A flange connection device applied to a mechanical arm and its end effector

Abstract

The invention discloses a flange connection device applied to a mechanical arm and its end effector, and relates to the field of flange connection devices. The flange connection device includes a plurality of main rods, each of which is provided with a terminal at both ends. Spherical joints, the inner sphere in each end spherical joint rotates relative to the spherical shell, so that the flange threaded rod on each end spherical joint and the main rod where it is located form a predetermined angle, and the angle adjustment is completed through the two ends of each main rod Each end spherical joint is respectively fixed to each flange threaded hole on the connecting flange of the manipulator and the end effector through the flange threaded rod, regardless of the specification of the connecting flange of the manipulator and the end effector / the size of the flange threaded hole Whether the position is the same, the connection and fixation of the two can be realized, and the versatility is high, and it also indirectly increases the versatility of the end effector and the convenience of installing the end effector.

Description

technical field [0001] The invention relates to the field of flange connection devices, in particular to a flange connection device applied to a mechanical arm and an end effector thereof. Background technique [0002] The flange connection device is mainly used to connect two structures. The common flange connection device is connected by bolts, but it will lead to cumbersome disassembly. The flange connection device disclosed in the patent application number 202022007744.X does not use bolt connection, but a structure in which the pin is embedded in the slot, which can increase the convenience of disassembly between the flanges, but it needs to be installed on the flange for a certain amount of time. The structural device cannot be directly used to connect two flanges. It can be seen that there are many ways to realize the existing flange connection devices, and each has advantages and disadvantages. However, no matter which structure is adopted, the existing flange conne...

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Problems solved by technology

[0002] The flange connection device is mainly used to connect two structures. The common flange connection device adopts bolt connection, but it will lead to cumbersome disassembly

The flange connection device disclosed in the patent application number 202022007744.X does not use bolt connection, but a structure in which the pin is embedded in the slot, which can increase the convenience of disassembly between the flanges, but it needs to be installed on the flange for a certain amount of time. The structural device cannot be directly used to connect two flanges

It can be seen that there are many ways to realize the existing flange connection devices, and each has advantages and disadvantages. However, no matter which structure is adopted, the existing flange connection devices can only be applied to flanges with the same size and the same position of the screw holes. Case

[0003] In the field of robotic arm application, when the robotic arm performs a certain task, or when it is being calibrated, there is usually a specific end effector at the end to perform different operations. The space needs to be fixed by a flange connection device, but is limited by the application of the existing flange connection device, which makes the specifications of the connection flange at the end of the mechanical arm and the connection flange of the end effector and the position of the screw holes on it All need to be the same, so a type of robotic arm must be equipped with an end effector with a specific connection structure, which greatly limits the versatility of the end effector and increases the configuration cost

Moreover, when the mechanical arm is debugged, it usually needs to be replaced with different end effectors. For example, the end effectors are different when calibrating and grabbing objects, and when the connecting flange of the end effector does not match the end flange of the mechanical arm , it cannot be used, and customizing the end effector when it is not sure whether it can be used will have a low utilization rate and increase the cost of use

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