CN111923021A - Modular robot - Google Patents
Modular robot Download PDFInfo
- Publication number
- CN111923021A CN111923021A CN202010649728.2A CN202010649728A CN111923021A CN 111923021 A CN111923021 A CN 111923021A CN 202010649728 A CN202010649728 A CN 202010649728A CN 111923021 A CN111923021 A CN 111923021A
- Authority
- CN
- China
- Prior art keywords
- quick
- push rod
- change device
- housing
- actuator
- 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.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a modular robot which comprises a base, a main control system, an operating arm, a quick-change device and an end executor group, wherein the quick-change device comprises a main quick-change device and a plurality of auxiliary quick-change devices, one end of the operating arm is connected to the base, the main quick-change device is arranged at the other end of the operating arm, the end executor group is arranged on the base, the end executor group can provide a plurality of end executors for high-voltage wire operation, the main quick-change device is opposite to the end executor group, and the auxiliary quick-change devices of the quick-change devices are arranged on each end executor in the end executor group in a one-to. According to the modular robot, the end effectors with different functions are freely and flexibly replaced by matching with various different end effectors and adopting the uniformly matched quick-change device, so that one robot meets various operation requirements, the structure of the robot is simplified, and the operation efficiency of the robot is greatly improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modular robot.
Background
Robots are widely used in various large-scale industrial productions for replacing human labor to perform heavy, tedious and repetitive work because of their advantages of high efficiency, accuracy and low cost. With the development of the robot technology, the progress of the society and the continuous rise of the labor cost, the demand of the robot is continuously raised, and the working range of the robot is expanded to the unstructured environment to engage in the work of assembly, manufacture, detection, maintenance and the like. On the other hand, due to the narrow space and the large amount of work content of many working environments, one robot is needed to complete a plurality of work tasks. For example, a maintenance robot in a high-voltage transmission line is required to be as small and light as possible because of the space limitation of the transmission line and the need to reduce the weight burden on the line as much as possible. Meanwhile, the robot system works at high altitude and needs to face multiple work tasks such as cleaning hanging objects, supplementing split pins, cleaning drainage plates, tightness of bolt connection and the like, so that the robot system also needs to have the capacity of multiple work tasks.
The robot, as a general purpose tool, also requires the use of a suitable work end effector in order to perform a work task. Generally, robotic work end effectors are specialized tools, and typically only one effector can perform the same type of work task.
Chinese patent CN20151057403.4 discloses a multifunctional robot wrist with replaceable end effector, but it only discloses a wrist structure, and there is a cross axle in the wrist structure, which may be wound with wires during high-voltage wire operation, and it does not disclose specific robot and end effector parts, and cannot directly meet the requirement of replacing and using various end effectors in high-voltage wire operation scene.
Disclosure of Invention
The invention provides a modularized robot, aiming at overcoming the defects that the wrist structure of the modularized robot has a cross shaft, the risk of winding with a wire exists during high-voltage wire operation, a specific robot and an end effector part are not disclosed, and the requirements of replacing and using various end effectors under a high-voltage wire operation scene cannot be directly met.
In order to solve the technical problems, the invention adopts the technical scheme that: a modular robot comprises a base, a main control system, an operating arm, a quick-change device and an end effector group, wherein the quick-change device comprises a main quick-change device and a plurality of auxiliary quick-change devices matched with the main quick-change device for use, one end of the operating arm is connected to the base, the main quick-change device of the quick-change device is arranged at the other end of the operating arm, the end effector group is arranged on the base, the end effector group can provide a plurality of end effectors used for high-voltage line operation, the main quick-change device is over against the end effector group, and the auxiliary quick-change devices of the quick-change device are arranged on each end effector in the end effector group in a one-to-one manner; the main control system is respectively and independently connected with the operating arm, the quick change device and the tail end executor group.
Furthermore, the end effector group comprises an electric wrench actuator, a clamping actuator, a cleaning brush actuator and 3 actuator supports arranged on the base, one end of the electric wrench actuator, one end of the clamping actuator and one end of the cleaning brush actuator are arranged on the corresponding actuator supports, and the other end of the electric wrench actuator, the other end of the clamping actuator and the other end of the cleaning brush actuator are connected with the auxiliary quick-change devices.
Further, the main quick-change device comprises a first quick-change body, a locking air port, a separating air port, a connecting piece and a pneumatic push rod assembly;
the pneumatic push rod assembly is arranged on the first surface of the first quick-change body,
the locking air port and the separation air port are respectively arranged on the side wall of the first quick-change body and are communicated with the pneumatic push rod assembly;
the pneumatic push rod assembly comprises a push rod, a first ball and a second ball; the push rod is of a hollow barrel-shaped structure, the first ball bearing is movably arranged on the barrel wall of the push rod, the second ball bearing is movably arranged on the barrel wall of the push rod, and the first ball bearing and the second ball bearing can move along the push rod in the radial direction;
when the main control system controls the locking air port and the separation air port to form a first preset air pressure difference, the push rod moves towards the direction far away from the movable end of the operating arm, the first ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the second ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod; when a second preset air pressure difference is formed between the locking air port and the separating air port, the push rod moves towards the direction close to the movable end of the operating arm, the second ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the first ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod;
the other end of the operating arm is fixedly connected with the second surface of the first quick-change body.
Further, the auxiliary quick-change device comprises a second quick-change body, a first concave surface and a second concave surface;
the second quick-change body is provided with a channel matched with the pneumatic push rod assembly, so that the pneumatic push rod assembly can slide into the channel;
the first concave surface is arranged on the channel, the first concave surface is matched with the first ball, and when the first ball moves radially in the direction far away from the center of the push rod, the first ball is clamped and fixed in the first concave surface, so that the main quick-change device is fixedly connected with the auxiliary quick-change device;
further, the second concave surface is arranged on the channel, the second concave surface is matched with the second ball, and when the second ball moves radially in the direction away from the center of the push rod, the second ball slides in the second concave surface, so that the main quick-change device is separated from the auxiliary quick-change device.
Further, the electric wrench actuator comprises a first connecting flange, a first shell, an output shaft, a sleeve, a mounting seat, a power transmission mechanism and a first controller in communication connection with the main control system; one side of the first connecting flange is connected with the auxiliary quick-change device, the other side of the first connecting flange is connected with the first shell, the power transmission mechanism is arranged in the first shell, one end of the output shaft is connected with the power transmission mechanism, the other end of the output shaft penetrates out of the first shell and is connected with the sleeve, the mounting seat is arranged on the first shell, the first controller is arranged in the mounting seat, and the first controller is connected with the power transmission mechanism.
Further, the first shell comprises a first shell and a second shell; the first shell is connected with the connecting flange, and the second shell is connected with the first shell.
Furthermore, the clamping actuator comprises a second connecting flange, a second shell, a clamping power mechanism, clamping fingers, a clamping transmission mechanism and a second controller in communication connection with the main control system, one side of the second connecting flange is connected with the auxiliary quick-change device, the other side of the second connecting flange is connected with the second shell, the clamping power mechanism and the second controller are arranged in the second shell, one end of the clamping transmission mechanism is in transmission connection with the output end of the clamping power mechanism, and the other end of the clamping transmission mechanism is connected with the clamping fingers; the second controller is in control connection with the clamping power mechanism to further control the clamping fingers to open, close or stop.
Furthermore, the second shell comprises a third shell, a fourth shell and a fifth shell which are sequentially connected, the connecting flange is connected with the outer wall of the third shell, the control panel is located inside the third shell, and the power mechanism is fixedly arranged in the fourth shell.
Furthermore, the cleaning brush actuator comprises a third connecting flange, a third shell, a brush body, a driving motor, a flexible connecting piece and a third controller in communication connection with the main control system, one side of the third connecting flange is connected with the auxiliary quick-change device, the other side of the third connecting flange is connected with the third shell, the third controller and the driving motor are located in the third shell, the third controller is in control connection with the driving motor, and an output shaft of the driving motor is connected with one end of the flexible connecting piece and the other end of the flexible connecting piece is connected with the brush body.
Furthermore, the brush body comprises a brush rod and cleaning cloth, one end of the brush rod is connected with the other end of the flexible connecting piece, and the cleaning cloth is wrapped on the brush rod.
Compared with the prior art, the beneficial effects are:
1. according to the modular robot, the end effectors with different functions are freely and flexibly replaced by matching with various different end effectors and adopting the uniformly matched quick-change device, so that one robot meets various operation requirements, the structure of the robot is simplified, and the operation efficiency of the robot is greatly improved.
2. The quick-change device comprises a main quick-change device and a plurality of quick-change devices, one-to-many matching use is realized, combination and separation are very convenient, controllability is high, operation is simpler and more convenient when the end effector is replaced by the operating arm of the robot, and the efficiency of replacing the end effector by the robot is improved
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural diagram of the main quick-change device in the invention.
Fig. 3 is a schematic structural view of the auxiliary quick-change device in the invention.
Fig. 4 is a schematic structural view of the main quick-change device and the auxiliary quick-change device when combined.
Fig. 5 is a schematic structural view of an electric wrench actuator according to the present invention.
Fig. 6 is a schematic view of the structure of the clamp actuator of the present invention.
FIG. 7 is a schematic view of the interior of the cleaning brush actuator of the present invention.
FIG. 8 is a schematic diagram of the present invention during high voltage operation.
Detailed Description
The drawings are for illustrative purposes only and are not to be construed as limiting the patent; for the purpose of better illustrating the embodiments, certain features of the drawings may be omitted, enlarged or reduced, and do not represent the size of an actual product; it will be understood by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted. The positional relationships depicted in the drawings are for illustrative purposes only and are not to be construed as limiting the present patent.
As shown in fig. 1, the modular robot includes a base 1, a main control system, an operating arm 2, a quick-change device, and an end effector group, where the quick-change device includes a main quick-change device 3 and a plurality of auxiliary quick-change devices 4 used in cooperation with the main quick-change device 3, one end of the operating arm 2 is connected to the base 1, the main quick-change device 3 of the quick-change device is disposed at the other end of the operating arm 2, the end effector group is disposed on the base 1, the end effector group can provide a plurality of end effectors for high-voltage line operation, the main quick-change device 3 faces the end effector group, and the auxiliary quick-change devices 4 of the quick-change device are disposed on each end effector of the end effector group one by one; the main control system is independently connected with the operating arm 2, the quick change device and the tail end executor group respectively.
The end effector group comprises an electric wrench actuator 5, a clamping actuator 6, a cleaning brush actuator 7 and 3 actuator supports 8 arranged on the base 1, one end of the electric wrench actuator 5, one end of the clamping actuator 6 and one end of the cleaning brush actuator 7 are arranged on the corresponding actuator supports 8, and the other end of the electric wrench actuator 5, the other end of the clamping actuator 6 and the other end of the cleaning brush actuator 7 are connected with the auxiliary quick-change device 4.
As shown in fig. 2 and 4, the main quick-change device 3 comprises a first quick-change body 9, a locking air port 10, a separating air port 11 and a pneumatic push rod assembly; the pneumatic push rod assembly is arranged on the first surface of the first quick-change body 9, the locking air port 10 and the separation air port 11 are respectively arranged on the side wall of the first quick-change body 9, and the locking air port 10 and the separation air port 11 are communicated with the pneumatic push rod assembly; the pneumatic push rod assembly comprises a push rod 12, a first ball 13 and a second ball 14; the push rod 12 is a hollow barrel-shaped structure, the first ball 13 is movably arranged on the barrel wall 15 of the push rod, the second ball 14 is movably arranged on the barrel wall 15 of the push rod, and the first ball 13 and the second ball 14 can move along the push rod 12 in the radial direction; when a first air pressure difference is formed between the locking air port 10 and the separating air port 11, the push rod 12 moves towards the direction far away from the movable end of the operating arm 2, the first ball bearing 13 moves radially towards the direction far away from the center of the push rod 12 until protruding out of the barrel wall 15 of the push rod, and the second ball bearing 14 moves radially towards the direction close to the center of the push rod 12 until being sunken in the push rod 12; when the locking air port 10 and the separating air port 11 form a second air pressure difference, the push rod 12 moves towards the direction close to the movable end of the operating arm 2, the second ball bearing 14 moves radially towards the direction far away from the center of the push rod 12 until protruding out of the barrel wall 15 of the push rod, and the first ball bearing 13 moves radially towards the direction close to the center of the push rod until being sunken in the push rod 12;
the main quick-change device 3 in the embodiment of the application is further provided with a first positioning pin 16, a counter bore 17 and a first positioning hole 18; the first positioning pins 16 are symmetrically arranged on the first surface of the first quick-change body 9 around the periphery of the pneumatic push rod assembly, and the first positioning pins 16 are used for being matched and connected with the second positioning holes 24 of the auxiliary quick-change device 4 to realize the positioning function; counter bores 17 are evenly distributed on the first face of the first quick-change body 9 around the periphery of the pneumatic push rod assembly, and the main quick-change device 3 is fixed at the movable end of the operating arm 2 by using bolts and the counter bores 17; the first positioning holes 18 are uniformly distributed on the first surface of the first quick-change body 9 around the periphery of the pneumatic push rod assembly, and the first positioning holes 18 are used for being matched and connected with the second positioning pins 23 of the auxiliary quick-change device 4 to achieve the positioning effect.
As shown in fig. 3 and 4, the secondary quick-change means 4 comprises a second quick-change body 19, a first internally concave surface 20 and a second internally concave surface 21, the second quick-change body 19 being provided with a channel 22 matching the pneumatic push rod assembly so that the pneumatic push rod assembly can slide into the channel 22; the first concave surface 20 is arranged on the channel 22, the first concave surface 20 is matched with the first ball 13, and when the first ball 13 moves radially in the direction away from the center of the push rod 12, the first ball 13 is clamped and fixed in the first concave surface 20, so that the main quick-change device 3 is fixedly connected with the auxiliary quick-change device 4; the second concave surface 21 is arranged on the channel, the second concave surface 21 is matched with the second ball 14, and when the second ball 14 moves radially in the direction away from the center of the push rod 12, the second ball 14 slides on the second concave surface 21, so that the main quick-change device 3 is separated from the auxiliary quick-change device 4.
The auxiliary quick-change device 4 of the present embodiment is further provided with a second positioning pin 23 and a second positioning hole 24; the second positioning pin 23 is arranged on the second quick-change body 19 around the periphery of the channel 22, and the second positioning pin 23 is used for being matched and connected with the first positioning hole 18 of the main quick-change device 3 to realize a positioning effect; the second positioning holes 24 are distributed on the second quick-change body 19 around the periphery of the channel 22, and the second positioning holes 24 are used for being in fit connection with the first positioning pins 16 of the main quick-change device 3 to achieve a positioning effect.
As shown in fig. 5, the electric wrench actuator 5 includes a first connecting flange 501, a first housing, an output shaft 504, a sleeve 505, a mounting seat 506, a power transmission mechanism (not shown) and a first controller 508 communicatively connected to the main control system; one side of the first connecting flange 501 is connected with the auxiliary quick-change device 4, the other side of the first connecting flange is connected with the first housing, the power transmission mechanism is arranged in the first housing, one end of the output shaft 504 is connected with the power transmission mechanism, the other end of the output shaft penetrates out of the first housing and is connected with the sleeve 505, the mounting seat 506 is arranged on the first housing, a cover plate 507 covering the first controller 508 is arranged on the mounting seat 506, the first controller 508 is arranged in the mounting seat 506, and the first controller 508 is connected with the power transmission mechanism.
The first housing includes a first case 502 and a second case 503; the first housing 502 is connected to the connecting flange, and the second housing 503 is connected to the first housing 502.
As shown in fig. 6, the clamping actuator 6 includes a second connecting flange 601, a second housing, a clamping power mechanism (not shown in the figure), a clamping finger 605, a clamping transmission mechanism 604, and a second controller communicatively connected to the main control system, one side of the second connecting flange 601 is connected to the auxiliary quick-change device 4, the other side is connected to the second housing, the clamping power mechanism and the second controller are disposed in the second housing, one end of the clamping transmission mechanism 604 is in transmission connection with the output end of the clamping power mechanism, and the other end is connected to the clamping finger 605; the second controller is connected to the clamping power mechanism for controlling the opening, closing or stopping of the clamping fingers 605.
The second shell comprises a third shell 602, a fourth shell 603 and a fifth shell which are sequentially connected, the connecting flange is connected with the outer wall of the third shell 602, the control panel is positioned inside the third shell 602, and the power mechanism is fixedly arranged in the fourth shell 603.
As shown in fig. 7, the cleaning brush actuator 7 includes a third connecting flange 701, a third housing 704, a brush body, a driving motor 703, a flexible connecting member 705, and a third controller 702 communicatively connected to the main control system, one side of the third connecting flange 701 is connected to the sub quick-change device 4, the other side is connected to the third housing 704, the third controller 702 and the driving motor 703 are located in the third housing 704, the third controller 702 is connected to the driving motor 703 in a control manner, an output shaft 504 of the driving motor 703 is connected to one end of the flexible connecting member 705, and the other end of the flexible connecting member 705 is connected to the brush body.
The brush body comprises a brush rod 706 and a cleaning cloth 707, one end of the brush rod 706 is connected with the other end of the flexible connecting piece 705, and the cleaning cloth 707 is wrapped on the brush rod 706.
The working principle of the embodiment is as follows: the master control system can be integrated in the operation arm 2, and respectively and independently control the operation arm 2, the quick change device and each end effector, the end effector group is positioned in a butt-joint area corresponding to the movable end of the operation arm 2, and generally, when the quick change device is connected, the movable end of the operation arm 2 is over against the corresponding end effector, so that the operation arm 2 can be automatically connected to each end effector and control the end effectors; the electric wrench actuator 5, the clamping actuator 6 and the cleaning brush actuator 7 in the end effector group are different end effectors, and in other embodiments, other types of end effectors may be used; when the system is used for operation, a required end effector can be selected to be arranged beside the operating arm 2 according to operation requirements, and the operating arm 2 with proper degree of freedom and configuration is constructed; if only two operation tasks need to be completed, only two end effectors need to be installed, so that the quality of the robot system is reduced.
A typical application of this embodiment is to perform maintenance work in a high-voltage power transmission line to complete three tasks of tightening and loosening bolts and nuts, cleaning a drainage plate, and refitting cotter pins, and a specific robot high-voltage line work system is shown in fig. 8; the robot system is characterized in that a mobile platform is used as a robot system to arrange a platform base 1, and the mobile platform base 1 is hung on a high-voltage power transmission line and can cross obstacles on the wire. Before the high-voltage power transmission line is overhauled, the robot system is debugged, and the mobile platform and the robot system are lifted to the high-voltage power transmission line. And then controlling the moving platform to move to a maintenance point, controlling the robot to move according to a specific maintenance operation task to connect and take a corresponding end effector (an electric wrench actuator 5, a clamping actuator 6 or a cleaning brush actuator 7), and then putting back the end effector after finishing the corresponding operation task. Then, continuously performing routing inspection on the power transmission line to the next maintenance operation point, and then connecting the corresponding end effector to complete the operation task until the required operation task is completed; in the system, the types and the number of the end effectors are changeable and changeable.
In the end effector group, taking the electric wrench actuator 5 as an example, when the electric wrench actuator 5 needs to be used for operation, the main quick-change device 3 on the operating arm 2 firstly moves to the electric wrench actuator 5 to be connected with the auxiliary quick-change device 4, so as to realize the control of the electric wrench, then the robot is controlled to move according to needs and the bolt connection tightness operation is completed by combining the rotation action of the electric wrench actuator 5, when the need exists, the output rotating speed and the acting force of the sleeve 505 can be adjusted by adjusting the potentiometer of the controller, after the operation is completed, the robot is controlled to move to put the electric wrench actuator 5 back to the corresponding position, so as to prepare the next operation, and the whole process is very simple to control, good in universality and high in adjustability. Similarly, when the actuator 6 needs to be clamped for operation, the operating arm 2 moves to the position of the clamping actuator 6, is combined with the clamping actuator 6, controls a second controller in the clamping actuator 6, and starts the clamping power mechanism to drive the clamping fingers to perform clamping action through the clamping transmission mechanism; when the cleaning brush actuator 7 is required to operate, the operating arm 2 moves to the cleaning brush actuator 7 and is combined with the cleaning brush actuator 7 to control a third controller in the cleaning brush actuator 7, the third controller drives a motor in a pneumatic mode, and the driving motor drives the brush body to perform cleaning action through the flexible connecting piece.
The modular robot in the embodiment adopts the quick-change device which is matched in a unified way by matching various different end effectors, so that the end effectors with different functions can be freely and flexibly replaced, one robot can meet various operation requirements, the structure of the robot is simplified, and the operation efficiency of the robot is greatly improved.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. A modular robot is characterized by comprising a base, a main control system, an operating arm, a quick-change device and an end effector group capable of providing multiple end effectors, wherein the quick-change device comprises a main quick-change device and a plurality of auxiliary quick-change devices matched with the main quick-change device, one end of the operating arm is connected to the base, the main quick-change device is arranged at the other end of the operating arm, the end effectors are arranged on the base, the main quick-change device is opposite to the end effector group, and the auxiliary quick-change devices are arranged on the end effectors in a one-to-one manner; the operating arm, the quick change device and the tail end executor group are respectively and independently connected with the main control system.
2. The modular robot as claimed in claim 1, wherein the end effector group comprises an electric wrench actuator, a clamping actuator, a cleaning brush actuator and 3 actuator supports arranged on the base, one end of the electric wrench actuator, one end of the clamping actuator and one end of the cleaning brush actuator are all arranged on the corresponding actuator supports, and the other end of the electric wrench actuator, the other end of the clamping actuator and the other end of the cleaning brush actuator are all connected with the auxiliary quick-change device.
3. The modular robot of claim 1, wherein the primary quick-change device comprises a first quick-change body, a locking air port, a separating air port, a connector, and a pneumatic push rod assembly;
the pneumatic push rod assembly is arranged on the first surface of the first quick-change body,
the locking air port and the separation air port are respectively arranged on the side wall of the first quick-change body and are communicated with the pneumatic push rod assembly;
the pneumatic push rod assembly comprises a push rod, a first ball and a second ball; the push rod is of a hollow barrel-shaped structure, the first ball bearing is movably arranged on the barrel wall of the push rod, the second ball bearing is movably arranged on the barrel wall of the push rod, and the first ball bearing and the second ball bearing can move along the push rod in the radial direction;
when the main control system controls the locking air port and the separation air port to form a first preset air pressure difference, the push rod moves towards the direction far away from the movable end of the operating arm, the first ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the second ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod; when a second preset air pressure difference is formed between the locking air port and the separating air port, the push rod moves towards the direction close to the movable end of the operating arm, the second ball moves radially towards the direction far away from the central shaft of the push rod until protruding out of the barrel wall of the push rod, and the first ball moves radially towards the direction close to the central shaft of the push rod until being sunken in the push rod;
the other end of the operating arm is fixedly connected with the second surface of the first quick-change body.
4. The modular robot of claim 3, wherein the secondary quick-change means comprises a second quick-change body, a first concave profile and a second concave profile;
the second quick-change body is provided with a channel matched with the pneumatic push rod assembly, so that the pneumatic push rod assembly can slide into the channel;
the first concave surface is arranged on the channel, the first concave surface is matched with the first ball, and when the first ball moves radially in the direction far away from the center of the push rod, the first ball is clamped and fixed in the first concave surface, so that the main quick-change device is fixedly connected with the auxiliary quick-change device;
the second concave surface is arranged on the channel and matched with the second ball, and when the second ball moves radially in the direction far away from the center of the push rod, the second ball slides in the second concave surface, so that the main quick-change device is separated from the auxiliary quick-change device.
5. The modular robot of claim 2, wherein the electric wrench actuator includes a first coupling flange, a first housing, an output shaft, a sleeve, a mount, a power transmission mechanism, and a first controller communicatively coupled to the master control system; one side of the first connecting flange is connected with the auxiliary quick-change device, the other side of the first connecting flange is connected with the first shell, the power transmission mechanism is arranged in the first shell, one end of the output shaft is connected with the power transmission mechanism, the other end of the output shaft penetrates out of the first shell and is connected with the sleeve, the mounting seat is arranged on the first shell, the first controller is arranged in the mounting seat, and the first controller is connected with the power transmission mechanism.
6. The modular robot of claim 5, wherein the first enclosure comprises a first shell and a second shell; the first shell is connected with the connecting flange, and the second shell is connected with the first shell.
7. The modular robot as claimed in claim 2, wherein the clamping actuator comprises a second connecting flange, a second housing, a clamping power mechanism, clamping fingers, a clamping transmission mechanism and a second controller in communication connection with the main control system, one side of the second connecting flange is connected with the auxiliary quick-change device, the other side of the second connecting flange is connected with the second housing, the clamping power mechanism and the second controller are arranged inside the second housing, one end of the clamping transmission mechanism is in transmission connection with the output end of the clamping power mechanism, and the other end of the clamping transmission mechanism is connected with the clamping fingers; the second controller is in control connection with the clamping power mechanism to further control the clamping fingers to open, close or stop.
8. The modular robot of claim 7, wherein the second housing comprises a third housing, a fourth housing and a fifth housing, the third housing, the fourth housing and the fifth housing are sequentially connected, the connecting flange is connected with the outer wall of the third housing, the control panel is located inside the third housing, and the power mechanism is fixedly arranged inside the fourth housing.
9. The modular robot of claim 2, wherein the cleaning brush actuator comprises a third connecting flange, a third housing, a brush body, a driving motor, a flexible connecting member, and a third controller communicatively connected to the main control system, the third connecting flange is connected to the auxiliary quick-change device on one side and to the third housing on the other side, the third controller and the driving motor are located in the third housing, the third controller is in control connection with the driving motor, an output shaft of the driving motor is connected to one end of the flexible connecting member, and the other end of the flexible connecting member is connected to the brush body.
10. The modular robot of claim 9, wherein the brush body comprises a brush bar and a cleaning cloth, the brush bar is connected to the other end of the flexible connector, and the cleaning cloth is wrapped around the brush bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010649728.2A CN111923021A (en) | 2020-07-08 | 2020-07-08 | Modular robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010649728.2A CN111923021A (en) | 2020-07-08 | 2020-07-08 | Modular robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111923021A true CN111923021A (en) | 2020-11-13 |
Family
ID=73313409
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010649728.2A Pending CN111923021A (en) | 2020-07-08 | 2020-07-08 | Modular robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111923021A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112916508A (en) * | 2021-02-08 | 2021-06-08 | 盈合(深圳)机器人与自动化科技有限公司 | Autonomous cleaning and sterilizing device |
| CN113715047A (en) * | 2021-09-08 | 2021-11-30 | 北京克莱明科技有限公司 | Electric quick-change clamp and method for quickly changing tool |
| CN114406661A (en) * | 2022-02-25 | 2022-04-29 | 盛景智能科技(嘉兴)有限公司 | Tightening shaft replacing device and tightening replacing system |
| CN114939776A (en) * | 2022-05-19 | 2022-08-26 | 中国人民解放军火箭军工程大学 | Pin assembling equipment |
| CN114952943A (en) * | 2022-07-04 | 2022-08-30 | 山东卓业医疗科技有限公司 | Terminal quick change device of robot |
| CN115122372A (en) * | 2022-07-19 | 2022-09-30 | 广州里工实业有限公司 | Mechanical arm quick-change device, mounting method and robot |
| CN115674265A (en) * | 2022-12-27 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Robot is disassembled to multistage flexible arm |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260103A (en) * | 2014-10-20 | 2015-01-07 | 北京航空航天大学 | Two-degree-of-freedom two-finger clamping device |
| US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
| CN106426175A (en) * | 2016-11-08 | 2017-02-22 | 北京中科万盛智能装备科技有限公司 | Automatic screwing robot for high-locking-force bolt and end effecter of automatic screwing robot |
| CN206475174U (en) * | 2017-01-21 | 2017-09-08 | 陈旭芳 | A kind of Quick change module of manipulator |
| CN207521324U (en) * | 2017-11-09 | 2018-06-22 | 江苏亚威机床股份有限公司 | A kind of mold cleaning device for the automatic bending system of robot |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN208977832U (en) * | 2018-09-28 | 2019-06-14 | 广州金盛精密机械有限公司 | A kind of manipulator magic chuck structure |
| CN110842413A (en) * | 2019-12-10 | 2020-02-28 | 江苏汇博机器人技术股份有限公司 | Welding robot system for practical training and assessment method thereof |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
-
2020
- 2020-07-08 CN CN202010649728.2A patent/CN111923021A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104260103A (en) * | 2014-10-20 | 2015-01-07 | 北京航空航天大学 | Two-degree-of-freedom two-finger clamping device |
| US20160236357A1 (en) * | 2015-02-16 | 2016-08-18 | Norgren Automation Solutions, Llc | Quick disconnect apparatus for modular tooling |
| CN106426175A (en) * | 2016-11-08 | 2017-02-22 | 北京中科万盛智能装备科技有限公司 | Automatic screwing robot for high-locking-force bolt and end effecter of automatic screwing robot |
| CN206475174U (en) * | 2017-01-21 | 2017-09-08 | 陈旭芳 | A kind of Quick change module of manipulator |
| CN207521324U (en) * | 2017-11-09 | 2018-06-22 | 江苏亚威机床股份有限公司 | A kind of mold cleaning device for the automatic bending system of robot |
| CN208977832U (en) * | 2018-09-28 | 2019-06-14 | 广州金盛精密机械有限公司 | A kind of manipulator magic chuck structure |
| CN109571535A (en) * | 2019-01-09 | 2019-04-05 | 沈阳安德镭斯智能科技有限公司 | A kind of wisdom storage reconstruct device of feeding robot end effector |
| CN111300028A (en) * | 2019-12-09 | 2020-06-19 | 国网智能科技股份有限公司 | Flexible connector, tool and robot system for bolt fastening operation of transformer substation live equipment |
| CN110842413A (en) * | 2019-12-10 | 2020-02-28 | 江苏汇博机器人技术股份有限公司 | Welding robot system for practical training and assessment method thereof |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112916508A (en) * | 2021-02-08 | 2021-06-08 | 盈合(深圳)机器人与自动化科技有限公司 | Autonomous cleaning and sterilizing device |
| CN113715047A (en) * | 2021-09-08 | 2021-11-30 | 北京克莱明科技有限公司 | Electric quick-change clamp and method for quickly changing tool |
| CN113715047B (en) * | 2021-09-08 | 2023-03-03 | 北京克莱明科技有限公司 | Electric quick-change clamp and method for quickly changing tool |
| CN114406661A (en) * | 2022-02-25 | 2022-04-29 | 盛景智能科技(嘉兴)有限公司 | Tightening shaft replacing device and tightening replacing system |
| CN114939776A (en) * | 2022-05-19 | 2022-08-26 | 中国人民解放军火箭军工程大学 | Pin assembling equipment |
| CN114952943A (en) * | 2022-07-04 | 2022-08-30 | 山东卓业医疗科技有限公司 | Terminal quick change device of robot |
| CN115122372A (en) * | 2022-07-19 | 2022-09-30 | 广州里工实业有限公司 | Mechanical arm quick-change device, mounting method and robot |
| CN115741021A (en) * | 2022-12-23 | 2023-03-07 | 中建材凯盛机器人（上海）有限公司 | Composite gripper device for realizing automatic assembly of float glass gripper |
| CN115674265A (en) * | 2022-12-27 | 2023-02-03 | 沈阳新松机器人自动化股份有限公司 | Robot is disassembled to multistage flexible arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111923021A (en) | Modular robot | |
| US4676142A (en) | Adapter with modular components for a robot end-of-arm interchangeable tooling system | |
| US4378959A (en) | Apparatus for performing work functions | |
| SE468418B (en) | DEVICE FOR AUTOMATIC REPLACEMENT OF TOOLS IN AN INDUSTRIAL BOTTOM PROVIDED WITH A TOOL-MAKING ARM | |
| US10906193B2 (en) | Manufacturing system, method of constructing the manufacturing system, end effector, robot, and working method of robot | |
| US11485010B2 (en) | Adapter system for connecting the last element of a kinematic chain to a handling device | |
| US4365928A (en) | Fluid power connector system for manipulator | |
| US4922436A (en) | Method and system for the automated driving of parts and device used therein | |
| JPH0329117Y2 (en) | ||
| US4430923A (en) | Wrist mechanism in an industrial robot | |
| KR20170052784A (en) | Aparatus for automatically replacing gripper | |
| CN113894569A (en) | Intelligent cutting robot | |
| USRE32854E (en) | Adapter with modular components for a robot end-of-arm interchangeable tooling system | |
| WO2019075878A1 (en) | Automated grasping apparatus and method for precise and clean assembly of large-aperture optical element | |
| US6893070B2 (en) | Integrated end effector | |
| CN211220691U (en) | Flexible multipurpose manipulator | |
| CN112928570A (en) | Grounding wire operation tool, grounding wire hanging and dismounting system and method | |
| JPH09136283A (en) | Chuck hand | |
| JPH03256686A (en) | Work tool automatic exchange device and using method thereof | |
| CN116787487A (en) | Multi-degree-of-freedom soft robot arm | |
| EP3569339B1 (en) | A machine tool and method for thread cutting | |
| CN113103282A (en) | Space station science glove box arm | |
| JP2023517392A (en) | Gripping tool, system and clamping tool, exchange station and method of handling objects using the system or clamping tool | |
| CN118081722B (en) | Crank arm mechanical arm | |
| CN219190252U (en) | Modularized mechanical clamp |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201113 |