embedded in the through hole 31, which can reduce the axial size of the movable assembly A and make the structure of the connecting device more compact.
  • the blocking ring 4 can play a role in strengthening the support base 3.
  • the mounting base 1 is rotatably arranged relative to the supporting base 3, so that the locking member 12 can be switched between the locked state and the unlocked state by rotating the mounting base 1 relative to the supporting base 3.
  • a raceway 51 is provided along the inner side wall of the sleeve 5.
  • the limiting member includes a plurality of rolling elements 2, and each rolling element 2 is configured to be located between the mounting seat 1 and the support seat 3 and is connected to the raceway when in the initial position. 51 cooperates and completely separates from the raceway 51 when the limit position is released.
  • This embodiment can rotate the mounting base 1 relative to the support base 3 through the rolling element 2 to realize the connection and separation of the two pieces to be connected, and can reduce the friction between the mounting base 1 and the support base 3 during the rotation. ;
  • the locking member 12 When the locking member 12 is in the locked state, the separation of the movable assembly A and the sleeve 5 can be restricted by the cooperation of the rolling element 2 and the raceway 51, which can make the structure design more compact.
  • the raceway 51 extends in the circumferential direction to form a ring shape; or the raceway 51 includes a plurality of raceway sections arranged at intervals along the circumferential direction, and each raceway section cooperates with at least one rolling body 2.
  • the mounting base 1 is provided with a guide surface 11, which is configured to gradually reduce the radial dimension from the mounting base 1 to the supporting base 3, so that when the mounting base 1 moves away from the supporting base 3 , So that each rolling element 2 moves inward in the radial direction to release the limit on the movable assembly A.
  • the guide surface 11 may be a tapered surface, or a circular arc shape in the longitudinal section of the sleeve 5, as long as it can guide each rolling element 2 to move inward in the radial direction.
  • the mounting seat 1 is a rotating part as a whole, and includes an extension section 17, a limit section 18, and a connection section 19 that are sequentially connected in the axial direction.
  • the extension section 17 is inserted into the through hole 31 of the support base 3 and penetrates into the inner hole of the blocking ring 4; the radial dimension of the outer side wall of the limit section 18 is larger than the radial dimension of the outer side wall of the support base 3, so as to connect the two
  • the limiting section 18 is positioned against the end surface of the sleeve 5 to be connected; the connecting section 19 is used to connect with the second to-be-connected component, such as a hand.
  • the mounting base 1 is provided with a first mating surface 14, which is connected to the end of the guide surface 11 with the largest radial dimension.
  • the supporting base 3 is provided with The second mating surface 33.
  • the area of the guide surface 11 close to the first mating surface 14 is configured to allow the rolling element 2 to enter the cavity formed by the first mating surface 14, the second mating surface, and the guide surface 11.
  • the guide surface 11 gradually forces the rolling body 2 to move radially outwards until the rolling body 2 is pushed into the raceway 51.
  • the guiding surface 11 may be located at the connecting position of the extension section 17 and the limiting section 18.
  • the first mating surface 14 and/or the second mating surface 33 has an arc-shaped structure that cooperates with the rolling element 2, or may also have a planar structure.
  • the end surface of the support base 3 close to the mounting base 1 is provided with a plurality of protrusions 32, the rolling body 2 is located between two adjacent protrusions 32, and the support base 3 is located on the bottom surface of the adjacent protrusions 32
  • the second mating surface 33 is provided.
  • both sides of the protrusion 32 in the circumferential direction are provided with extension portions 322, and the extension portion 322 may be located at the outermost position of the protrusion 32 in the radial direction.
  • a groove 322 can be provided on the inner side of the extension portion 322 in the radial direction, so that the side surface of the protrusion 32 in the circumferential direction and the extension portion 322 smoothly transition, and provide effective for the rolling body 2. Accommodate space.
  • the mounting base 1 is rotatably arranged relative to the supporting base 3, so that the locking member 12 can be switched between the locked state and the unlocked state by rotating the mounting base 1 relative to the supporting base 3.
  • This method is easy to operate to achieve unlocking, and does not occupy additional space during the unlocking process. When used in a functional arm, it can be easily removed by applying a rotating force to the hand.
  • the support base 3 is provided with a through hole 31 along the axial direction.
  • the through hole 31 includes: a first hole section 311; and a second hole section 312.
  • the diameter of the second hole section 312 is larger than that of the first hole section 311.
  • a boss 314 is provided on the side wall of the second hole section 312, and the top surface of the boss 314 in the radial direction is not lower than the first in the radial direction.
  • a transition surface 315 is provided between the inner wall of the hole section 311 and the boss 314 and the side wall of the second hole section 312, and the transition surface 315 may be a circular arc or an inclined surface.
  • the locking member 12 is configured to rotate together with the mounting base 1, and in the locked state overlaps on the connecting surface 313 of the first hole section 311 and the second hole section 312 to limit the direction of the mounting base 1 relative to the support base 3.
  • the locking member 13 may be a pin shaft, a slider, a roller, or the like.
  • the end of the locking member 13 may be provided in a spherical structure.
  • This structure can realize the unlocking of the locking member 12 through the rotation of the mounting base 1, and the structure is simple, so that the locking member 12 is not prone to jamming when unlocking, and can be reliably locked and unlocked.
  • a boss 314 is provided on the side wall of the second hole section 312.
  • at least two bosses 314 are provided on the side wall of the second hole section 312, such as two, three, etc., and each boss 314 can be evenly distributed along the circumferential direction. This structure can make the mounting base 1 more stable during the rotation and unlocking process, prevent the mounting base 1 from tilting, and make the unlocking action more reliable.
  • the top surface of the boss 314 in the radial direction is provided with a groove 316.
  • the groove 316 extends in the axial direction and extends in the entire axial direction of the first hole section 311 and the second hole section 312.
  • the bottom surface of the groove 316 in the radial direction is higher than the inner wall of the first hole section 311.
  • the cross section of the groove 316 may be arc-shaped, etc., and a transition surface is provided at the connection between the groove 316 and the boss 314.
  • the groove 316 is provided.
  • the locking member 12 moves to the boss 314 during the unlocking process, it will quickly fall into the groove 316, which can stably maintain the locking member 12 in the unlocked state and prevent it from moving outwards.
  • the locking member 12 enters the locked state again.
  • the locking member 12 can make a sound so that the user can recognize the unlocked state.
  • the movable assembly A further includes a fixed seat 10 connected to the mounting seat 1.
  • the fixed seat 10 is provided with a radially extending guide groove 102, and the locking member 12 is movably arranged at In the guide groove 102.
  • the fixed seat 10 includes a seat body 101 and a connecting plate 103 provided on both sides of the seat body 101 along the circumferential direction.
  • the guide groove 102 is provided on the seat body 101, and the connecting plate 103 is provided with a hole 104 to be connected by the first fastener 9
  • the fixing base 10 is fixed to the area of the mounting base 1 at the insertion end.
  • the number of fixing seats 10 corresponds to the number of locking members 12.
  • the extension section 17 of the mounting seat 1 is used as the insertion end, and the end surface of the extension section 17 away from the connecting section 19 in the axial direction is provided with a mounting groove 171, and the mounting groove 171 penetrates along the radial direction of the extension section 17.
  • the fixing base 10 is located in the installation groove 171 so that the locking member 12 can contact the side wall of the second hole section 312 through the through installation groove 171.
  • the side wall of the first hole section 311 is provided with a second guide surface 32, and the radial size of the second guide surface 32 gradually decreases along the direction in which the movable assembly A is inserted into the sleeve 5.
  • the second guide surface 32 may be an inclined surface, so that when the movable assembly A is inserted into the movable assembly A, the locking member 12 is gradually pressed back inward in the radial direction, so as to reach a position to be matched with the second hole section 312 in the axial direction.
  • a hole is provided in the center of the mounting base 1, and a boss 16 is provided on the wall of the hole for mounting a circuit board or fixing wires, and the circuit board is used to control the movement of the hand.
  • a damping ring is provided in the sleeve 5 at the insertion end of the movable assembly A, and the damping ring is fixed to the sleeve 5, which is not shown in the figure. In FIG. 1, it can be set at the bottom of the movable assembly A. s position.
  • the locking member 12 When the locking member 12 is in the locked state, there is a preset pressing force between the end face of the insertion end of the movable assembly A and the damping ring.
  • the damping ring is a rigid body, and the damping ring is tightly fitted with the end face of the insertion end of the movable assembly A; or the damping ring is The elastic member, the damping ring and the end surface of the insertion end of the movable assembly A have a compression margin.
  • the damping ring may be in contact with the blocking ring 4.
  • the damping ring when the second to-be-connected part is not subject to external force, it is relatively fixed with the first to-be-connected part, which can prevent the two to-be-connected parts from rotating relative to each other; when the second to-be-connected part is subjected to external force, it can be adjusted The positional relationship of the two pieces to be connected in the circumferential direction.
  • the movable assembly A is moved in the direction of the sleeve 5 as a whole.
  • the damping ring can stop the movement of the support base 3, Continuous application of external force allows the mounting base 1 and the components fixed on the mounting base 1 to continue to move.
  • the locking member 12 slides inward along the second guide surface 32.
  • the reset element 13 is pushed out.
  • the mounting base 1 moves to the limit section 18 contacting the sleeve 5, it stops moving. At this time, the locking member 12 overlaps on the connecting surface 313.
  • the rolling elements 2 move radially outward under the action of the first guide surface 14, and each rolling element 2 cooperates with the raceway 51 after the mounting base 1 moves in place , So as to achieve the locking of the two pieces to be connected.
  • the movable assembly A further includes a reset element 13, such as a spring, which is arranged between the fixed seat 10 and the locking member 12 to reset the locking member 12 when it is automatically switched from the unlocked state to the locked state.
  • a reset element 13 such as a spring
  • the locking member 12 is a pin shaft, and a thrust platform is provided on the pin shaft.
  • the spring can be sleeved with the locking member 12 and abuts against the mounting groove 171 at one end far away from the support base 3 in the radial direction. Between stations.
  • the present disclosure provides a functional arm, including the quick connection device of the above-mentioned embodiment, the first to be connected includes an arm, and the second to be connected includes a hand.
  • functional arms include robotic arms or prostheses.
  • the hand includes the wrist and the back of the hand.
  • the connecting section 19 of the mounting seat 1 has a cylindrical structure.
  • a first hole 191 is provided on the side wall of the connecting section 19, and the back of the hand is attached to Outside the connecting section 19, the back of the hand is fixed to the side wall of the connecting section 19 by a third fastener; the bottom part of the connecting section 19 is closed, and a second hole 192 is opened on the closed part, and the wrist is inserted into the connecting section 19 , And fix the wrist to the inner bottom of the connecting section 19 by a fourth fastener.
  • This connection structure can fix the hand on the mounting base 1 more firmly.
  • each rolling element 2 is completely separated from the raceway 51 and is in a state of releasing the limit.
  • the limit portion 8 and The bottom of the blocking ring 4 abuts. Then, if you continue to move the mounting base 1 outwards, it will drive the support base 1 to move, so that the entire movable assembly A moves outwards together, so that the movable assembly A is separated from the sleeve 5, as shown in Figure 5, when the hand Quickly separate from the arm.
  • the rolling elements 2 move radially outward under the action of the first guide surface 14, and each rolling element 2 cooperates with the raceway 51 after the mounting base 1 moves in place , So as to achieve the lock of the hand.
  • the present disclosure also provides a robot including the functional arm of the above embodiment, the functional arm is a mechanical arm, and the hand includes an end effector.
  • Robotic arms are used to achieve industrial automation by automatically performing required functions.
  • the robotic arm includes an arm and a hand.
  • the hand can be an end effector, such as a mechanical claw or a suction cup.
  • the arm can position the end effector to a desired working position through multi-degree-of-freedom motion. According to the functions that the robot needs to perform, the end effector can be replaced quickly and conveniently, meeting the diversified operation requirements of the robot arm, and improving the versatility of the robot arm.

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  • Mutual Connection Of Rods And Tubes (AREA)
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Abstract

一种快速连接装置、功能臂及机器人，其中，快速连接装置包括：与第一待连接件连接的套筒（5）和活动组件（A），活动组件（A）在套筒（5）内沿套筒（5）的轴向可移动地设置；活动组件（A）包括：支撑座（3），设在套筒（5）内；安装座（1），被配置为与第二待连接件连接，且相对于支撑座（3）沿轴向可移动；锁定件（12），固定于安装座（1），被配置为与支撑座（3）配合实现锁定状态和解锁状态，并在锁定状态下限制安装座（1）朝向远离支撑座（3）的方向移动，在解锁状态下允许安装座（1）朝向远离支撑座（3）方向移动；和限位件，被配置为在安装座（1）处于与锁定状态对应的初始位置时，限制活动组件（A）在套筒（5）内移动，并在安装座（1）朝向远离支撑座（3）的方向移动预设距离时解除限位，允许活动组件（A）移出套筒（5），使第一待连接件和第二待连接件分离。具有该连接装置的功能臂及机器人能够实现两个待连接件的快速连接与分离，易于操作，可提高拆装效率。

Description

快速连接装置、功能臂及机器人
相关申请的横向引用
本公开是以申请号为 201911003084.3，申请日为 2019年10月22日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本公开中。
技术领域
本公开涉及快速连接装置技术领域，尤其涉及一种快速连接装置、功能臂及机器人。
背景技术
目前机器人在工业自动化领域发挥着重要的作用，机器人具有机械臂，机械臂的端部安装有末端执行器，根据需要实现的功能不同，需要更换末端执行器，这就会经常涉及到末端执行器与机械臂之间的拆卸。
发明人所知晓的相关技术中一般是将末端执行器与机械臂之间通过螺钉等紧固件进行锁定，此种固定方式不便于使用者快速拆卸，给使用过程带来极大的不便，而且末端执行器相对于机械臂无法实现转动，只能在固定位置安装，无法调整安装位置，使用灵活性较差。
发明内容
根据本公开的第一方面，提供了一种快速连接装置，包括：
套筒和活动组件，套筒被配置为与第一待连接件连接，活动组件在套筒内沿套筒的轴向可移动地设置；其中，活动组件包括：
支撑座，设在套筒内；
安装座，被配置为与第二待连接件连接，且相对于支撑座沿轴向可移动地设置；
锁定件，固定于安装座，被配置为与支撑座配合实现锁定状态和解锁状态，并在锁定状态下限制安装座朝向远离支撑座的方向移动，在解锁状态下允许安装座朝向远离支撑座方向移动；以及
限位件，被配置为在安装座处于与锁定状态对应的初始位置时，限制活动组件在套筒内移动，并在安装座朝向远离支撑座的方向移动预设距离时解除限位，以允许活 动组件移出套筒。
在一些实施例中，活动组件还包括：行程限制部件，连接在安装座上，被配置为在安装座移动预设距离时，限制安装座相对于支撑座继续移动。
在一些实施例中，支撑座沿轴向设有通孔，安装座的一端插入通孔，活动组件还包括阻挡环，阻挡环连接在支撑座上沿轴向靠近安装座插入端的一端，安装座的插入端经过通孔穿入阻挡环，行程限制部件在安装座移动预设距离时与阻挡环抵接。
在一些实施例中，行程限制部件包括：连接杆和限位部，连接杆的第一端连接在安装座的插入端，连接杆的第二端与限位部连接，连接杆的长度被构造为在安装座移动预设位置时，使限位部与阻挡环抵接。
在一些实施例中，活动组件还包括固定座和第一紧固件，固定座通过第一紧固件固定于安装座的插入端，锁定件设在安装座内，第一紧固件的头部凸出阻挡环的端面；
行程限制部件包括限位环，限位环与安装座固定，且沿轴向位于第一紧固件远离安装座的一端，限位环与阻挡环之间形成间隙，被构造为在安装座移动预设位移时，使限位环与阻挡环抵接。
在一些实施例中，阻挡环嵌设在通孔内，通孔的侧壁上设有止推部，被构造为限制阻挡环沿轴向朝向安装座运动的自由度。
在一些实施例中，套筒的内侧壁上沿设有滚道，限位件包括多个滚动体，各个滚动体被配置为在初始位置时，位于安装座与支撑座之间且与滚道配合，并在解除限位位置时完全脱离滚道。
在一些实施例中，滚道沿周向延伸形成环形；或者滚道包括多个沿周向间隔设置的滚道段，每个滚道段与至少一个滚动体配合。
在一些实施例中，安装座上设有第一引导面，被构造为从安装座至支撑座的方向径向尺寸逐渐减小，以在安装座朝向远离支撑座的方向移动时，使多个滚动体沿径向朝内移动。
在一些实施例中，安装座上设有第一配合面，第一配合面与第一引导面径向尺寸最大的一端连接，支撑座上设有第二配合面；
在初始位置时，第一引导面靠近第一配合面的区域被构造为使滚动体进入第一配合面、第二配合面和第一引导面围合形成的腔体内。
在一些实施例中，安装座相对于支撑座可转动地设置，以通过安装座相对于支撑座转动使锁定件在锁定状态与解锁状态之间切换。
在一些实施例中，支撑座沿轴向设有通孔，通孔包括：
第一孔段；和
第二孔段，第二孔段的直径大于第一孔段，且沿轴向位于第一孔段远离安装座的一侧，第二孔段的侧壁上设有凸台，凸台沿径向的顶面在径向上不低于第一孔段的内壁，且凸台与第二孔段的侧壁之间设有过渡面；
其中，锁定件被配置为在锁定状态下搭接于第一孔段与第二孔段的连接面上，并在从锁定状态切换至解锁状态时，沿过渡面移动至抵靠于凸台沿径向的顶面。
在一些实施例中，凸台沿径向的顶面设有凹槽，凹槽沿轴向延伸，且在通孔的整个轴向上贯通，凹槽沿径向的底面高于第一孔段的内壁。
在一些实施例中，活动组件还包括固定座，固定座与安装座连接，固定座上设有沿径向延伸的导向槽，锁定件可移动地设在导向槽内。
在一些实施例中，活动组件还包括复位元件，设在固定座与锁定件之间，被配置为使锁定件从解锁状态复位至锁定状态。
在一些实施例中，快速连接装置还包括阻尼环，设在套筒内位于活动组件插入端的位置，且阻尼环与套筒固定，在锁定件处于锁定状态时，活动组件插入端的端面与阻尼环之间通过预设压紧力配合。
根据本公开的第二方面，提供了一种功能臂，包括上述实施例的快速连接装置，第一待连接件包括臂部，第二待连接件包括手部。
在一些实施例中，功能臂包括机械臂或假肢。
本公开的实施例第三方面提供了一种机器人，包括上述实施例的功能臂，功能臂为机械臂，手部包括末端执行器。
附图说明
此处所说明的附图用来提供对本公开的进一步理解，构成本申请的一部分，本公开的示意性实施例及其说明用于解释本公开，并不构成对本公开的不当限定。在附图中：
图1为本公开快速连接装置的一些实施例的剖视图；
图2为本公开的快速连接装置中支撑座与锁定部件配合的第一角度示意图；
图3为本公开的快速连接装置中支撑座与锁定部件配合的第二角度示意图；
图4为本公开快速连接装置中向外移动安装座使滚动体沿径向向内移动的状态示 意图；
图5为活动组件整体脱离套筒的状态示意图；
图6为本公开快速连接装置中活动组件的第一角度的结构示意图图；
图7为本公开快速连接装置中活动组件的第二角度的结构示意图；
图8为本公开快速连接装置中安装座的一些实施例的结构示意图；
图9为本公开快速连接装置中支撑座的第一角度的结构示意图；
图10为本公开快速连接装置中支撑座的第二角度的结构示意图。
具体实施方式
以下详细说明本公开。在以下段落中，更为详细地限定了实施例的不同方面。如此限定的各方面可与任何其他的一个方面或多个方面组合，除非明确指出不可组合。尤其是，被认为是优选的或有利的任何特征可与其他一个或多个被认为是优选的或有利的特征组合。
本公开中出现的“第一”、“第二”等用语仅是为了方便描述，以区分具有相同名称的不同组成部件，并不表示先后或主次关系。
在本公开的描述中，采用了“上”、“下”、“顶”、“底”、“前”、“后”、“内”和“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开，而不是指示或暗示所指的装置必须具有特定的方位、以特定的方位构造和操控，因此不能理解为对本公开保护范围的限制。如图6至图10所示的立体图中，为了能够更清楚地显示出部件的内部结构，均沿轴向进行了剖切，剖切面用空白区域表示，实际中均为完整的回转结构。
本公开的实施例提供了一种快速连接装置、功能臂及机器人，能够实现两个待连接部件的快速拆装。
本公开一些实施例的快速连接装置，锁定件在处于锁定状态时，限制安装座朝向远离支撑座的方向移动，以使限位件处于初始位置，限制活动组件在套筒内移动，使第一待连接件和第二待连接件连接；锁定件在处于解锁状态时，允许安装座朝向远离支撑座方向移动，并在安装座朝向远离支撑座的方向移动预设距离时解除限位，以允许活动组件移出套筒，使第一待连接件和第二待连接件分离。此种连接装置能够实现两个待连接件的快速连接与分离，易于操作，可提高拆装效率。
如图1至图10所示，在一些实施例中，本公开提供了一种快速连接装置，包括： 套筒5和活动组件A，套筒5用于与第一待连接件连接，活动组件A在套筒5内沿套筒5的轴向可移动地设置，本文提到的“轴向”、“径向”和“周向”都是相对于套筒5为基准进行定义。
如图1所示，活动组件A包括：支撑座3、安装座1、锁定件12和限位件。
其中，支撑座3设在套筒5内，安装座1用于与第二待连接件连接，且相对于支撑座3沿轴向可移动地设置。
锁定件12固定于安装座1，被配置为与支撑座3配合实现锁定状态和解锁状态，并在锁定状态下限制安装座1朝向远离支撑座3的方向移动，在解锁状态下允许安装座1朝向远离支撑座3方向移动。
限位件被配置为在安装座1处于与锁定状态对应的初始位置时，限制活动组件A在套筒5内移动，以实现第一待连接件与第二待连接件的连接；并在安装座1朝向远离支撑座3的方向移动预设距离时解除限位，以允许活动组件A移出套筒5，实现第一待连接件与第二待连接件的脱离。
该实施例的工作原理为：当锁定件12在处于锁定状态时，限制安装座1朝向远离支撑座3的方向移动，以使限位件处于初始位置，限制活动组件A在套筒5内移动，从而实现第一待连接件和第二待连接件连接；锁定件12在处于解锁状态时，允许安装座1朝向远离支撑座3的方向移动，并在安装座1朝向远离支撑座3的方向移动预设距离时解除限位，以允许活动组件A移出套筒5，从而实现第一待连接件和第二待连接件分离。
此种连接装置能够实现两个待连接件的快速连接与分离，以实现两个待连接件的可拆卸连接，易于操作，可提高拆装效率和使用灵活性，具有广泛的适用范围。该连接装置可用于各领域中两个待连接件的可拆卸连接。
在一些实施例中，该连接装置可用于功能臂，第一待连接件包括臂部，第二待连接件包括手部，快速连接装置连接在臂部与手部之间，用于将手部可拆卸地设在臂部的手腕端。
此种连接装置能够实现臂部与手部的快速连接与分离，以实现手部与臂部的可拆卸连接，易于操作，可提高手部的拆装效率，易于根据使用需求更换不同类型与尺寸的手部。
例如，功能臂可以是假肢，用于辅助残疾人使用，根据患者的身体比例和生活需求，可以快速地更换不同尺寸的手部，以灵活地满足不同患者的需求。
或者，功能臂也可以是机器人的机械臂，用于通过自动执行功能实现工业自动化。机械臂包括臂部和手部，手部可以是末端执行器，例如机械爪或吸盘等，臂部可通过多自由度运动将末端执行器定位至所需工作位置。根据机器人需要执行的功能，可以快速方便地更换末端执行器，满足机械臂的多样化作业需求，提高机械臂的通用性。
如图1所示，活动组件A还包括：行程限制部件，连接在安装座1上，被配置为在安装座1相对于套筒5向外移动预设距离时，限制安装座1相对于支撑座3继续移动，以使安装座1带动支撑座3一起向外移动，从而使活动组件A脱离套筒5，进而实现第一待连接件和第二待连接件的分离。通过设置行程限制部件，能够在通过安装座1向外运动使限位件解除限位后，使活动组件A整体相对于套筒5向外移动。
如图1和图4所示，支撑座3沿轴向设有通孔31，安装座1的一端插入通孔31，活动组件A还包括阻挡环4，阻挡环4连接在支撑座3上沿轴向靠近安装座1插入端的一端，即连接在支撑座3上沿轴向靠近第一待连接件的一端，安装座1的插入端经过通孔31穿入阻挡环4，行程限制部件在安装座1移动预设距离时与阻挡环4抵接。安装座1的插入端为位于套筒5内的一端。
由于安装座1的一端需要穿过通孔31，在支撑座3上设置通孔31后，通过局部增设阻挡环4，易于使行程限制部件对安装座1的移动距离进行限定。
在一些实施例中，如图1所示，行程限制部件包括：连接杆7和限位部8，连接杆7的第一端连接在安装座1的插入端，即图1中的底端，限位部8连接在连接杆7的第二端，连接杆7的长度被构造为在安装座1移动预设位移时，使限位部8与阻挡环4抵接。
该实施例可通过简单小巧的结构对安装座1进行行程限位，对安装座1插入端的端面阻挡环4沿轴向远离支撑座3端面的位置关系无特殊限制，可通过连接杆7的长度限定安装座1的预设位移。
在另一些实施例中，如图7所示，活动组件A还包括固定座10和第一紧固件9，固定座10通过第一紧固件9固定于安装座1的插入端，锁定件12设在安装座1内，第一紧固件9的头部凸出阻挡环4的端面，例如，第一紧固件9可采用螺栓，在固定后螺栓头凸出阻挡环4的端面。第一紧固件9沿周向设置，可设置一个或者多个，行程限制部件包括限位环15，限位环15与安装座1固定，限位环15的外径大于阻挡环4的内径。
该结构在阻挡环4与限位环15之间形成间隙，该间隙被构造为在安装座1移动 预设位移时，使限位环15与阻挡环4抵接，第一紧固件9凸出阻挡环4的尺寸需要小于该间隙。若间隙尺寸大于第一紧固件9，则可通过设置间隔件保证间隙尺寸。
该实施例可采用螺栓将固定座10与支撑座3固定，与沉头螺钉相比，具备较高的连接强度。而且，限位环15的底面形成平面，在活动组件A整体拔出后，易于直立放置于水平台面上，便于进行调试。例如，当用于功能臂上，可使活动组件A连同手部竖直放置于水平台面上，可防止损伤手部。
如图1所示，阻挡环4嵌设在通孔31内，通孔31的侧壁上设有止推部317，被构造为限制阻挡环4沿轴向朝向安装座1运动的自由度。在一些实施例中，阻挡环4的端面可与支撑座3的端面齐平。例如，阻挡环4可通过第二紧固件6与支撑座3固定。
该实施例将阻挡环4嵌设在通孔31内，可减小活动组件A的轴向尺寸，使连接装置结构更加紧凑，而且阻挡环4能够起到加强支撑座3的作用。
如图1所示，安装座1相对于支撑座3可转动地设置，以通过安装座1相对于支撑座3转动使锁定件12在锁定状态与解锁状态之间切换。套筒5的内侧壁上沿设有滚道51，限位件包括多个滚动体2，各个滚动体2被配置为在初始位置时，位于安装座1与支撑座3之间且与滚道51配合，并在解除限位位置时完全脱离滚道51。
该实施例既能通过滚动体2使安装座1相对于支撑座3的转动，实现两个待连接件的连接与分离，在转动过程中可减小安装座1与支撑座3之间的摩擦；又能在锁定件12处于锁定状态时通过滚动体2与滚道51的配合限制活动组件A与套筒5分离，可使结构设计更加紧凑。
具体地，滚道51沿周向延伸形成环形；或者滚道51包括多个沿着周向间隔设置的滚道段，每个滚道段与至少一个滚动体2配合。
如图1所示，安装座1上设有引导面11，被构造为从安装座1至支撑座3的方向径向尺寸逐渐减小，以在安装座1朝向远离支撑座3的方向移动时，使各个滚动体2均沿径向朝内移动，以解除对活动组件A的限位。例如，引导面11可以是锥面，或者在套筒5的纵截面上呈圆弧状，只要能够引导各个滚动体2沿径向向内运动均可。
如图6和图7所示，安装座1整体为回转零件，沿轴向包括依次连接的延伸段17、限位段18和连接段19。延伸段17插入支撑座3的通孔31内并穿入阻挡环4的内孔；限位段18的外侧壁的径向尺寸大于支撑座3的外侧壁的径向尺寸，以在需要连接两个待连接件，将活动组件A整体插入套筒5内时，使限位段18抵靠于套筒5的端面 实现定位；连接段19用于与第二待连接件例如手部连接。
如图1和图4所示，安装座1上设有第一配合面14，第一配合面14与引导面11径向尺寸最大的一端连接，如图9所示，支撑座3上设有第二配合面33。在初始位置时，引导面11靠近第一配合面14的区域被构造为使滚动体2进入第一配合面14、第二配合面和引导面11围合形成的腔体内。在将活动组件A插入套筒5内的过程中，引导面11逐渐地迫使滚动体2沿径向向外移动，直至将滚动体2推入滚道51内。引导面11可位于延伸段17和限位段18的连接位置。例如，第一配合面14和/或第二配合面33呈与滚动体2配合的圆弧状结构，或者也可呈平面结构。
如图9所示，支撑座3靠近安装座1的端面上设有多个凸块32，滚动体2位于相邻两个凸块32之间，支撑座3位于相邻凸块32的底面上设置第二配合面33。为了在安装座1向外移动的过程中防止滚动体2掉出，凸块32沿周向的两侧均设有延伸部322，延伸部322可位于凸块32沿径向最外侧的位置。进一步地，为了便于加工延伸部322，可在延伸部322沿径向的内侧设置凹槽322，以使凸块32沿周向的侧面与延伸部322平滑过渡，并为滚动体2提供有效的容纳空间。
如图1所示，安装座1相对于支撑座3可转动地设置，以通过安装座1相对于支撑座3转动使锁定件12在锁定状态与解锁状态之间切换。此种方式易于操作实现解锁，在解锁过程中也不会占用额外空间，在用于功能臂时，可通过向手部施加旋转作用力方便地将其拆下。
如图3所示，支撑座3沿轴向设有通孔31，通孔31包括：第一孔段311；和第二孔段312，第二孔段312的直径大于第一孔段311，且沿轴向位于第一孔段311远离安装座1的一侧，第二孔段312的侧壁上设有凸台314，凸台314沿径向的顶面在径向上不低于第一孔段311的内壁，且凸台314与第二孔段312的侧壁之间设有过渡面315，过渡面315可呈圆弧或斜面等。
其中，锁定件12被配置为随安装座1一起旋转，在锁定状态下搭接于第一孔段311与第二孔段312的连接面313上，以限制安装座1相对于支撑座3向外移动；并在从锁定状态切换至解锁状态时，沿过渡面315移动至抵靠于凸台314沿径向的顶面，由于凸台314沿径向的顶面在径向上不低于第一孔段311的内壁，此时允许安装座1相对于支撑座3向外移动。例如，锁定件13可以为销轴、滑块或滚轮等结构。为了使锁定件13能够顺利地到达凸台314，可将锁定件13的端部设置为球状结构。
此种结构能够通过安装座1的旋转实现锁定件12的解锁，结构简单，使锁定件 12在解锁时不容易发生卡滞，能够可靠实现锁定与解锁。
如图3所示，第二孔段312的侧壁上设有一个凸台314。可选地，第二孔段312的侧壁上设有至少两个凸台314，例如设置两个、三个等，各凸台314可沿周向均布。此种结构能够使安装座1在旋转解锁的过程中更加平稳，防止安装座1发生倾斜，使解锁动作更加可靠。
进一步地，如图10所示，凸台314沿径向的顶面设有凹槽316，凹槽316沿轴向延伸，且在第一孔段311与第二孔段312的整个轴向上贯通，凹槽316沿径向的底面高于第一孔段311的内壁。例如，凹槽316的横截面可呈圆弧状等，凹槽316与凸台314的连接处都设有过渡面。
该实施例通过设置凹槽316，在锁定件12解锁的过程中移动至凸台314上时，会迅速落入凹槽316内，可稳定地将锁定件12保持在解锁状态，防止在向外移动安装座1时锁定件12重新进入锁定状态。而且，使用者在操作过程中，当锁定件12进入解锁状态落入凹槽316后，可发出声响，以便使用者识别出解锁状态。
如图2和图3所示，活动组件A还包括固定座10，固定座10与安装座1连接，固定座10上设有沿径向延伸的导向槽102，锁定件12可移动地设在导向槽102内。具体地，固定座10包括座体101和沿周向设在座体101两侧的连接板103，导向槽102设在座体101上，连接板103上设有孔104，以通过第一紧固件9将固定座10固定于安装座1位于插入端的区域。固定座10的数量与锁定件12的数量相对应。
具体地，如图8所示，安装座1的延伸段17作为插入端，延伸段17沿轴向远离连接段19的端面上设有安装槽171，安装槽171沿延伸段17的径向贯通，固定座10位于安装槽171内，以使锁定件12能够通过贯通的安装槽171与第二孔段312的侧壁接触。
如图1和图9所示，第一孔段311的侧壁上设有第二引导面32，第二引导面32的径向尺寸沿活动组件A插入套筒5内的方向逐渐减小，例如，第二引导面32可以为斜面，以在插入活动组件A时使锁定件12逐渐被沿径向向内压回，以在轴向上到达与第二孔段312配合的位置。
进一步地，如图8所示，安装座1的中心位置设有孔，孔壁上设有凸台16，用于安装电路板或固定电线，电路板用于控制手部的动作。
进一步地，参考图1所示，套筒5内位于活动组件A插入端的位置设有阻尼环，阻尼环与套筒5固定，图中未示意出，在图1中可设在活动组件A底部的位置。在锁 定件12处于锁定状态时，活动组件A插入端的端面与阻尼环之间具有预设压紧力，例如，阻尼环为刚体，阻尼环与活动组件A插入端的端面紧配合；或者阻尼环为弹性件，阻尼环与活动组件A插入端的端面具有压缩余量。例如，阻尼环可与阻挡环4接触。
通过设置阻尼环，在第二待连接件不受外力时，与第一待连接件例保持相对固定，可防止两个待连接件相对转动；在第二待连接件受到外力时，还可调节两个待连接件的在周向上的位置关系。
当用于功能臂时，在手部不受外力时，与臂部保持固定，可防止手部相对于臂部发生相对转动，以使手部可以稳定地执行动作；在需要调节手部相对于臂部的周向位置关系时，可在手部施加外力即可进行调节，调节方便，又不影响正常使用。
而且，在需要将第二待连接件安装于第一待连接件上时，使活动组件A整体朝向套筒5的方向移动，当移动至一定位置时，阻尼环可使支撑座3停止移动，持续施加外力可使安装座1以及固定在安装座1上的各部件继续移动，锁定件12沿第二引导面32向内滑动，当锁定件12滑动至第二引导面32的末端时，在复位元件13的作用下被推出。当安装座1移动至限位段18与套筒5接触时停止运动，此时锁定件12搭接在连接面313上。在安装座1相对于支撑座3移动的过程中，滚动体2在第一引导面14的作用下沿径向向外移动，并在安装座1移动到位后各滚动体2与滚道51配合，从而实现两个待连接件的锁定。
如图1至3所示，活动组件A还包括复位元件13，例如弹簧等，设在固定座10与锁定件12之间，用于使锁定件12自动从解锁状态切换到锁定状态时复位。如图2所示，锁定件12为销轴，销轴上设有止推台，弹簧可套设与锁定件12，且抵靠于安装槽171在径向上远离支撑座3的一端与止推台之间。
其次，本公开提供了一种功能臂，包括上述实施例的快速连接装置，第一待连接件包括臂部，第二待连接件包括手部。例如，功能臂包括机械臂或假肢。
如图6至8所示，手部包括腕部和手背部，安装座1的连接段19为圆筒状结构，在连接段19的侧壁上设有第一孔191，手背部贴设在连接段19外，以通过第三紧固件将手背部与连接段19的侧壁固定；连接段19的底部部分封闭，且在封闭部分上开设第二孔192，腕部插入连接段19内，并通过第四紧固件将腕部与连接段19的内底部固定。此种连接结构能够更牢固地将手部固定于安装座1上。
下面来说明本公开功能臂的工作原理：
在需要从臂部上拔出手部时，如图2和图4，施加外力使安装座1旋转，当锁定件12随之沿连接面313经过过渡面315旋转至凸台314位置时，锁定件12克服复位元件101的作用力沿径向向内移动。此时，向安装座1沿轴向施加向外的作用力使其向外移动，在移动过程中各滚动体2在滚道51的侧向力作用下向内移动。
如图1和图4所示，当安装座1相对于套筒5向外移动预设位移L时，各滚动体2完全脱离滚道51，处于解除限位的状态，此时限位部8与阻挡环4的底部抵接。接着，继续向外移动安装座1，则会带动支撑座1移动，以使整个活动组件A一起向外移动，从而使活动组件A脱离套筒5，如图5所示，此时将手部与臂部快速分离。
在需要将手部安装于臂部上时，使活动组件A整体朝向套筒5的方向移动，例如图1中向下移动，当移动至一定位置时，支撑座3受到阻尼环的限位停止移动，持续施加外力可使安装座1以及固定在安装座1上的各部件继续移动，锁定件12沿第二引导面32向内滑动，当锁定件12滑动至第二引导面32的末端时，在复位元件13的作用下被推出。当安装座1移动至限位段18与套筒5接触时停止运动，此时锁定件12搭接在连接面313上。在安装座1相对于支撑座3移动的过程中，滚动体2在第一引导面14的作用下沿径向向外移动，并在安装座1移动到位后各滚动体2与滚道51配合，从而实现手部的锁定。
再次，本公开还提供了一种机器人，包括上述实施例的功能臂，功能臂为机械臂，手部包括末端执行器。机械臂用于通过自动执行所需功能实现工业自动化。机械臂包括臂部和手部，手部可以是末端执行器，例如机械爪或吸盘等，臂部可通过多自由度运动将末端执行器定位至所需工作位置。根据机器人需要执行的功能，可以快速方便地更换末端执行器，满足机械臂的多样化作业需求，提高机械臂的通用性。
上述实施例对本公开所提供的一种快速连接装置、功能臂及机器人进行了详细介绍。本文中应用了具体的实施例对本公开的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本公开的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本公开原理的前提下，还可以对本公开进行若干改进和修饰，这些改进和修饰也落入本公开权利要求的保护范围内。

Claims (19)

  1. 一种快速连接装置，包括：套筒(5)和活动组件(A)，所述套筒(5)被配置为与第一待连接件连接，所述活动组件(A)在所述套筒(5)内沿所述套筒(5)的轴向可移动地设置；其中，所述活动组件(A)包括：
    支撑座(3)，设在所述套筒(5)内；
    安装座(1)，被配置为与第二待连接件连接，且相对于所述支撑座(3)沿所述轴向可移动地设置；
    锁定件(12)，固定于所述安装座(1)，被配置为与所述支撑座(3)配合实现锁定状态和解锁状态，并在锁定状态下限制所述安装座(1)朝向远离所述支撑座(3)的方向移动，在解锁状态下允许所述安装座(1)朝向远离所述支撑座(3)方向移动；以及
    限位件，被配置为在所述安装座(1)处于与所述锁定状态对应的初始位置时，限制所述活动组件(A)在所述套筒(5)内移动，并在所述安装座(1)朝向远离所述支撑座(3)的方向移动预设距离时解除限位，以允许所述活动组件(A)移出所述套筒(5)。
  2. 根据权利要求1所述的快速连接装置，其中所述活动组件(A)还包括：行程限制部件，连接在所述安装座(1)上，被配置为在所述安装座(1)移动所述预设距离时，限制所述安装座(1)相对于所述支撑座(3)继续移动。
  3. 根据权利要求2所述的快速连接装置，其中所述支撑座(3)沿轴向设有通孔(31)，所述安装座(1)的一端插入所述通孔(31)，所述活动组件(A)还包括阻挡环(4)，所述阻挡环(4)连接在所述支撑座(3)上沿轴向靠近所述安装座(1)插入端的一端，所述安装座(1)的插入端经过所述通孔(31)穿入所述阻挡环(4)，所述行程限制部件在所述安装座(1)移动所述预设距离时与所述阻挡环(4)抵接。
  4. 根据权利要求3所述的快速连接装置，其中所述行程限制部件包括：连接杆(7)和限位部(8)，所述连接杆(7)的第一端连接在所述安装座(1)的插入端，所述连接杆(7)的第二端与所述限位部(8)连接，所述连接杆(7)的长度被构造为在所述安装座(1)移动预设位移时，使所述限位部(8)与所述阻挡环(4)抵接。
  5. 根据权利要求3所述的快速连接装置，其中所述活动组件(A)还包括固定座(10)和第一紧固件(9)，所述固定座(10)通过所述第一紧固件(9)固定于所述 安装座(1)的插入端，所述锁定件(12)设在所述安装座(1)内，所述第一紧固件(9)的头部凸出所述阻挡环(4)的端面；
    所述行程限制部件包括限位环(15)，所述限位环(15)与所述安装座(1)固定，且沿轴向位于所述第一紧固件(9)远离所述安装座(1)的一端，所述限位环(15)与所述阻挡环(4)之间形成间隙，被构造为在所述安装座(1)移动预设位移时，使所述限位环(15)与所述阻挡环(4)抵接。
  6. 根据权利要求3所述的快速连接装置，其中所述阻挡环(4)嵌设在所述通孔(31)内，所述通孔(31)的侧壁上设有止推部(317)，被构造为限制所述阻挡环(4)沿轴向朝向所述安装座(1)运动的自由度。
  7. 根据权利要求1所述的快速连接装置，其中所述套筒(5)的内侧壁上沿设有滚道(51)，所述限位件包括多个滚动体(2)，各个所述滚动体(2)被配置为在所述初始位置时，位于所述安装座(1)与所述支撑座(3)之间且与所述滚道(51)配合，并在所述解除限位位置时完全脱离所述滚道(51)。
  8. 根据权利要求7所述的快速连接装置，其中所述滚道(51)沿周向延伸形成环形；或者所述滚道(51)包括多个沿周向间隔设置的滚道段，每个所述滚道段与至少一个所述滚动体(2)配合。
  9. 根据权利要求7所述的快速连接装置，其中所述安装座(1)上设有第一引导面(11)，被构造为从所述安装座(1)至支撑座(3)的方向径向尺寸逐渐减小，以在所述安装座(1)朝向远离所述支撑座(3)的方向移动时，使所述多个滚动体(2)沿所述径向朝内移动。
  10. 根据权利要求9所述的快速连接装置，其中所述安装座(1)上设有第一配合面(14)，所述第一配合面(14)与所述第一引导面(11)径向尺寸最大的一端连接，所述支撑座(3)上设有第二配合面(33)；
    在所述初始位置时，所述第一引导面(11)靠近所述第一配合面(14)的区域被构造为使所述滚动体(2)进入所述第一配合面(14)、所述第二配合面(33)和所述第一引导面(11)围合形成的腔体内。
  11. 根据权利要求1所述的快速连接装置，其中所述安装座(1)相对于所述支撑座(3)可转动地设置，以通过所述安装座(1)相对于所述支撑座(3)转动使所述锁定件(12)在锁定状态与解锁状态之间切换。
  12. 根据权利要求1所述的快速连接装置，其中所述支撑座(3)沿所述轴向设有 通孔(31)，所述通孔(31)包括：
    第一孔段(311)；和
    第二孔段(312)，所述第二孔段(312)的直径大于所述第一孔段(311)，且沿所述轴向位于所述第一孔段(311)远离所述安装座(1)的一侧，所述第二孔段(312)的侧壁上设有凸台(314)，所述凸台(314)沿径向的顶面在径向上不低于所述第一孔段(311)的内壁，且所述凸台(314)与所述第二孔段(312)的侧壁之间设有过渡面(315)；
    其中，所述锁定件(12)被配置为在锁定状态下搭接于所述第一孔段(311)与第二孔段(312)的连接面(313)上，并在从锁定状态切换至解锁状态时，沿所述过渡面(315)移动至抵靠于所述凸台(314)沿径向的顶面。
  13. 根据权利要求12所述的快速连接装置，其中所述凸台(314)沿径向的顶面设有凹槽(316)，所述凹槽(316)沿所述轴向延伸，且在所述通孔(31)的整个轴向上贯通，所述凹槽(316)沿径向的底面高于所述第一孔段(311)的内壁。
  14. 根据权利要求12所述的快速连接装置，其中所述活动组件(A)还包括固定座(10)，所述固定座(10)与所述安装座(1)连接，所述固定座(10)上设有沿所述径向延伸的导向槽(102)，所述锁定件(12)可移动地设在所述导向槽(102)内。
  15. 根据权利要求14所述的快速连接装置，其中所述活动组件(A)还包括复位元件(13)，设在所述固定座(10)与所述锁定件(12)之间，被配置为使所述锁定件(12)从所述解锁状态复位至锁定状态。
  16. 根据权利要求1所述的快速连接装置，还包括阻尼环，设在所述套筒(5)内位于所述活动组件(A)插入端的位置，且所述阻尼环与所述套筒(5)固定，在所述锁定件(12)处于锁定状态时，所述活动组件(A)插入端的端面与所述阻尼环之间通过预设压紧力配合。
  17. 一种功能臂，包括权利要求1～16任一所述的快速连接装置，所述第一待连接件包括臂部，所述第二待连接件包括手部。
  18. 根据权利要求17所述的功能臂，其中所述功能臂包括机械臂或假肢。
  19. 一种机器人，包括权利要求17所述的功能臂，所述功能臂为机械臂，所述手部包括末端执行器。
PCT/CN2020/108143 2019-10-22 2020-08-10 快速连接装置、功能臂及机器人 Ceased WO2021077858A1 (zh)

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