CN112873272A - Driving force interface device - Google Patents

Abstract

The present invention provides a driving force interface device, including: the device comprises a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; the female joint is provided with a first limiting groove used for being matched with the male joint; a second limiting groove is arranged above the first limiting groove; the first end part of the male joint is provided with an elastic self-locking mechanism, and the second end of the male joint is connected with the driving mechanism and is used for moving towards the female joint under the driving of the driving mechanism; the self-locking device is arranged on one side of the female joint and used for locking with the second limiting groove; the opening mechanism is arranged below the self-locking device, so that the elastic self-locking mechanism moves towards the first limiting groove under the action of elastic force and is locked with the first limiting groove. According to the invention, the first limiting groove and the second limiting groove are arranged on the female joint, and the spreading mechanism applies spreading force to the elastic self-locking mechanism, so that the elastic self-locking mechanism is locked with the second limiting groove after being separated from the spreading mechanism, and the reliable connection of the mechanical arm and the tool to be taken is ensured.

Description

Driving force interface device

Technical Field

The invention relates to the technical field of machine manufacturing, in particular to a driving force interface device.

Background

The distribution network is located at the end of the power system and is directly connected with the user equipment, the reliability of the distribution network occupies a very important position in the whole power supply reliability, and hot-line work becomes one of important means for ensuring the safe and reliable operation of the distribution network at present. Generally, power distribution network lines are complex, the distance between some lines is short, the safety distance is insufficient, a plurality of potential safety hazards exist in manual live working, along with the development of the technology in the top fields of machinery, electronics, computers, sensors, artificial intelligence, bionics and the like, robots are increasingly widely applied in various industries, and the development and popularization of live working robots to replace manual power distribution network live working are inevitable directions of technical development.

The existing hot-line work robot adopts an industrial mechanical arm to connect with a working tool with a specific function to complete various working steps, such as a step of peeling an insulated wire by adopting a wire stripping tool, a step of grabbing the wire by adopting a clamping tool, a step of installing a drainage wire clamp by adopting a wiring tool, a step of tightening and loosening a bolt by adopting a sleeve tool and the like. The mechanical arm and the tool are usually connected by a mechanical arm or a flange threaded hole, the grabbing connection has the problems of unstable operation and control, easy falling and the like, and the screw fixation has the problems that the tool is difficult to automatically and quickly take and place and needs to be manually replaced and the like; meanwhile, as only mechanical fixation exists between the mechanical arm and the tool, the mechanical arm only sends the tool to a specific operation position, and the tool is still required to be matched with an independent battery and a motor driving system, the volume and the weight of the tool at the tail end of the mechanical arm are increased, the operation efficiency is lower, and the mechanical arm is not suitable for the compact operation environment of a distribution line.

Disclosure of Invention

In view of this, the present invention provides a driving force interface device, which aims to solve the problem that the existing mechanical arm is easy to fall off when taking out tools and has low efficiency.

The present invention provides a driving force interface device, including: the device comprises a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; wherein,

the female joint is provided with a first limiting groove used for being matched with the male joint; a second limiting groove is formed in the position, above the first limiting groove, of the female joint and used for being matched with the self-locking device;

the first end part of the male joint is provided with an elastic self-locking mechanism which is used for being matched with the first limiting groove, and the second end part of the male joint is connected with the driving mechanism and is used for moving towards the female joint under the driving of the driving mechanism so as to be in butt joint with the female joint;

the self-locking device is arranged on one side of the female joint and used for locking with the second limiting groove and loosening the female joint under the action of the male joint when the male joint is in contact with the female joint;

the opening mechanism is arranged below the self-locking device and used for opening the elastic self-locking mechanism when the male connector is continuously contacted with the female connector, so that the elastic self-locking mechanism moves towards the first limiting groove under the action of elastic force and is locked with the first limiting groove, and the butt joint of the male connector and the female connector is completed.

Further, in the above-described driving force interface device, the male connector includes: the device comprises a base, a hollow top column and an elastic self-locking mechanism;

the top of the hollow top column is provided with a plurality of bosses which are used for being clamped with the female joint;

the elastic self-locking mechanism is arranged on the side wall of the hollow top column in a sliding manner along the horizontal direction;

the driving mechanism is arranged below the base, and the hollow top column penetrates through the hollow part of the base and is connected with the driving mechanism.

Further, in the above-described driving force interface device, the elastic self-lock mechanism includes: two buckles and two elastic pieces;

the two buckles are oppositely arranged, a squeezing part is formed between the two buckles, the profile of the squeezing part is matched with the shape of the end part of one end of the female joint to be butted, and the two buckles are opened towards two sides under the action of the end part;

the two elastic pieces are respectively connected between the two ends of the two buckles and used for limiting the displacement of the two buckles;

the two buckles are respectively provided with a protruding structure in a one-to-one correspondence mode and used for acting with the outer side of the spreading mechanism, so that the two buckles move in opposite directions under the elastic action of the elastic piece and are locked with the first limiting groove.

Furthermore, in the above driving force interface device, through holes are formed in the side wall of the hollow top pillar at positions corresponding to the two buckles, so as to fix the buckles and provide sliding channels for the buckles.

Further, in the above-described driving force interface device, the male connector further includes: a first drive shaft; wherein,

the first transmission shaft penetrates through the hollow part of the hollow ejection column and is connected with the output shaft of the driving mechanism.

Further, in the above-described driving force interface device, the female joint includes: a barrel;

the side wall of one end of the barrel body close to the male connector is provided with the first limiting groove along the circumferential direction;

a first convex ring part is coaxially arranged on the barrel body above the first limiting groove, a plurality of clamping grooves are formed in the side wall of the first convex ring part, the upper end and the lower end of each clamping groove are opened, the clamping grooves are matched with bosses on the male connector, and a motion channel is provided for the bosses;

and a second convex ring part is coaxially arranged above the first convex ring part on the barrel, and a second limit groove is formed between the second convex ring part and the first convex ring part.

Further, in the above-described driving force interface device, the female joint further includes: a second drive shaft; wherein,

the second transmission shaft penetrates through the barrel body and is matched with the first transmission shaft of the male connector, so that power transmission between the male connector and the female connector is achieved.

Further, in the above-described drive force interface device, the locker includes: two oppositely arranged buckle bodies; wherein,

two knot bodies dock mutually and form clamping part, and every all correspond on the knot body and seted up the auto-lock arch, two the auto-lock arch cooperatees for from both sides with on the female joint the second spacing groove is locked mutually.

Further, in the above-described driving force interface device, the expanding mechanism includes: two oppositely arranged inclined rails; wherein,

the distance between the two inclined rails is matched with the distance between the two buckles in the elastic self-locking mechanism, so that when the male connector continuously moves towards the female connector, the two buckles can be in contact with the outer sides of the two inclined rails.

Further, the driving force interface device may further include: a carrier plate; the self-locking device and the opening mechanism are respectively connected to the upper side and the lower side of the bearing plate.

According to the invention, the first limiting groove and the second limiting groove are arranged on the female joint, the elastic self-locking mechanism is arranged on the male joint, the female joint and the self-locking device are locked by matching the second limiting groove and the self-locking device on one side of the female joint, the self-locking device is unlocked when acting force is applied to the self-locking device by the male joint, and further, the elastic self-locking mechanism is applied with strutting force by the strutting mechanism, so that the elastic self-locking mechanism is locked with the second limiting groove after being separated from the strutting mechanism, the reliable connection of the mechanical arm and a tool to be taken is ensured, the automatic locking and unlocking of the mechanical arm and the end tool are realized, the problem that the tool is easy to fall off due to unstable connection when the mechanical arm is used for taking the tool can be effectively prevented, and the efficiency of the mechanical arm for taking the end tool is improved.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a schematic structural diagram of a driving force interface device according to an embodiment of the present invention;

fig. 2 is an exploded view of a drive force interface device provided by an embodiment of the present invention;

FIG. 3 is a top view of a male connector in accordance with an embodiment of the present invention;

FIG. 4 is a further top view of the male connector of the present invention;

fig. 5 is a schematic structural diagram of a female joint and a bearing plate in the driving force interface device according to the embodiment of the present invention;

fig. 6 is a sectional view of a driving force interface apparatus provided in an embodiment of the present invention;

FIG. 7 is a schematic view illustrating a process of mating a male connector and a female connector according to an embodiment of the present invention;

FIG. 8 is a schematic diagram illustrating a male connector and a female connector completely mated with each other according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.

Referring to fig. 1, a driving force interface apparatus according to an embodiment of the present invention includes: the device comprises a female connector 1, a self-locking device 2, a spreading mechanism 3, a male connector 4 and a driving mechanism 5; wherein, the female joint 1 is provided with a first limit groove 11 for matching with the male joint 4; a second limiting groove 12 is formed in the position, above the first limiting groove 11, of the female joint 1 and used for being matched with the self-locking device 2; the first end part of the male joint 4 is provided with an elastic self-locking mechanism 42 which is used for being matched with the first limiting groove 11, and the second end part of the male joint 4 is connected with the driving mechanism 5 and is used for moving towards the female joint 1 under the driving of the driving mechanism 5 so as to be butted with the female joint 1; the self-locking device 2 is arranged on one side of the female connector 1 and used for being locked with the second limiting groove 12 and releasing the female connector 1 under the action of the male connector 4 when the male connector 4 is contacted with the female connector 1; the opening mechanism 3 is arranged below the self-locking device 2 and used for opening the elastic self-locking mechanism 42 when the male connector 4 is continuously contacted with the female connector 1, so that the elastic self-locking mechanism 42 moves towards the first limiting groove 11 under the action of elastic force and is locked with the first limiting groove 11, and the butt joint of the male connector 4 and the female connector 1 is completed.

Specifically, the female connector 1 may be a cylindrical structure, and the sidewall thereof is provided with a first limiting groove 11 and a second limiting groove 12 from bottom to top, and the first limiting groove 11 and the second limiting groove 12 are arranged at intervals to be respectively locked with the male connector 4 and the self-locking device 2, so as to realize the butt joint of the female connector 1 and the male connector 4. The first and second limiting grooves 11 and 12 may be annular grooves.

The middle part of the male connector 4 may be provided with a post structure to eject the self-locker 2 locked at one side of the female connector 1 when the driving mechanism 5 drives it to move toward the female connector 1 and contact with the female connector 1. The periphery that lies in the fore-set structure on male joint 4 is provided with elasticity self-locking mechanism 42, and elasticity self-locking mechanism 42 is located the top below of fore-set structure to when male joint 4 continuously moves to female joint 1 and continuously contacts with female joint 1, receive the opening effort that opening mechanism 3 applyed and leave opening mechanism 3 at actuating mechanism 5 drive whole male joint 4, resume deformation, in order to move and lock mutually with first spacing groove 11 to first spacing groove 11, accomplish the butt joint of male joint 4 and female joint 1. In this embodiment, the driving mechanism 5 may be a motor.

As is well known to those skilled in the art, the male connector 4 and the female connector 1 function to connect two structures, and the structure to be connected in this embodiment is not limited, and particularly, in an application scenario in this embodiment, the male connector 4 may be connected to a robot arm 7 through a driving mechanism 5, one end of the female connector 1 may be connected to a tool to be taken, such as an electric end tool, and the other end of the female connector is connected to the male connector 4, so that the robot arm can take and replace the tool to be taken.

The self-locking device 2 can be a plurality of self-locking devices, the opening mechanisms 3 can also be a plurality of self-locking devices, each opening mechanism 3 is arranged below the corresponding self-locking device 2, the two self-locking devices can be fixed on the same connecting piece, and can also be fixed on different connecting pieces, and the determination is carried out according to actual application scenes. The self-locking device 2 and the opening mechanism 3 can be arranged in pairs to be matched with each other to lock and unlock the male connector 4 and the female connector 1.

Preferably, the present embodiment includes: a carrier plate 6; the self-locking device 2 and the opening mechanism 3 are respectively connected to the upper side and the lower side of the bearing plate 6. Each self-locking device 2 and the corresponding opening mechanism 3 are arranged on the same side of the bearing plate 6 in a manner of facing up and down. That is to say, a plurality of sets of tools to be taken can be installed on the bearing plate 6, so as to realize the taking, placing and replacing of the tools to be taken.

Referring to fig. 2, in the present embodiment, the self-locking device 2 includes: two oppositely arranged button bodies 21; the two buckle bodies 21 are butted to form a clamping part, each buckle body 21 is correspondingly provided with a self-locking protrusion 211, and the two self-locking protrusions are matched and used for being locked with the second limiting groove 12 on the female joint 1 from two sides.

Specifically, the two button bodies 21 may be fixed to the carrier plate 6 by bolts. The clamping portion formed by the two buckle bodies 21 can be in a claw-shaped structure. The middle part of the clamping jaw is provided with a self-locking bulge to be clamped with the second limit groove 12 on the female joint 1. The buckle body 21 may be an elastic member to automatically pop up under the pushing force applied by the post structure on the male connector 4 to release the female connector 1.

With continued reference to fig. 2, the distracting mechanism 3 includes: two oppositely disposed ramps 31; the distance between the two inclined rails 31 is matched with the distance between the two buckles 421 in the elastic self-locking mechanism 42, so that when the male connector 4 continuously moves towards the female connector 1, the two buckles 421 can contact with the outer sides of the two inclined rails 31.

Specifically, the two inclined rails 31 are connected to the bearing plate 6 by bolts, and may also be connected to the bearing plate 6 by the engaging grooves 131. An opening channel is formed between the two inclined rails 31, and the width of the opening channel can be greater than or equal to the distance between the two buckles 421 on the elastic self-locking mechanism 42. The inner side of each inclined rail 31 close to the expanding channel is of a plane structure, one end, far away from the bearing plate 6, of the outer wall of each inclined rail 31 is provided with an inclined plane, and the wall surface close to the bearing plate 6 is of a step-shaped structure.

As apparent from the above description, the driving force interface device provided in the present embodiment, by providing the first and second limiting grooves 11 and 12 on the female connector 1, the male joint 4 is provided with an elastic self-locking mechanism 42, the female joint 1 is locked with the self-locking device 2 at one side of the female joint 1 through the matching of the second limit groove 12 and the self-locking device 2, when the male connector 4 exerts acting force on the self-locking device 2, the self-locking device 2 unlocks the female connector 1, further, the opening mechanism 3 exerts opening force on the elastic self-locking mechanism 42, the elastic self-locking mechanism 42 is locked with the second limit groove 12 after being separated from the spreading mechanism 3, thereby ensuring the reliable connection between the mechanical arm 7 and the tool 8 to be taken, realizing the automatic locking and unlocking of the mechanical arm and the end tool 8, effectively preventing the mechanical arm from being locked when the tool is taken, the problem that the tools are easy to fall off due to unstable connection is solved, and meanwhile, the efficiency of taking the tail-end tools by the mechanical arm is improved.

Referring to fig. 2, 3 and 4, the male connector 4 includes: a base 40, a hollow top column 41 and an elastic self-locking mechanism 42; the top of the hollow top pillar 41 is provided with a plurality of bosses 411 for being clamped with the female connector 1; the elastic self-locking mechanism 42 is slidably arranged on the side wall of the hollow top column 41 along the horizontal direction; the driving mechanism 5 is disposed below the base 40, and the hollow top pillar 41 is disposed through the hollow portion of the base 40 and connected to the driving mechanism 5.

Specifically, the base 40 may be a flange structure, a plurality of connection holes are formed in the circumferential direction of the base, the driving mechanism 5 is disposed below the base 40, and the male connector 4 may be connected to the driving mechanism 5 through bolts. The hollow top pillar 41 can be in a cylindrical structure such as a round structure or a square structure, and the elastic self-locking mechanism 42 can be sleeved on the outer wall of the hollow top pillar 41. Two sides of the top of the hollow top column 41 can be respectively provided with a boss 411 to be clamped with the clamping groove 131 on the side wall of the female connector 1, on one hand, the bosses 411 can push the self-locking protrusion of the self-locking device 2 open when the male connector 4 is close to and contacted with the female connector 1 so as to unlock the female connector 1; on the other hand, the problem that the hollow top post 41 is likely to rotate after being abutted with the female joint 1 can be prevented.

The elastic self-locking mechanism 42 can be slidably connected with the hollow top column 41 along the horizontal direction (the cross-sectional direction of the hollow top column 41 in fig. 2).

With continued reference to fig. 3 and 4, the resilient self-locking mechanism 42 includes: two snaps 421 and two elastic members 422; the two buckles 421 are oppositely arranged, and a squeezing portion is formed between the two buckles, and the profile of the squeezing portion is matched with the shape of the end of one end of the female joint 1 to be butted, so that the two buckles 421 are opened towards two sides under the action of the end; the two elastic members 422 are respectively connected between two ends of the two buckles 421 to limit the displacement of the two buckles 421; the two buckles 421 are respectively provided with a protruding structure 4211 in a one-to-one correspondence manner, so as to interact with the outer side of the spreading mechanism 3, so that the two buckles 421 move in opposite directions under the elastic force of the elastic member 422 and are locked with the first limiting groove 11. In order to reduce the weight, a plurality of lightening holes are distributed on the buckle 421.

Specifically, the pressing portion may have an arc shape whose axis is collinear with the axis of the hollow stem 41. The latch 421 may be wedge-shaped, triangular, rectangular, etc., the elastic member 422 may be a spring, and the latch 421 may include: connecting portion and card portion of establishing, connecting portion are connected with cavity fore-set 41, and the card portion of establishing sets up the one end of keeping away from cavity fore-set 41 at connecting portion. The connecting portion is one end of the two buckles 421, the end face of the connecting portion close to the center of the hollow top pillar 41 has an arc end face, and the arc end faces of the two connecting portions are close to each other to form an extruding portion so as to be matched with the butt end portion of the female joint 1, so that the connecting portion is opened to both sides under the action of the two elastic members 422 under the extrusion of the end portion of the female joint 1. In this embodiment, the connecting portion may be formed by a connecting plate, or two connecting rods disposed at an interval, and the end surfaces of the connecting plate and the connecting rods near the center of the hollow top pillar 41 may both have arc end surfaces.

The two buckles 421 are provided with protruding structures 4211 at positions close to the outer edges, respectively, in a one-to-one correspondence manner, the protruding structures 4211 may be rollers, and the protruding structures 4211 may abut against the base 40 through a connecting shaft. The spacing between the two projection structures 4211 may be slightly smaller than the spacing between the two ramps 31 of the distraction mechanism 3.

In order to realize the sliding connection between the elastic self-locking element and the hollow top pillar 41, through holes a are formed in the side wall of the hollow top pillar 41 at positions corresponding to the two buckles 421, so as to fix the buckles 421 and provide a sliding channel for the buckles 421. The size of the two through holes can be matched with that of the buckle 421, and more specifically, the through holes can be square holes.

Further, the male connector 4 further includes: a first transmission shaft 43; the first transmission shaft 43 is inserted into the hollow portion of the hollow top pillar 41 and is connected to the output shaft of the driving mechanism 5. Correspondingly, the female joint 1 is also provided with a second transmission shaft which is arranged in the cylinder 10 of the female joint 1 in a penetrating manner and is matched with the first transmission shaft 43 of the male joint 4 to realize power transmission between the male joint 4 and the female joint 1, so that a power source can be provided for the tail end tool 8 connected with the end of the female joint 1, and thus the tail end tool 8 does not need to be provided with a power supply, a motor and other driving systems, and can complete operation functions of wire stripping, wire clamping, wire clamp installation, bolt fastening and the like only by designing a proper mechanical transmission structure, so that the size, the weight and the cost of the tail end tool 8 are greatly reduced.

With reference to fig. 2, 5 and 6, the female connector 1 comprises: a cylinder 10; the side wall of the barrel 10 close to one end of the male connector 4 is circumferentially provided with the first limiting groove 11; a first convex ring part 13 is coaxially arranged above the first limiting groove 11 on the barrel 10, a plurality of clamping grooves 131 are formed in the side wall of the first convex ring part 13, the upper end and the lower end of each clamping groove 131 are opened, the clamping grooves are matched with bosses 411 on the male connector 4, and a motion channel is provided for the bosses 411; a second protruding ring part 14 is coaxially arranged above the first protruding ring part 13 on the cylinder 10, and the second limiting groove 12 is formed between the second protruding ring part 14 and the first protruding ring part 13.

Specifically, the upper end of the cylinder 10 may be connected to a device to be connected (e.g., a tool 8 to be taken) via a flange. The end surface of the barrel 10 close to the first limiting groove 11 is provided with a rounded corner to apply an extrusion force to the two buckles 421 on the elastic self-locking mechanism 42 of the male connector 4. The distance between the first convex ring part 13 and the first limit groove 11 can be determined according to actual conditions, the two clamping grooves 131 on the first convex ring part 13 and the bosses 411 on the hollow top pillar 41 of the male connector 4 are arranged in a one-to-one correspondence manner, in this embodiment, the two clamping grooves 131 are arranged on two sides of the first convex ring part 13, so that when the male connector 4 is continuously contacted with the female connector 1, a motion channel is provided for the bosses 411, and the bosses 411 can be used for ejecting the self-locking devices 2 locked in the second limit grooves 12 of the female connector 1. The second convex ring part 14 and the first convex ring part 13 are coaxially arranged, the inner and outer diameters of the second convex ring part and the first convex ring part 13 can be kept consistent, the longitudinal widths of the first convex ring part 13 and the second convex ring part 14 can be the same or different, for example, the longitudinal width of the first convex ring part 13 can be larger than the longitudinal width of the second convex ring part 14.

Female joint 1 also includes: a second transmission shaft 15; the second transmission shaft 15 is inserted into the cylinder 10, and the second transmission shaft 15 is matched with the first transmission shaft 43 of the male connector 4 to realize power transmission between the male connector 4 and the female connector 1.

Referring to fig. 7 and 8, taking the mechanical arm to take out the end electric tool as an example, the driving force interface device in the present embodiment is used as follows: the male joint 4 is arranged at the top end of a mechanical arm 7, a female joint 1 is arranged in an electric tool 8 and is locked by a self-locking device on a bearing plate 6, a motor on the mechanical arm 7 is moved to the lower part of the bearing plate 6, the male joint 4 is moved to the lower part of the same vertical line with the female joint 1 on the bearing plate 6, the motor drives the mechanical arm 7 to move upwards, the male joint 4 is moved upwards to be in butt joint with the female joint 1, the female joint 1 is continuously in butt joint with the female joint 4 because an elastic self-locking mechanism 42 of the male joint 4 is pressed by a chamfer face at the lower end part of the female joint 1 and slides and opens towards the two sides of a hollow top column 41, the female joint 1 is continuously in butt joint with the male joint 4, after the male joint 4 is continuously lifted, a boss 411 of the hollow top column 41 part of the male joint 4 continuously rises along a clamping groove 131 on the female joint 1 until the male joint contacts with the self-, when the male connector 4 continuously moves upwards to contact with the female connector 1, the protruding structure 4211 on the elastic self-locking mechanism 42 contacts with the outer sides of the two inclined rails 31 of the opening mechanism 3 and is continuously opened under the opening action of the two inclined rails 31, then the motor drives the mechanical arm 7 to horizontally move outwards, so that the roller leaves the inclined rails 31 of the opening mechanism 3, the buckles 421 on the two sides are pulled by the tension spring and then move towards the center of the hollow top column 41, the buckles 421 are clamped into the second limiting groove 12 to complete self-locking, and the mechanical arm 7 completes the unlocking and self-locking functions in the process of storing and taking the end tool.

In summary, in the driving force interface device provided in this embodiment, the female connector is provided with the first limiting groove and the second limiting groove, the male connector is provided with the elastic self-locking mechanism, the female connector and the self-locking mechanism are locked by the cooperation of the second limiting groove and the self-locking device on one side of the female connector, and when the male connector applies an acting force to the self-locking device, the self-locking device unlocks the female connector, and further, the spreading mechanism applies a spreading force to the elastic self-locking mechanism, so that the elastic self-locking mechanism is separated from the spreading mechanism and then locked with the second limiting groove, thereby ensuring the reliable connection between the mechanical arm and the tool to be taken, achieving the automatic locking and unlocking between the mechanical arm and the end tool, further, by the connection between the first transmission shaft and the second transmission shaft, achieving the transmission between the male connector and the female connector, and further achieving the power transmission between the mechanical arm and the end tool, therefore, a power source at the tool end is eliminated, and the size and the weight of the tool are reduced.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (10)

1. A drive force interface device, comprising: the device comprises a female connector, a self-locking device, a spreading mechanism, a male connector and a driving mechanism; wherein,

the female joint is provided with a first limiting groove used for being matched with the male joint; a second limiting groove is formed in the position, above the first limiting groove, of the female joint and used for being matched with the self-locking device;

the first end part of the male joint is provided with an elastic self-locking mechanism which is used for being matched with the first limiting groove, and the second end part of the male joint is connected with the driving mechanism and is used for moving towards the female joint under the driving of the driving mechanism so as to be in butt joint with the female joint;

the self-locking device is arranged on one side of the female joint and used for locking with the second limiting groove and loosening the female joint under the action of the male joint when the male joint is in contact with the female joint;

the opening mechanism is arranged below the self-locking device and used for opening the elastic self-locking mechanism when the male connector is continuously contacted with the female connector, so that the elastic self-locking mechanism moves towards the first limiting groove under the action of elastic force and is locked with the first limiting groove, and the butt joint of the male connector and the female connector is completed.

2. The drive power interface device according to claim 1, wherein the male connector includes: the device comprises a base, a hollow top column and an elastic self-locking mechanism;

the top of the hollow top column is provided with a plurality of bosses which are used for being clamped with the female joint;

the elastic self-locking mechanism is arranged on the side wall of the hollow top column in a sliding manner along the horizontal direction;

the driving mechanism is arranged below the base, and the hollow top column penetrates through the hollow part of the base and is connected with the driving mechanism.

3. The drive power interface device according to claim 2, wherein the elastic self-lock mechanism includes: two buckles and two elastic pieces;

the two buckles are oppositely arranged, a squeezing part is formed between the two buckles, the profile of the squeezing part is matched with the shape of the end part of one end of the female joint to be butted, and the two buckles are opened towards two sides under the action of the end part;

the two elastic pieces are respectively connected between the two ends of the two buckles and used for limiting the displacement of the two buckles;

the two buckles are respectively provided with a protruding structure in a one-to-one correspondence mode and used for acting with the outer side of the spreading mechanism, so that the two buckles move in opposite directions under the elastic action of the elastic piece and are locked with the first limiting groove.

4. The driving force interface device according to claim 2, wherein a through hole is formed in a side wall of the hollow top pillar at a position corresponding to the two clips to fix the clips and provide a sliding passage for the clips.

5. The drive power interface device according to claim 2, wherein the male connector further comprises: a first drive shaft; wherein,

the first transmission shaft penetrates through the hollow part of the hollow ejection column and is connected with the output shaft of the driving mechanism.

6. The drive power interface device according to claim 1, wherein the female joint includes: a barrel;

the side wall of one end of the barrel body close to the male connector is provided with the first limiting groove along the circumferential direction;

a first convex ring part is coaxially arranged on the barrel body above the first limiting groove, a plurality of clamping grooves are formed in the side wall of the first convex ring part, the upper end and the lower end of each clamping groove are opened, the clamping grooves are matched with bosses on the male connector, and a motion channel is provided for the bosses;

and a second convex ring part is coaxially arranged above the first convex ring part on the barrel, and a second limit groove is formed between the second convex ring part and the first convex ring part.

7. The drive power interface device according to claim 6, wherein the female joint further comprises: a second drive shaft; wherein,

the second transmission shaft penetrates through the barrel body and is matched with the first transmission shaft of the male connector, so that power transmission between the male connector and the female connector is achieved.

8. The drive force interface device according to any one of claims 1 to 7, wherein the self-locker includes: two oppositely arranged buckle bodies; wherein,

two knot bodies dock mutually and form clamping part, and every all correspond on the knot body and seted up the auto-lock arch, two the auto-lock arch cooperatees for from both sides with on the female joint the second spacing groove is locked mutually.

9. The drive force interface device according to any one of claims 1 to 7, wherein the spreading mechanism includes: two oppositely arranged inclined rails; wherein,

the distance between the two inclined rails is matched with the distance between the two buckles in the elastic self-locking mechanism, so that when the male connector continuously moves towards the female connector, the two buckles can be in contact with the outer sides of the two inclined rails.

10. The drive force interface device according to any one of claims 1 to 7, characterized by further comprising: a carrier plate; wherein,

the self-locking device and the opening mechanism are respectively connected to the upper side and the lower side of the bearing plate.

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