阅读说明：本技术 一种能够自锁的对接装置 (But interfacing apparatus of auto-lock ) 是由 朱映远 刘鸿全 裴崇鸿 刘宏 于 2020-04-30 设计创作，主要内容包括：一种能够自锁的对接装置,它涉及一种对接装置。本发明为解决现有机器人末端对接装置结构复杂,耗能大,成本高的问题。本发明包括驱动机构、直线运动机构、固定座、对象接口、壳体和多个施压球,驱动机构固接在固定座的上端面上,壳体的上端固接在固定座下端面的中部,驱动机构驱动直线运动机构在壳体内做直线往复运动,对接时快换装置插入对象接口,使得对象接口和固定座的下端面接触,对象接口的内圆周侧壁上设有环槽,环槽的一侧槽壁为锥面,多个施压球沿圆周方向均布设置在壳体的侧壁上,锁紧时,直线运动机构驱动施压球沿水平向外移动,且施压球的球面压紧环槽的锥面。本发明用于机械人末端工具更换和其他设备上的对接和分离。(A docking device capable of self-locking relates to a docking device. The invention aims to solve the problems of complex structure, large energy consumption and high cost of the existing robot tail end butt joint device. The invention comprises a driving mechanism, a linear motion mechanism, a fixed seat, an object interface, a shell and a plurality of pressure applying balls, wherein the driving mechanism is fixedly connected on the upper end surface of the fixed seat, the upper end of the shell is fixedly connected in the middle of the lower end surface of the fixed seat, the driving mechanism drives the linear motion mechanism to do linear reciprocating motion in the shell, a quick-change device is inserted into the object interface during butt joint so that the object interface is contacted with the lower end surface of the fixed seat, a circular groove is arranged on the inner circumferential side wall of the object interface, the groove wall on one side of the circular groove is a conical surface, the plurality of pressure applying balls are uniformly distributed on the side wall of the shell along the circumferential direction, and when the pressure applying balls are locked, the linear motion mechanism drives. The invention is used for butt joint and separation on robot end tool replacement and other equipment.)

1. The utility model provides a but interfacing apparatus of auto-lock which characterized in that: the self-locking butt joint device comprises a driving mechanism (1), a linear motion mechanism, a fixed seat (7), an object interface (9), a shell (10) and a plurality of pressure applying balls (6), wherein the driving mechanism (1) is fixedly connected to the upper end face of the fixed seat (7), the upper end of the shell (10) is fixedly connected to the middle part of the lower end face of the fixed seat (7), the driving mechanism (1) drives the linear motion mechanism to do linear reciprocating motion in the shell (10), the object interface (9) is arranged on the lower end face of the fixed seat (7) and sleeved on the outer side of the shell (10), an annular groove (9-1) is arranged on the inner circumferential side wall of the object interface (9), one side groove wall of the annular groove (9-1) is a conical surface, the plurality of pressure applying balls (6) are uniformly distributed on the side wall of the shell (10) along the circumferential direction, during locking, the linear motion mechanism drives the pressure applying balls (6) to move outwards, and the spherical surface of the pressure applying ball (6) compresses the conical surface of the ring groove (9-1).

2. A docking device capable of self-locking according to claim 1, wherein: the linear motion mechanism comprises a ball screw rod (2) and a ball screw nut (3), the ball screw rod (2) is connected with the output end of the driving mechanism (1), the ball screw rod (2) is vertically arranged in the shell (10), the ball screw nut (3) is rotatably arranged on the ball screw rod (2), the outer side of the ball screw nut (3) is fixedly connected with the cone cap (4) in a sleeved mode, the cone cap (4) is arranged on the inner side of the shell (10) and is in sliding connection with the inner side wall of the shell (10) along the vertical direction through the guiding mechanism, a plurality of through holes (10-1) are uniformly distributed on the side wall of the shell (10) along the circumferential direction, each through hole (10-1) is respectively arranged along the radial direction, the through holes (10-1) are correspondingly arranged with the annular grooves (9-1), and each pressure applying ball (6) is respectively arranged in one through hole (10-1).

3. A docking device capable of self-locking according to claim 2, wherein: the outer circumferential side wall of the conical cap (4) is provided with a working inverted conical surface (4-1), and the working inverted conical surface (4-1) compresses the pressure applying ball (6) during locking.

4. A docking device capable of self-locking according to claim 2, wherein: the guide mechanism comprises a key (5) and a sliding groove (10-2), the key (5) is fixedly connected to the outer side wall of the conical cap (4), the sliding groove (10-2) is arranged on the inner side wall of the shell (10) in the vertical direction, and the outer side end of the key (5) is arranged in the sliding groove (10-2).

5. A docking device capable of self-locking according to claim 2, 3 or 4, wherein: the linear motion mechanism further comprises a spring (8), the spring (8) is sleeved on the outer side of the ball screw rod (2) and is arranged between the lower end face of the fixed seat (7) and the ball screw nut (3).

6. A docking device capable of self-locking according to claim 5, wherein: the upper end of the ball screw rod (2) vertically penetrates through the fixed seat (7) and is rotatably connected with the fixed seat (7) through a bearing.

7. A docking device capable of self-locking according to claim 3, wherein: the outer circumferential side wall of the conical cap (4) is provided with a non-working inverted conical surface (4-2), the non-working inverted conical surface (4-2) is arranged at the lower end of the working inverted conical surface (4-1), and the taper of the non-working inverted conical surface (4-2) is larger than that of the working inverted conical surface (4-1).

8. A docking device capable of self-locking according to claim 7, wherein: the non-working inverted cone (4-2) and the working inverted cone (4-1) are in transition connection through a smooth curved surface.

9. A docking device capable of self-locking according to claim 1, wherein: the annular groove (9-1) is arranged on the lower end face of the object interface (9), and the conical surface of the annular groove (9-1) is arranged on the inner side groove wall.

10. A docking device capable of self-locking according to claim 1, 2, 3, 6, 7, 8 or 9, wherein: the outer diameter of the pressing ball (6) is larger than the wall thickness of the shell (10).

Technical Field

The invention relates to a butt joint device, in particular to a butt joint device capable of self-locking.

Background

In the industrial field, in particular in automation systems, it is often necessary for robots to change different operating tools depending on the operating object. Therefore, the docking device is arranged at the tail end of the robot, and each operating tool is provided with the same interface which is matched with the docking device, so that the docking device and the tool can be conveniently docked and separated. The connection of the tail end butting device is required to be compact and reliable, and the positioning and attitude determining precision is high; the separation is simple and easy. The general method adopts a pneumatic or electric method, and has the defects of complex structure, large energy consumption and high cost.

Disclosure of Invention

The invention aims to solve the problems of complex structure, high energy consumption and high cost of the existing butt joint device at the tail end of a robot, and further provides a self-locking butt joint device.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides a but interfacing apparatus of auto-lock includes actuating mechanism, linear motion mechanism, a fixed base, the object interface, casing and a plurality of ball of exerting pressure, the actuating mechanism rigid coupling is on the up end of fixing base, the upper end rigid coupling of casing is at the middle part of terminal surface under the fixing base, actuating mechanism drive linear motion mechanism is straight reciprocating motion in the casing, the object interface sets up on the lower terminal surface of fixing base and the suit is in the outside of casing, be equipped with the annular on the interior circumference lateral wall of object interface, one side cell wall of annular is the conical surface, a plurality of balls of exerting pressure set up on the lateral wall of casing along the circumferencial direction equipartition, during locking, linear motion mechanism drive ball of exerting pressure outwards removes along the level, and the spherical surface of the ball of.

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

1. the invention drives the ball screw to push the nut through the motor, the cylinder, the oil cylinder or the manual driving element, the nut pushes the steel ball through the cone cap with special cone angle, so as to realize two-stage speed reduction, and the large locking force can be realized by using smaller input torque or driving force.

2. The conical cap with a specific angle can realize self-locking of the steel ball, and once the steel ball is locked, the driving element can be closed without consuming energy.

3. In order to adapt to an operating tool with vibration, the locking spring is arranged, axial pressure is provided for the conical cap under the vibration condition, and the self-locking mechanism is prevented from loosening.

4. The invention can realize the butt joint locking function without too many high-precision and expensive parts and components, and is suitable for large-scale application on an automatic production line.

5. The invention has large load dead weight ratio, can realize the connection and operation of heavier tools and workpieces by lighter dead weight, and is suitable for occasions with higher requirements on weight.

6. The conical cap with the revolving body pushes the steel balls in the circumferential direction, the self-adaptive characteristic is achieved, the mechanical system can automatically correct errors to achieve multi-point compression, and the butted workpiece has high connection precision, rigidity and stability.

7. The butt joint device has the advantages of simple structure, low energy consumption and low processing and manufacturing cost, and can be widely applied to the technical field of robots to finish butt joint of the tail ends of the robots.

Drawings

FIG. 1 is a front cross-sectional view of the present invention with the locked workpiece in a locked condition;

FIG. 2 is a front cross-sectional view of the present invention with the locked workpiece in an initial state;

fig. 3 is a front sectional view of the present invention in an intermediate state of a locked workpiece.

Detailed Description