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CN-122008288-A - End effector quick-change structure with emergency release function

CN122008288ACN 122008288 ACN122008288 ACN 122008288ACN-122008288-A

Abstract

The utility model provides an end effector quick change structure with emergency release function installs in the execution end of arm, include with execution end fixed connection's mounting panel, the both sides of mounting panel are detachable respectively and are joined in marriage the dress curb plate, and the inboard of every curb plate still has the spacing groove, is used for installing the physiotherapy head between two curb plates, and the both sides of physiotherapy head still use with the spacing groove cooperation, the physiotherapy head includes coupling assembling and physiotherapy body, runs through the chamber in the middle of every curb plate is seted up, and every runs through intracavity and still moves about and joins in marriage dress actuating mechanism, and actuating mechanism includes operating element and pretension monitoring component. In the process of exception handling, the pre-tightening monitoring component is used for sensing when the contact pressure is abnormally increased, then the monitoring sensor senses the contact pressure and feeds back signals in time when the contact pressure exceeds the preset safety threshold, so that soft tissue contusion or serious injury caused by incapability of releasing the contact pressure is fundamentally avoided, the safety performance is greatly improved, and the physiotherapy head can be taken out or replaced by using the operation button after the equipment is stopped.

Inventors

  • GUO CHENGXIANG
  • BIE DONGYANG
  • YAO GAOLIANG
  • Bai Chonghua
  • WANG PU

Assignees

  • 广州畅气通络人工智能科技有限公司
  • 广东省郭氏医学保健研究所

Dates

Publication Date
20260512
Application Date
20251225

Claims (10)

  1. 1. An end effector quick-change structure with an emergency release function is arranged at an execution end of a mechanical arm (1), and comprises an installation plate (2) fixedly connected with the execution end, and is characterized in that two sides of the installation plate (2) are respectively detachably provided with side plates (3), a limit groove (4) is further formed in the inner side of each side plate (3), a physiotherapy head (5) is arranged between the two side plates (3), two sides of the physiotherapy head (5) are matched with the limit groove (4), the physiotherapy head (5) comprises a connecting component (50) and a physiotherapy body (51), a penetrating cavity (6) is formed in the middle of each side plate (3), an execution mechanism (7) is movably arranged in each penetrating cavity (6), the execution mechanism (7) comprises an operation component (70) and a pre-tightening monitoring component (71), the pre-tightening monitoring component (71) is fixed below the operation component (70), the bottom of the pre-tightening monitoring component (71) is contacted with the top of the physiotherapy head (5), the operation component (70) is movably arranged in the cavity (6), a guide rod (9) is further arranged in the middle of the penetrating cavity (6), a guide rod (9) is further movably provided with a guide hole (9), one end of the guide rod (10) is further fixed on the operation assembly (70), a return spring (11) is further fixedly arranged on the outer side of the baffle plate (8), and the return spring (11) is also sleeved on the guide rod (10).
  2. 2. The quick-change structure of the end effector with the emergency release function according to claim 1, wherein the operation assembly (70) comprises an operation block (701), the operation block (701) is of an L shape, a chute (702) is formed in one surface of the operation block (701) opposite to the baffle plate (8), the chute (702) divides the operation block (701) into a left part and a right part, a spring cover plate (703) is further assembled at the horizontal end of the operation block (701), a transverse plate (704) is further fixedly arranged between the left part and the right part of the operation block (701), the transverse plate (704) is positioned on the inner side of the side plate (3), and a pre-tightening monitoring assembly (71) is further fixedly assembled at the bottom of the transverse plate (704).
  3. 3. The quick end effector changing structure with the emergency release function according to claim 2, wherein two first ball positioning pins (12) are symmetrically arranged on the top of the portion of the operating block (701) extending into the inner side of the side plate (3), and the first ball positioning pins (12) are in contact with the bottom of the mounting plate (2).
  4. 4. The quick-change end effector structure with an emergency release function according to claim 2, wherein the pre-tightening monitoring assembly (71) comprises a lifting plate (711), the bottom of the lifting plate (711) is in contact with the top of the connecting assembly (50), a lifting sleeve (712) is fixedly arranged in the middle of the lifting plate (711), the lifting sleeve (712) partially stretches into the sleeve cover (713) and is movably assembled with the sleeve cover (713), the top of the sleeve cover (713) is fixedly connected with the bottom of the transverse plate (704) through a plurality of connecting posts (714), a monitoring sensor (715) is further arranged on the transverse plate (704), the monitoring sensor (715) is fixedly connected with a linkage assembly (716), and the linkage assembly (716) is assembled in the lifting sleeve (712) and the sleeve cover (713).
  5. 5. The quick-change end effector structure with an emergency release function according to claim 4, wherein the linkage assembly (716) comprises a first spring (7160), the bottom of the first spring (7160) is fixed at the inner bottom of a lifting sleeve (712), the top of the first spring (7160) is fixedly connected with a telescopic rod (7161), the telescopic rod (7161) is assembled in a fixed sleeve (7162), the other end of the telescopic rod (7161) is fixedly connected with the bottom of a second spring (7163), the top of the second spring (7163) is fixedly connected with a monitoring sensor (715), the sleeve (7162) is transversely and transversely provided with a sliding hole (7164), the sliding hole (7164) is internally provided with a driving plate (7165), the telescopic rod (7161) is further provided with a tilting hole (7166), and the middle connecting part of the driving plate (7165) passes through the tilting hole (7166).
  6. 6. The quick-change structure of the end effector with the emergency release function according to claim 5, wherein right-angle guide plates (13) are further fixed on two sides of the interior of the lifting sleeve (712), the two right-angle guide plates (13) are located on the same plane, the two right-angle guide plates (13) are arranged in a central symmetry manner, two ends of the driving plate (7165) are respectively provided with an inclined surface, and each inclined surface is in sliding contact with the inclined side of the corresponding right-angle guide plate (13).
  7. 7. The quick end effector changing structure with emergency release function according to claim 4, wherein two second ball positioning pins (14) are symmetrically disposed at the bottom of each lifting plate (711), and each second ball positioning pin (14) is in contact with the top of the connecting assembly (50).
  8. 8. The quick-change structure of the end effector with the emergency release function according to claim 1, wherein the connecting assembly (50) comprises a connecting block (501), limiting parts (502) are respectively arranged on two sides of the connecting block (501), the limiting parts (501) are matched with the limiting grooves (4), vertical grooves (503) are symmetrically formed in the upper portion of the connecting block (501), one end of each vertical groove (503) penetrates through the whole connecting block (501), a connecting cover (504) is fixedly arranged at the bottom of the connecting block (501), and the connecting cover (504) is detachably assembled with the physiotherapy body (51).
  9. 9. The quick-change structure of the end effector with the emergency release function according to claim 8, wherein a limit disc (505) is fixedly installed at the top of the physiotherapy body (51), a protruding portion (506) is arranged at the upper portion of the limit disc (505), a concave portion (507) is arranged in the connecting cover (504), the protruding portion (506) is assembled in the concave portion (507), a button (508) is slidably arranged at one side of the protruding portion (506), limit blocking pieces (509) are fixedly arranged at two sides of the button (508), two limit protrusions (510) are fixedly arranged in the connecting cover (504), and each limit protrusion (510) is matched with the corresponding limit blocking piece (509).
  10. 10. The quick-change structure of the end effector with the emergency release function according to claim 9, wherein the connecting cover (504) is further provided with a notch (15), the notch (15) is located between two limiting protrusions (510) and is matched with the button (508), and a human body silica gel sleeve (16) is sleeved outside the physiotherapy body (51).

Description

End effector quick-change structure with emergency release function Technical Field The invention relates to the technical field of physiotherapy, in particular to a quick-change structure of an end effector with an emergency release function. Background With the continuous and deep application of robots and automation technology in the fields of medical rehabilitation, health care and the like, the demand of mechanical arm systems capable of replacing or assisting in manual physiotherapy is growing. The system needs to quickly replace different physiotherapy actuators according to the requirements of treatment parts, manipulations, force and the like. The existing mechanical arm tail end tool quick-change device is mainly applied to the industrial field (such as a welding gun and a clamp), the structure is heavy, the operation is complex, the replacement is troublesome, the operation progress is influenced, the structure that the mechanical arm is used for carrying a physiotherapy head is also available in the physiotherapy field, the physiotherapy head can carry out omnibearing physiotherapy through the mechanical arm according to a preset path, but in the physiotherapy process, due to the fixed connection of the physiotherapy head, in the operation process of the mechanical arm, due to the mutation of joints or physiotherapy parts, such as the occurrence of vertebral bone, the contact part can not buffer and release, the physiotherapy head keeps the original pressure for physiotherapy, contusion is easy to cause, paralysis can be caused when serious, and the locking can not be quickly released when abnormal conditions (such as failure of a control system, sudden stop and unrespons) occur, so that the massage head continuously presses a human body, and potential safety hazards exist. Disclosure of Invention In order to solve the problem that pressure cannot be released and buffered in the physiotherapy process and locking cannot be rapidly released under abnormal conditions, the invention adopts the following technical scheme: The utility model provides an end effector quick change structure with emergency release function installs in the execution end of arm, include with execution end fixed connection's mounting panel, the both sides of mounting panel are detachable respectively and are joined in marriage dress curb plate, and the inboard of every curb plate still has the spacing groove, is used for installing the physiotherapy head between two curb plates, and the both sides of physiotherapy head still use with the spacing groove cooperation, the physiotherapy head includes coupling assembling and physiotherapy body, runs through the chamber in the middle of every curb plate, and every runs through intracavity still activity and joins in marriage actuating mechanism, actuating mechanism includes operating component and pretension monitoring component, pretension monitoring component fixes in operating component's below, just pretension monitoring component's bottom and physiotherapy head top contact, operating component movable mounting runs through the intracavity, it still fixed stop in the middle of the intracavity to run through, set up the guiding hole in the middle of the baffle, the guiding hole is interior to be joined in marriage the dress guide bar, the one end of guiding bar still is fixed on operating component, the outside of baffle still fixedly sets up return spring, return spring also is on the guiding bar suit. Preferably, the operation assembly comprises an operation block, the operation block is L-shaped, a chute is formed in one surface of the operation block, opposite to the baffle, the operation block is divided into a left part and a right part by the chute, a spring cover plate is further assembled at the horizontal end of the operation block, a transverse plate is further fixedly arranged between the left part and the right part of the operation block, the transverse plate is positioned on the inner side of the side plate, and a pre-tightening monitoring assembly is further fixedly assembled at the bottom of the transverse plate. Preferably, the top of the part of the operating block extending into the inner side of the side plate is symmetrically provided with two first ball head positioning pins, and the first ball head positioning pins are in contact with the bottom of the mounting plate. Preferably, the pretension monitoring component comprises a lifting plate, the bottom of the lifting plate is contacted with the top of the physiotherapy head, a lifting sleeve is further fixedly arranged in the middle of the lifting plate, the lifting sleeve part stretches into a sleeve cover and is movably assembled with the sleeve cover, the top of the sleeve cover is further fixedly connected with the bottom of the transverse plate through a plurality of connecting columns, a monitoring sensor is further arranged on the transverse plate, the monitoring sensor is further fixedly connecte