A transfer mechanism between a mechanical arm and an end effector

Abstract

The present invention relates to a switching mechanism between a mechanical arm and an end actuator, comprising a wrist, a middle finger module and two side finger modules are fixedly installed on the top of the wrist, a driving mechanism is installed inside the middle finger module, an output shaft of the driving mechanism passes through the middle finger module and is fixedly connected to a driving gear, a first shaft member and a second shaft member are fixedly installed on the middle finger module, a first driven gear and a second driven gear are respectively assembled on the first shaft member and the second shaft member, the first driven gear is meshed and connected with the driving gear, the second driven gear is meshed and connected with the first driven gear, a linkage shaft is fixedly installed on both side finger modules, the linkage shaft is connected to the linkage gear by a key, and the two linkage gears are respectively meshed and connected with the first driven gear and the second driven gear. The switching mechanism of the present invention has a compact structure and a simple installation module; the side finger modules are symmetrically installed on both sides of the middle finger module, and the side finger modules on both sides can realize a symmetrical 180° rotation under the drive of the driving mechanism.

Description

Technical Field

[0001] The invention relates to the field of mechanical arm switching mechanisms, and in particular to a switching mechanism between a mechanical arm and an end actuator. Background Art

[0002] The existing transfer mechanism between the robot arm and the end actuator is relatively complex and cannot withstand strong torque and tension. The connection structure of the transfer structure to the gear three-seat mechanism is relatively complex and occupies a large space. It is also impossible to have a symmetrical design of the middle of the three seats, and the three-seat mechanism cannot form a symmetrical 180° rotation of the left and right seats through the motor-driven gears. Summary of the invention

[0003] The object of the present invention is to provide a switching mechanism between a robot arm and an end actuator, so as to solve the problems in the prior art that the switching mechanism has a complex structure, occupies a large space and cannot meet the requirements.

[0004] The present invention provides a switching mechanism between a mechanical arm and an end actuator, comprising a wrist, a middle finger module and two side finger modules are fixedly mounted on the top of the wrist, and the side finger modules are symmetrically arranged on both sides of the middle finger module;

[0005] A driving mechanism is installed inside the middle finger module, and an output shaft of the driving mechanism passes through the middle finger module and is fixedly connected to a driving gear. The driving mechanism drives the driving gear to rotate via the output shaft. A first shaft member and a second shaft member are fixedly installed on the middle finger module. A first driven gear and a second driven gear are respectively assembled on the first shaft member and the second shaft member. The first driven gear is meshedly connected to the driving gear, and the second driven gear is meshedly connected to the first driven gear.

[0006] The two side finger modules are both fixedly mounted with linkage shafts, the linkage shafts are sleeved with linkage gears, the linkage shafts are connected to the linkage gears via keys, and the two linkage gears are respectively meshed and connected with the first driven gear and the second driven gear.

[0007] Furthermore, the middle finger module includes a middle finger support plate and a middle finger cover plate, the middle finger support plate is fixedly mounted on the wrist, the middle finger cover plate is fixedly mounted on the middle finger support plate, the driving mechanism is mounted on the inner side of the middle finger cover plate, the first axis member and the second axis member are mounted on the middle finger cover plate, through holes are arranged at corresponding positions of the bottom of the middle finger support plate and the top of the wrist, and the bottom of the driving mechanism extends into the wrist through the through holes.

[0008] Furthermore, the side finger module includes a side finger support plate and a side finger cover plate, the side finger support plate is floatingly assembled on the wrist through a bearing, the side finger cover plate is fixedly mounted on the side finger support plate, the linkage shaft is fixedly mounted on the side finger cover plate, and the mounting end of the linkage shaft on the side finger module is set to a semicircular arc structure.

[0009] Furthermore, bearings are disposed between the first shaft member and the second shaft member and the first driven gear and the second driven gear respectively.

[0010] Furthermore, the first driven gear and the second driven gear have the same number of teeth.

[0011] Furthermore, two arc-shaped sliding gaskets are installed on the top of the wrist, and the sliding gaskets are arranged at the bottom of the side finger module.

[0012] Furthermore, a cover plate is provided at the bottom of the wrist, and the cover plate is fixed to the bottom of the wrist through a pressure ring. An external thread is provided on the outer side of the bottom of the wrist, and an internal thread is provided on the pressure ring. The pressure ring is connected to the external thread of the wrist through the internal thread.

[0013] The beneficial effects of adopting the above technical solution of the present invention are:

[0014] The transfer mechanism of the present invention has a compact structure and a simple module installation; the side finger modules are symmetrically installed on both sides of the middle finger module, and the side finger modules on both sides can realize symmetrical 180° rotation under the drive of the driving mechanism; the drive is driven by the meshing connection between the driving gear, the first driven gear, the second driven gear, and the linkage wheel to ensure the balance and stability of the rotation; the cover plate is pressed on the wrist by the pressing ring thread to ensure that the maximum end weight is carried in terms of torque and tension when the cover plate is connected to the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the structure of the switching mechanism of the present invention;

[0016] Figure 2 This is a schematic diagram of the finger module structure in the present invention;

[0017] Figure 3 This is a schematic diagram of the structure of the edge finger module of the present invention;

[0018] Figure 4 This is a schematic diagram of the connection structure of the wrist, cover plate and pressure ring of the present invention;

[0019] Figure 5 This is an exploded view of the wrist, cover plate and pressure ring connection structure of the present invention;

[0020] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0021] 1-wrist, 2-middle finger module, 201-driving gear, 202-first shaft, 203-second shaft, 204-first driven gear, 205-second driven gear, 206-middle finger support plate, 207-middle finger cover plate, 3-side finger module, 301-linkage shaft, 302-linkage gear, 303-side finger support plate, 304-side finger cover plate, 4-driving mechanism, 6-sliding gasket, 7-cover plate, 8-pressure ring. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments.

[0023] like Figure 1-3 As shown, the present invention provides a switching mechanism between a robot arm and an end effector, comprising a wrist 1, a middle finger module 2 and two side finger modules 3 are fixedly mounted on the top of the wrist 1, and the side finger modules 3 are symmetrically arranged on both sides of the middle finger module 2;

[0024] The middle finger module 2 is internally installed with a driving mechanism 4, the output shaft of the driving mechanism 4 passes through the middle finger module 2 and is fixedly connected to the driving gear 201, the driving mechanism 4 drives the driving gear 201 to rotate via the output shaft, the middle finger module 2 is fixedly installed with a first shaft member 202 and a second shaft member 203, the first shaft member 202 and the second shaft member 203 are respectively equipped with a first driven gear 204 and a second driven gear 205, the first driven gear 204 is meshedly connected with the driving gear 201, and the second driven gear 205 is meshedly connected with the first driven gear 204;

[0025] The two side finger modules 3 are both fixedly mounted with a linkage shaft 301, on which a linkage gear 302 is sleeved. The linkage shaft 301 is connected to the linkage gear 302 via a key, and the two linkage gears 302 are meshed and connected with the first driven gear 204 and the second driven gear 205 respectively.

[0026] In this embodiment, the driving mechanism is a motor and a reducer. The motor drives the driving gear 201 to rotate through the output shaft of the reducer. The driving gear 201 drives the first driven gear 204 to rotate. The first driven gear 204 drives the second driven gear 205 to rotate. The first driven gear 204 and the second driven gear 205 respectively drive the linkage gears 302 on both sides to rotate. The linkage gear 302 is connected to the driving linkage shaft 301 through a key, thereby driving the side finger modules 3 on both sides to rotate. The side finger modules 3 can rotate 180°, and the side finger modules 3 on both sides rotate symmetrically to achieve a stable balance of the structure. The number of side finger modules 3 can be increased according to demand. The specific number must be an even number and must be symmetrically arranged on both sides of the middle finger module 2. The number of side finger modules 3 is the same as the number of driven gears in the middle finger module 2, and the two are arranged one by one.

[0027] Specifically, the middle finger module 2 includes a middle finger support plate 206 and a middle finger cover plate 207, the middle finger support plate 206 is fixedly installed on the wrist 1, the middle finger cover plate 207 is fixedly installed on the middle finger support plate 206, the driving mechanism 4 is installed on the inner side of the middle finger cover plate 207, the first axis member 202 and the second axis member 203 are installed on the middle finger cover plate 207, and through holes are set at corresponding positions of the bottom of the middle finger support plate 206 and the top of the wrist 1, and the bottom of the driving mechanism 4 extends into the interior of the wrist 1 through the through holes.

[0028] Specifically, the side finger module 3 includes a side finger support plate 303 and a side finger cover plate 304. The side finger support plate 303 is floatingly assembled on the wrist 1 through a bearing, and the side finger cover plate 304 is fixedly installed on the side finger support plate 303. The linkage shaft 301 is fixedly installed on the side finger cover plate 304. The mounting end of the linkage shaft 301 on the side finger module 3 is set to a semicircular arc structure.

[0029] Specifically, the first driven gear 204 and the second driven gear 205 have the same number of teeth.

[0030] Preferably, bearings are disposed between the first shaft member 202 and the second shaft member 203 and the first driven gear 204 and the second driven gear 205 , respectively, to facilitate the rotation transmission of the first driven gear 204 and the second driven gear 205 .

[0031] Preferably, two arc-shaped sliding gaskets 6 are installed on the top of the wrist 1, and the sliding gaskets 6 are arranged at the bottom of the side finger module 3. The sliding gaskets 6 facilitate the rotation movement of the side finger module 3 from 0° to 180°.

[0032] Specifically, Figure 4-5As shown, a cover plate 7 is provided at the bottom of the wrist 1, and the cover plate 7 is fixed to the bottom of the wrist 1 through a pressing ring 8. An external thread is provided on the outer side of the bottom of the wrist 1, and an internal thread is provided on the pressing ring 8. The pressing ring 8 is connected to the external thread of the wrist 1 through the internal thread. The cover plate 7 is connected to the external robot arm, and the middle finger module 2 and the side finger module 3 are respectively connected to the external finger module. A space is provided inside the wrist 1 for placing electrical components such as PCB boards and connectors. At a very small height, it is not only connected to the robot arm, but also provides a certain space for placing electrical components, and has considerable structural stability.

[0033] In summary, the adapter mechanism of the present invention has a compact structure and a simple installation module; the side finger modules are symmetrically installed on both sides of the middle finger module, and the side finger modules on both sides can realize symmetrical 180° rotation under the drive of the driving mechanism; the driving gear, the first driven gear, the second driven gear, and the linkage wheel are meshed and connected to drive, so as to ensure the balance and stability of the rotation; the cover plate is pressed on the wrist by the pressing ring thread, so as to ensure that the cover plate can bear the maximum end weight in terms of torque and tension when connected to the mechanical arm.

[0034] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A transfer mechanism between a robot arm and an end effector, characterized in that: It comprises a wrist, a middle finger module and two side finger modules are fixedly mounted on the top of the wrist, and the side finger modules are symmetrically arranged on both sides of the middle finger module; A driving mechanism is installed inside the middle finger module, and an output shaft of the driving mechanism passes through the middle finger module and is fixedly connected to a driving gear. The driving mechanism drives the driving gear to rotate via the output shaft. A first shaft member and a second shaft member are fixedly installed on the middle finger module. A first driven gear and a second driven gear are respectively assembled on the first shaft member and the second shaft member. The first driven gear is meshedly connected to the driving gear, and the second driven gear is meshedly connected to the first driven gear. A linkage shaft is fixedly installed on the two side finger modules, a linkage gear is sleeved on the linkage shaft, the linkage shaft is connected to the linkage gear through a key, and the two linkage gears are respectively meshed and connected with the first driven gear and the second driven gear; The middle finger module comprises a middle finger support plate and a middle finger cover plate, wherein the middle finger support plate is fixedly mounted on the wrist, the middle finger cover plate is fixedly mounted on the middle finger support plate, the driving mechanism is mounted on the inner side of the middle finger cover plate, the first shaft member and the second shaft member are mounted on the middle finger cover plate, through holes are arranged at corresponding positions of the bottom of the middle finger support plate and the top of the wrist, and the bottom of the driving mechanism passes through the through holes and extends into the inside of the wrist; The side finger module includes a side finger support plate and a side finger cover plate. The side finger support plate is floatingly assembled on the wrist through a bearing, the side finger cover plate is fixedly mounted on the side finger support plate, and the linkage shaft is fixedly mounted on the side finger cover plate. The mounting end of the linkage shaft on the side finger module is set to a semicircular arc structure.

2. The switching mechanism between the robot arm and the end effector according to claim 1, characterized in that: Bearings are arranged between the first shaft member and the second shaft member and the first driven gear and the second driven gear respectively.

3. The switching mechanism between the robot arm and the end effector according to claim 1, characterized in that: The first driven gear and the second driven gear have the same number of teeth.

4. The switching mechanism between the robot arm and the end effector according to claim 1, characterized in that: Two arc-shaped sliding pads are installed on the top of the wrist, and the sliding pads are arranged on the bottom of the side finger module.

5. The switching mechanism between the robot arm and the end effector according to claim 1, characterized in that: A cover plate is arranged at the bottom of the wrist, and the cover plate is fixed to the bottom of the wrist through a pressure ring. An external thread is arranged at the outer side of the bottom of the wrist, and an internal thread is arranged at the pressure ring. The pressure ring is connected with the external thread of the wrist through the internal thread.

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