An adapter device for replacing the fixture of a robotic arm

Abstract

The present invention relates to the field of robotic arm technology, and in particular to a connection device for replacing a robotic arm fixture, wherein a fixing block is provided on the robotic arm body, and a mounting block is installed on the fixing block; the device further comprises a support block arranged at the bottom of the mounting block and a connection component installed on the fixture, wherein a cavity is provided inside the support block, and a locking mechanism for fixing the connection component is provided inside the cavity; the connection component comprises a connecting block fixed on the fixture, and a protrusion with a cylindrical groove is provided on the top of the connecting block, and a plurality of slots cooperating with the locking mechanism are provided on the inner side wall of the groove of the protrusion, and the slots are arranged equidistantly around the center point of the groove; the mounting block is further provided with a magnetic attraction mechanism for absorbing the connecting block, and the magnetic attraction mechanism is provided with an adjustment mechanism for adjusting the position of the connecting block so that the clamping rod is aligned with the clamping slot. The present invention automatically completes the installation of the fixture without the need for operator operation, realizes automation, and greatly improves the efficiency of fixture replacement.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a connecting device for replacing a robotic arm clamp. Background Art

[0002] A robotic arm is a complex system with high precision, multiple inputs and outputs, high nonlinearity, and strong coupling. Due to its unique operational flexibility, it has been widely used in industrial assembly, safety and explosion protection, and other fields. The robotic arm is a complex system with uncertainties such as parameter perturbations, external interference, and unmodeled dynamics. Therefore, the modeling model of the robotic arm also has uncertainties. For different tasks, it is necessary to plan the motion trajectory of the robotic arm joint space, so as to cascade and form the end posture. Among them, the robotic arm equipped with a clamp is one of the common types of robotic arms in industry. When different products need to be clamped, the clamp model on the robotic arm will also be changed with the product to adapt to different products; however, when the clamp needs to be replaced, it is the staff who will do the replacement, as follows:

[0003] The Chinese patent document with publication number CN217413998U discloses a robotic arm that is convenient for quickly replacing clamps. Specifically, it discloses: it includes a slide, a mechanical base is inserted into the interior of the slide, and a robotic arm body is fixedly installed on the top of the mechanical base, a fixed box is fixedly installed on the outer end of the robotic arm body, and a connecting block is inserted into the interior of the fixed box, a clamping head is fixedly installed on the outside of the connecting block, a screw is fixedly installed on the bottom of the connecting block, and the screw is inserted into the interior of the fixed box, and a nut is engaged with the outside of the screw. By providing a connecting block inserted into the interior of the fixed box, personnel can quickly position the clamping head, and the screw fixedly installed at the bottom of the connecting block penetrates into the interior of the fixed box, so that the nut can tightly fix the connecting block to the interior of the fixed box, and can facilitate personnel to quickly replace the clamping head, effectively saving personnel time.

[0004] As can be seen from the above, when a clamp needs to be replaced in an existing robotic arm, the operator first unscrews the nut from the screw, then removes the connecting block with the clamping head from the fixing box to replace the clamping head. However, this robotic arm cannot automatically replace the clamp. When a different clamp needs to be replaced, the operator must disassemble the clamp for replacement, which not only increases the operator's workload but also affects the operating efficiency of the robotic arm. Therefore, a connection device for replacing the clamps in a robotic arm is provided to address the above technical problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a connection device for replacing a clamp of a robot arm in order to solve the technical problem that the existing robot arm cannot automatically replace the clamp.

[0006] To achieve the above object, the technical solution of the present invention is as follows:

[0007] An adapter device for replacing a robotic arm fixture, comprising a robotic arm body, a fixed block provided on the robotic arm body, and a mounting block mounted on the fixed block; further comprising a support block provided at the bottom of the mounting block and an adapter member mounted on the fixture, a cavity is provided inside the support block, and a locking mechanism for fixing the adapter member is provided inside the cavity;

[0008] The adapter member includes a connecting block fixedly provided on the fixture, and a convex block with a cylindrical groove provided at the top of the connecting block. A plurality of card slots for cooperating with the locking mechanism are provided on the inner side wall of the groove of the convex block, and the card slots are arranged equidistantly around the center point of the groove;

[0009] A magnetic attraction mechanism for attracting the connecting block is further provided on the mounting block, and an adjustment mechanism for adjusting the position of the connecting block is provided on the magnetic attraction mechanism so that the clamping rod is aligned with the card slot.

[0010] Further, the mounting block is detachably mounted on the fixed block.

[0011] Further, a data interface is provided on the side of the support block.

[0012] Further, the locking mechanism includes an annular main pipe fixedly provided inside the cavity of the support block and a connecting pipe communicated with the annular main pipe, and one end of the connecting pipe extends to the outside of the support block; a clamping assembly with the same number as the card slots is provided inside the cavity, and the clamping assemblies are arranged equidistantly around the center point of the annular main pipe and are connected to the annular main pipe.

[0013] Further, the clamping assembly includes a piston cylinder and a piston rod used in cooperation with the piston cylinder. The piston cylinder is communicated with the annular main pipe through a branch pipe; the clamping assembly further includes a guide rod fixedly provided on the inner side wall of the support block, and a clamping rod is slidably provided on the guide rod. One end of the clamping rod is fixedly connected to the end of the piston rod, and the other end of the clamping rod extends to the outside of the support block and is clamped into the card slot. The clamping rod can slide in the radial eccentric direction of the annular main pipe on the guide rod.

[0014] Further, the magnetic attraction mechanism includes an annular support frame fixedly provided on the mounting block through a fixed rod. A rotating ring with the same center point as the center point of the groove on the convex block is rotatably provided on the annular support frame, and a sliding rod capable of vertical sliding is provided on the rotating ring. An arc rod for contacting the connecting block is fixedly provided at the bottom end of the sliding rod; an electric push rod arranged longitudinally is provided on the annular support frame, and the telescopic rod of the electric push rod is fixedly connected to the top of the arc rod; a first magnet is provided at the bottom of the arc rod, and a second magnet for cooperating with the first magnet is provided at the top of the connecting block.

[0015] Furthermore, the adjusting mechanism includes an arc-shaped toothed belt fixedly arranged at the top of the rotating ring and a stepper motor installed on the annular support. A gear is provided on the output shaft of the stepper motor, and the gear meshes with the arc-shaped toothed belt.

[0016] Advantages of the present invention: When it is necessary to replace the fixture, control the locking mechanism to loosen the convex block, and the fixture will automatically disengage from the robotic arm body. Then operate the robotic arm body to drive the support block above another fixture, so that the magnetic attraction mechanism attracts the connecting block. Subsequently, operate the magnetic attraction mechanism to drive the connecting block to move upward, so that the locking mechanism extends into the convex block groove of the fixture. Then start the adjusting mechanism to adjust the position of the connecting block, so that the card slot in the groove can be aligned with the locking mechanism. Finally, control the locking mechanism to snap into the card slot to lock the convex block, that is, the installation of the fixture is automatically completed without the need for staff operation, realizing automation and greatly improving the efficiency of fixture replacement. Description of the Drawings

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the robotic arm body of the present invention.

[0018] Figure 2 It is a three-dimensional structural schematic diagram of the connection device body of the present invention.

[0019] Figure 3 It is a partial structural schematic diagram of the connection device body of the present invention.

[0020] Figure 4 It is an exploded view of a part of the connection device body of the present invention.

[0021] Figure 5 It is a structural schematic diagram of the locking mechanism of the present invention.

[0022] Figure 6 It is a structural schematic diagram of the locking mechanism of the present invention from another perspective.

[0023] Figure 7 It is a structural schematic diagram of the magnetic attraction mechanism and the adjusting mechanism of the present invention.

[0024] Figure 8 It is a partial structural schematic diagram of the magnetic attraction mechanism and the adjusting mechanism of the present invention.

[0025] Figure 9 It is a structural schematic diagram of the present invention in the use state.

[0026] The reference numerals include:

[0027] 1. Robot arm body; 2. Fixed block; 3. Mounting block; 4. Support block; 401. Data interface; 5. Locking mechanism; 501. Annular main pipe; 502. Connecting pipe; 503. Branch pipe; 504. Piston cylinder; 505. Piston rod; 506. Guide rod; 507. Clamping rod; 6. Bump; 7. Connecting block; 8. Card slot; 9. Jaw cylinder; 10. Magnetic attraction mechanism; 1001. Fixed rod; 1002. Annular support; 1003. Rotating ring; 1004. Slide bar; 1005. Arc rod; 1006. Electric push rod; 1007. First magnet; 1008. Second magnet; 11. Adjusting mechanism; 1101. Arc tooth belt; 1102. Stepper motor; 1103. Gear; 12. Workbench; 13. Fixture placement rack. Detailed implementation manner

[0028] The following describes in detail a connection device for replacing a robot arm fixture of the present invention with reference to the accompanying drawings.

[0029] As Figures 1-4 shown, an embodiment of a connection device for replacing a robot arm fixture of the present invention includes a robot arm body 1 and a fixed block 2 provided at the end of the robot arm body 1. The robot arm body 1 is a prior art and can complete specified actions according to a programmed procedure. Among them, a detachable mounting block 3 is installed on the fixed block 2, and the mounting block 3 and the fixed block 2 are fixed by bolts. When it is necessary to detach the mounting block 3 from the fixed block 2, just unscrew the screw. In addition, the connection device further includes a connection component installed on the fixture and a support block 4 provided at the bottom of the mounting block 3. The fixture can be a jaw cylinder 9, etc. In addition, a cavity is provided inside the support block 4, and a locking mechanism 5 for fixing the connection component is provided inside the cavity. When the locking mechanism 5 in the cavity of the support block 4 locks the connection component, the fixture is fixed on the robot arm body 1. A data interface 401 is provided on the side of the support block 4, and the control device beside the robot arm body 1 is connected through the data interface 401 to control the locking mechanism 5 to lock or loosen. Connection components are provided on various fixtures. When it is necessary to replace the fixture, the control device controls the locking mechanism 5 to loosen the connection component, and the fixture automatically detaches from the robot arm body 1. Then, the robot arm body 1 is operated to drive the support block 4 above another fixture, and the locking mechanism 5 is extended into the connection component of the fixture. The control device controls the locking mechanism 5 to lock the connection component, and the replacement of the fixture is automatically completed.

[0030] Further, the connecting component includes a connecting block 7 fixedly arranged on the fixture, and a convex block 6 with a cylindrical groove is arranged on the top of the connecting block 7. Among them, a plurality of clamping grooves 8 cooperating with the locking mechanism 5 are arranged on the inner side wall of the groove of the convex block 6, and the clamping grooves 8 are arranged equidistantly around the center point of the groove. When the locking mechanism 5 extends into the groove of the convex block 6, the locking mechanism 5 is controlled to operate, and the convex block 6 can be locked under the action of the clamping grooves 8, so that the fixture is installed on the robot arm body 1.

[0031] As Figures 5-6 shown, the locking mechanism 5 includes an annular main pipe 501 fixedly arranged inside the cavity of the support block 4 and a connecting pipe 502 communicated with the annular main pipe 501. One end of the connecting pipe 502 extends to the outside of the support block 4 and is connected with a device (such as a high-pressure blower) that can suck or blow air around. Under the action of this device, the annular main pipe 501 can suck or blow air. Among them, a clamping component with the same number as the clamping grooves 8 is also arranged inside the cavity. The clamping components are arranged equidistantly around the center point of the annular main pipe 501 and are connected with the annular main pipe 501. When the annular main pipe 501 sucks or blows air, the clamping components can be driven to move.

[0032] Secondly, the clamping assembly includes a piston cylinder 504 and a piston rod 505 used in cooperation with the piston cylinder 504, and the piston cylinder 504 is communicated with the annular main pipe 501 through a branch pipe 503; when the annular main pipe 501 blows air, the piston rod 505 in the piston cylinder 504 is pushed out, and conversely, when the annular main pipe 501 sucks air, the piston rod 505 contracts. And the clamping assembly further includes a guide rod 506 fixedly arranged on the inner side wall of the support block 4, and a clamping rod 507 is slidably arranged on the guide rod 506, with one end fixedly connected to the end of the piston rod 505, and the other end of the clamping rod 507 extends to the outside of the support block 4 and is clamped into the clamping groove 8. The clamping rod 507 can slide in the radial eccentric direction of the annular main pipe 501 on the guide rod 506; when the piston rod 505 expands and contracts on the piston cylinder 504, it can push the clamping rod 507 to slide back and forth on the guide rod 506 to achieve clamping or loosening. When it is necessary to loosen the convex block 6, the control device connected to the data interface 401 controls the operation of the device that can suck or blow air, so that the annular main pipe 501 sucks air. Under the action of the branch pipe 503, the air in each piston cylinder 504 is sucked out, so that the piston rod 505 contracts, and the piston rod 505 drives the clamping rod 507 to move together, so that the clamping rod 507 disengages from the clamping groove 8 in the groove of the convex block 6, that is, the convex block 6 is loosened, and the fixture automatically disengages from the manipulator body 1; when it is necessary to install another fixture, the manipulator body 1 is operated to first drive the support block 4 above another fixture, then insert the clamping rod 507 into the groove of the convex block 6 on the fixture, and make the clamping rod 507 align with the clamping groove 8. The control device connected to the data interface 401 controls the operation of the device that can suck or blow air again, so that the annular main pipe 501 blows air, thereby pushing out the piston rod 505 in the piston cylinder 504 to push the clamping rod 507 to slide in the radial eccentric direction of the annular main pipe 501 on the guide rod 506 to clamp the clamping rod 507 into the clamping groove 8 and lock the convex block 6, that is, the replacement of the fixture is automatically completed.

[0033] However, in order to enable the clamping rod 507 to better align with the clamping groove 8 when replacing the fixture, a magnetic attraction mechanism 10 for sucking the connecting block 7 is further provided on the mounting block 3, and an adjusting mechanism 11 for adjusting the position of the connecting block 7 is further provided on the magnetic attraction mechanism 10. When it is necessary to install the fixture, the manipulator body 1 is operated to first drive the support block 4 above another fixture, so that the magnetic attraction mechanism 10 sucks the connecting block 7, and then the magnetic attraction mechanism 10 is operated to drive the connecting block 7 to move upward, so that the clamping rod 507 extends into the groove of the convex block 6 on the fixture. Then the adjusting mechanism 11 is started to adjust the position of the connecting block 7 so that the clamping groove 8 in the groove can align with the clamping rod 507. Finally, the clamping rod 507 is pushed into the clamping groove 8, that is, the installation of the fixture is automatically completed without the operation of the staff, realizing automation and greatly improving the efficiency of fixture replacement.

[0034] Such asFigures 7-8 As shown in the figure, the magnetic attraction mechanism 10 includes an annular support frame 1002 fixedly arranged on the mounting block 3 through a fixing rod 1001. Among them, a rotating ring 1003 with the center point of its rotation being consistent with the center point of the groove on the convex block 6 is rotatably arranged on the annular support frame 1002. And a sliding rod 1004 capable of vertical sliding is arranged on the rotating ring 1003. A curved rod 1005 for contacting the connecting block 7 is fixedly arranged at the bottom end of the sliding rod 1004. Under the action of the sliding rod 1004, the curved rod 1005 can slide up and down on the rotating ring 1003; when the rotating ring 1003 rotates on the annular support frame 1002, it can drive the curved rod 1005 to rotate around the center point of the rotating ring 1003. In addition, an electric push rod 1006 arranged longitudinally is arranged on the annular support frame 1002, and the telescopic rod of the electric push rod 1006 is fixedly connected to the top of the curved rod 1005. Under the action of the electric push rod 1006, the curved rod 1005 can automatically move up and down on the rotating ring 1003. In order to suck the fixture, a first magnet 1007 is arranged at the bottom of the curved rod 1005, and a second magnet 1008 is arranged at the top of the connecting block 7. When the curved rod 1005 contacts the connecting block 7, the first magnet 1007 and the second magnet 1008 attract each other, so that the curved rod 1005 sucks the fixture. When the electric push rod 1006 drives the curved rod 1005 to move upward, it can drive the connecting block 7 and the fixture to move upward together, so that the clamping rod 507 extends into the groove of the convex block 6 on the fixture.

[0035] In addition, the adjusting mechanism 11 includes an arc-shaped toothed belt 1101 fixedly arranged on the top of the rotating ring 1003 and a stepping motor 1102 installed on the annular support frame 1002. A gear 1103 is arranged on the output shaft of the stepping motor 1102, and the gear 1103 meshes with the arc-shaped toothed belt 1101. When it is necessary to adjust the position of the clamping groove 8 in the convex block 6, the stepping motor 1102 is started. Under the cooperation of the gear 1103 and the arc-shaped toothed belt 1101, the rotating ring 1003 is driven to rotate on the annular support frame 1002, so as to drive the connecting block 7 to rotate together. After rotating until the clamping groove 8 in the convex block 6 is aligned with the clamping rod 507, the stepping motor 1102 stops running; then the clamping rod 507 is pushed into the clamping groove 8 to fix the convex block 6. After being fixed, the electric push rod 1006 continues to drive the curved rod 1005 to move upward, so that the first magnet 1007 is separated from the second magnet 1008, avoiding that the fixture cannot automatically disengage from the robotic arm body 1 after unlocking the convex block 6.

[0036] As Figure 9 shown, the robotic arm body 1 is arranged on the workbench 12, and a fixture placement rack 13 is also arranged on the workbench 12. A variety of types of fixtures are placed on the fixture placement rack 13. When it is necessary to replace the fixture, it can be freely replaced on the fixture placement rack 13.

[0037] In summary, it can be seen that the present invention has the excellent characteristics described above, enabling it to enhance the efficacy that has never been seen in the prior art during use and thus having practicality, becoming a product with extremely high practical value.

[0038] The above content is only a preferred embodiment of the present invention. For those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. The content of this specification should not be construed as a limitation to the present invention.

Claims

1. A connection device for replacing a robot arm fixture, comprising a robot arm body (1), characterized in that: A fixing block (2) is provided on the manipulator body (1), and a mounting block (3) is installed on the fixing block (2); further included are a supporting block (4) provided at the bottom of the mounting block (3) and a connecting component installed on the fixture. A cavity is provided inside the supporting block (4), and a locking mechanism (5) for fixing the connecting component is provided inside the cavity; The connecting component includes a connecting block (7) fixedly provided on the fixture, and a convex block (6) with a cylindrical groove is provided at the top of the connecting block (7). A plurality of clamping grooves (8) cooperating with the locking mechanism (5) are provided on the inner side wall of the groove of the convex block (6), and the clamping grooves (8) are arranged equidistantly around the center point of the groove; The locking mechanism (5) includes clamping components provided inside the cavity and having the same number as the clamping grooves (8). The clamping component includes a guide rod (506) fixedly provided on the inner side wall of the supporting block (4), and a clamping rod (507) is slidably provided on the guide rod (506); A magnetic attraction mechanism (10) for attracting the connecting block (7) is further provided on the mounting block (3), and an adjusting mechanism (11) for adjusting the position of the connecting block (7) is provided on the magnetic attraction mechanism (10) so that the clamping rod (507) is aligned with the clamping groove (8).

2. The connecting device for replacing the fixture of the robotic arm according to claim 1, characterized in that: The mounting block (3) is detachably installed on the fixing block (2).

3. The connecting device for replacing the gripper of the robotic arm according to claim 1, characterized in that: A data interface (401) is provided on the side of the supporting block (4).

4. The connecting device for replacing the fixture of the robotic arm according to claim 1, characterized in that: The locking mechanism (5) includes an annular main pipe (501) fixedly provided inside the cavity of the supporting block (4) and a connecting pipe (502) communicatively provided on the annular main pipe (501), and one end of the connecting pipe (502) extends to the outside of the supporting block (4); the clamping components are arranged equidistantly around the center point of the annular main pipe (501) and are connected to the annular main pipe (501).

5. The connecting device for replacing the fixture of the robotic arm according to claim 4, characterized in that: The clamping component includes a piston cylinder (504) and a piston rod (505) cooperating with the piston cylinder (504). The piston cylinder (504) is communicatively provided with the annular main pipe (501) through a branch pipe (503); one end of the clamping rod (507) is fixedly connected to the end of the piston rod (505), and the other end of the clamping rod (507) extends to the outside of the supporting block (4) and is clamped into the clamping groove (8). The clamping rod (507) can slide in the radial eccentric direction of the annular main pipe (501) on the guide rod (506).

6. The connecting device for replacing the fixture of the robotic arm according to claim 1, characterized in that: The magnetic attraction mechanism (10) includes an annular support frame (1002) fixedly provided on the mounting block (3) through a fixing rod (1001). A rotating ring (1003) with the same center point as the center point of the groove on the convex block (6) is rotatably provided on the annular support frame (1002), and a sliding rod (1004) capable of vertical sliding is provided on the rotating ring (1003). An arc-shaped rod (1005) for contacting the connecting block (7) is fixedly provided at the bottom end of the sliding rod (1004); an electric push rod (1006) arranged longitudinally is provided on the annular support frame (1002), and the telescopic rod of the electric push rod (1006) is fixedly connected to the top of the arc-shaped rod (1005); a first magnet (1007) is provided at the bottom of the arc-shaped rod (1005), and a second magnet (1008) cooperating with the first magnet (1007) is provided at the top of the connecting block (7).

7. The connecting device for replacing the fixture of the robotic arm according to claim 6, wherein: The adjusting mechanism (11) includes an arc-shaped toothed belt (1101) fixedly arranged at the top of the rotating ring (1003) and a stepping motor (1102) installed on the annular support frame (1002). A gear (1103) is provided on the output shaft of the stepping motor (1102), and the gear (1103) meshes with the arc-shaped toothed belt (1101).

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