A Structure and Method for Rapid and Rigid Connection between an Actuator and a Robot Arm

Abstract

The present invention discloses a structure for quickly and rigidly connecting an actuator and a robotic arm, which relates to the technical field of robotic connection structures. The solution includes a first connecting member, a clamping member, and a second connecting member. A slot is formed on the inner sidewall of the first connecting member, a fixing groove is formed at the top of the slot, and a stopper is fixedly arranged in the slot; the clamping member includes a fixing block and a spring piece, the spring piece is fixedly arranged on the fixing block, and the fixing block is clamped in the fixing groove; a clamping block is fixedly arranged on the outside of the second connecting member, a clamping groove is formed in the middle of the clamping block, an arc-shaped groove is formed at the lower end of the spring piece, one end of the spring piece away from the fixing block abuts against the inner wall of one side of the clamping groove, and the upper end of the inner wall of the other side of the clamping groove is clamped in the arc-shaped groove; the present invention also discloses a method for quickly and rigidly connecting an actuator and a robotic arm. The present invention realizes the quick and rigid fixed connection between the actuator and the robotic arm, makes the connection more firm, further reduces the time required for installation, and reduces the installation cost.

Description

Technical Field

[0001] The present invention relates to the technical field of robot connection structures, and particularly to a structure and method for quickly and rigidly connecting an actuator to a robotic arm. Background Art

[0002] A robot is a device that can perform tasks such as operations or movements through programming and automatic control. An actuator is the executing mechanism of a robot. In traditional technologies, the connection between the actuator of a robot and the robotic arm is generally rigidly connected by means of screw connection or bolt connection. The screw connection method has the disadvantage of being prone to loosening, while the bolt connection method requires the installation of multiple bolts, resulting in the defects of longer installation time and higher cost. In this background, the applicant is committed to researching a structure and method for quickly and rigidly connecting an actuator to a robotic arm, realizing the quick and rigid fixed connection between the actuator and the robotic arm, making the connection more firm, further reducing the installation time required, and lowering the installation cost. Summary of the Invention

[0003] The purpose of the present invention is to achieve the quick and rigid fixed connection between the actuator and the robotic arm, make the connection more firm, further reduce the installation time required, and lower the installation cost.

[0004] To achieve the above purpose, the technical solutions adopted by the present invention are as follows:

[0005] A structure for quickly and rigidly connecting an actuator to a robotic arm, comprising a first connecting member, a clamping member, and a second connecting member. A slot is provided on the inner sidewall of the first connecting member. A fixing groove is provided at the top of the slot. A blocking block is fixedly arranged in the slot. The blocking block is located below the fixing groove, and an annular groove is formed between the blocking block and the top of the slot.

[0006] The clamping member includes a fixing block and an elastic piece. The elastic piece is fixedly arranged on the fixing block. The fixing block is clamped in the fixing groove.

[0007] A clamping block is fixedly arranged on the outside of the second connecting member. The upper part of the second connecting member is inserted into the slot, and the clamping block is clamped in the annular groove. A clamping groove is provided in the middle of the clamping block. An arc-shaped groove is provided at the lower end of the elastic piece. One end of the elastic piece away from the fixing block abuts against the inner wall of one side of the clamping groove, and the upper end of the inner wall of the other side of the clamping groove is clamped in the arc-shaped groove.

[0008] Further, first arc surfaces are provided on both outer sides of the clamping block.

[0009] Further, second arc surfaces are provided on both outer sides of the blocking block.

[0010] Further, the elastic piece is integrally formed at the lower end of the fixing block.

[0011] Further, an implantation groove is formed in the middle of the stopper.

[0012] Further, chamfered corners are formed at the upper ends of the inner walls of the card slots.

[0013] The present invention also provides a method for quickly and rigidly connecting an actuator to a robotic arm, including the above-mentioned structure for quickly and rigidly connecting an actuator to a robotic arm, and further including the following steps:

[0014] Step 1: Clamp the fixing block on the card member in the fixing groove, and insert the second connecting member into the slot of the first connecting member.

[0015] Step 2: Rotate the second connecting member. While the clamping block gradually slides into the annular groove, the elastic piece gradually slides from the side close to the fixing block to the upper end of the clamping block, and at this time, the elastic piece is compressed.

[0016] Step 3: Continue to rotate the second connecting member until the card slot is located below the elastic piece. At this time, the end of the elastic piece far from the fixing block pops into the card slot under the action of its own elastic force and abuts against the inner wall of the card slot, and the upper end of the inner wall on the other side of the card slot is stuck in the arc-shaped groove at the lower end of the elastic piece, realizing the quick and fixed connection between the first connecting member and the second connecting member.

[0017] The beneficial effects of the present invention are as follows: By integrally forming the first connecting member and the second connecting member with the actuator and the robotic arm of the robot respectively, when connecting the two, first clamp the fixing block on the card member in the fixing groove, and insert one end of the second connecting member close to the clamping block into the slot of the first connecting member. Rotate the second connecting member. While the clamping block gradually slides into the annular groove, the elastic piece gradually slides from the side close to the fixing block to the upper end of the clamping block, and at this time, the elastic piece is compressed. Continue to rotate the second connecting member until the card slot is located below the elastic piece. At this time, the end of the elastic piece far from the fixing block pops into the card slot under the action of its own elastic force and abuts against the inner wall of the card slot, and the upper end of the inner wall on the other side of the card slot is stuck in the arc-shaped groove at the lower end of the elastic piece, realizing the quick and fixed connection between the first connecting member and the second connecting member. Compared with the traditional method of using multiple bolts for connection, the present invention saves the time and procedures of screwing multiple bolts, thereby further reducing the installation time required and also reducing the installation cost.

[0018] In the axial direction, under the action of the clamping block and the annular groove, as well as the elastic force of the elastic piece, the first connecting member and the second connecting member are tightly connected. At the same time, under the cooperation of the elastic piece and the card slot, the first connecting member and the second connecting member are tightly connected and not easy to rotate relative to each other. Compared with the traditional method of using threaded connection, the connection of the present invention is more firm. Description of the Drawings

[0019] Figure 1is the overall structural schematic diagram of the present invention;

[0020] Figure 2 is the exploded view of the overall structure of the present invention;

[0021] Figure 3 is the sectional view of the overall structure of the present invention;

[0022] Figure 4 is the schematic diagram when the hidden lines of the internal structure are shown after the overall structure of the present invention is sectioned;

[0023] Figure 5 is the schematic diagram of the structure of the first connecting member and one group of clamping members of the present invention;

[0024] Figure 6 is the sectional view of the structure of the first connecting member of the present invention;

[0025] Figure 7 is the schematic diagram of the structure of the clamping member of the present invention;

[0026] Figure 8 is the schematic diagram of the structure of the second connecting member of the present invention;

[0027] Figure 9 is the schematic diagram of the structure of the second connecting member and the clamping member of the present invention;

[0028] Figure 10 is Figure 9 the enlarged view of part A in

[0029] The reference numerals are:

[0030] The first connecting member 1, the slot 11, the fixing groove 12, the stopper 13, the second arc surface 131, the implanting groove 132, the annular groove 14,

[0031] The clamping member 2, the fixing block 21, the elastic piece 22, the arc-shaped groove 221,

[0032] The second connecting member 3, the clamping block 31, the clamping groove 311, the first arc surface 312. Detailed Description of the Invention

[0033] The present invention will be further described below with reference to the accompanying drawings. It should be particularly noted that the orientation terms such as up, down, front, back, left, and right described in the present application document are all based on the orientation shown in Figure 3 and the above description of the orientation terms is only for better understanding of the present invention and does not represent the only implementation manner. The present invention will be further described below with reference to the accompanying drawings.

[0034] As shown in Figures 1 to 10A structure for the quick and rigid connection between an actuator and a robotic arm as shown, comprising a first connecting member 1, a clamping member 2, and a second connecting member 3. In practical applications, the first connecting member 1 and the second connecting member 3 are integrally formed with the actuator and the robotic arm of the robot respectively.

[0035] A slot 11 is formed on the inner sidewall of the first connecting member 1. A fixing groove 12 is formed at the top of the slot 11. A stop block 13 is fixedly arranged in the slot 11. The stop block 13 is located below the fixing groove 12, and an annular groove 14 is formed between the stop block 13 and the top of the slot 11.

[0036] The clamping member 2 includes a fixing block 21 and a spring piece 22. The fixing block 21 is clamped in the fixing groove 12, and the spring piece 22 is fixedly arranged on the fixing block 21. A more specific structure is that the spring piece 22 is integrally formed at the lower end of the fixing block 21, so that the spring piece 22 has both rigidity and elasticity.

[0037] A clamping block 31 is fixedly arranged on the outer side of the second connecting member 3. The upper part of the second connecting member 3 is inserted into the slot 11, and the clamping block 31 is clamped in the annular groove 14. A clamping groove 311 is formed in the middle of the clamping block 31. Chamfered structures are formed at the upper ends of the inner walls of the clamping groove 311. An arc-shaped groove 221 is formed at the lower end of the spring piece 22. The end of the spring piece 22 away from the fixing block 21 abuts against the inner wall of one side of the clamping groove 311, and the upper end of the inner wall of the other side of the clamping groove 311 is clamped in the arc-shaped groove 221.

[0038] First arc surfaces 312 are arranged on both outer sides of the clamping block 31. The design of the first arc surfaces 312 is more conducive to the clamping member 2 gradually sliding from the side close to the fixing block 21 to the upper end of the clamping block 31, avoiding the clamping member 2 being stuck at the side of the clamping block 31.

[0039] Second arc surfaces 131 are arranged on both outer sides of the stop block 13. The second arc surfaces 131 cooperate with the first arc surfaces 312, facilitating the insertion of the clamping block 31 between adjacent stop blocks 13.

[0040] An implantation groove 132 is formed in the middle of the stop block 13. The design of the implantation groove 132 is conducive to sliding the clamping member 2 into the fixing groove 12 along the implantation groove 132.

[0041] Chamfered structures are formed at the upper ends of the inner walls of the clamping groove 311. The function of designing the chamfered structures at this place is to better cooperate with the arc-shaped groove 221, enabling both good rigid connection between the spring piece 22 and the clamping block 31 and allowing the spring piece 22 to be withdrawn from the clamping block 31 when needed.

[0042] When it is necessary to disassemble the first connecting member 1 and the second connecting member 3 from each other, only need to use a tool to apply a greater rotational force to the second connecting member 3, so that the second connecting member 3 continues to rotate relative to the first connecting member 1, and the arc-shaped groove 221 on the elastic piece 22 is disengaged from the resistance restraint at the upper end of the card slot 311 and is compressed again on the upper end of the card block 31. Continue to rotate the second connecting member 3 until the card block 31 leaves the annular groove 14. At this time, the second connecting member 3 can be pulled out from the slot 11 of the first connecting member 1 to achieve the separation of the two; in the actual application of the present invention, the rotational force applied to disengage the arc-shaped groove 221 on the elastic piece 22 from the upper end of the card slot 311 is much greater than the force borne between the first connecting member 1 and the second connecting member 3 during normal operation. In actual application, the elastic piece 22 can be improved according to actual needs to adjust the ratio of the above two forces.

[0043] Working principle: Please refer to Figures 3 to 7 and take Figure 3 、 Figure 4 、 Figure 5 、 Figure 7 The orientation of the card member 2 shown in for detailed description. When connecting the first connecting member 1 and the second connecting member 3 to each other, first slide the card member 2 upward along the implantation groove 132 until the fixing block 21 slides into the fixing groove 12. Then insert the upper end of the second connecting member 3 into the slot 11 of the first connecting member 1 and rotate the second connecting member 3 counterclockwise. While the card block 31 gradually slides into the annular groove 14, the right side of the elastic piece 22 begins to gradually slide to the upper end of the card block 31, and at this time the elastic piece 22 is compressed; continue to rotate the second connecting member 3 counterclockwise until the card slot 311 is located below the elastic piece 22. At this time, the left end of the elastic piece 22 pops into the card slot 311 under the action of its own elastic force and abuts against the inner wall on the left side of the card slot 311, and the upper end of the inner wall on the right side of the card slot 311 is stuck in the arc-shaped groove 221 at the lower end of the elastic piece 22 to achieve the rapid rigid fixed connection between the first connecting member 1 and the second connecting member 3.

[0044] When it is necessary to disassemble the first connecting member 1 and the second connecting member 3 from each other, apply a greater rotational force to the second connecting member 3 in the counterclockwise direction, so that the second connecting member 3 continues to rotate counterclockwise, so that the arc-shaped groove 221 on the elastic piece 22 is disengaged from the resistance restraint at the upper end of the card slot 311 and is compressed again on the upper end of the card block 31. Continue to rotate the second connecting member 3 counterclockwise until the card block 31 leaves the annular groove 14. At this time, the second connecting member 3 can be pulled out from the slot 11 of the first connecting member 1 to achieve the separation of the two.

[0045] A method for quickly and rigidly connecting an actuator and a robotic arm includes the above-mentioned structure for quickly and rigidly connecting an actuator and a robotic arm, and further includes the following steps:

[0046] Step 1: Clamp the fixing block 21 on the card member 2 into the fixing groove 12, and insert the second connecting member 3 into the slot 11 of the first connecting member 1;

[0047] Step 2: Rotate the second connecting member 3. While the clamping block 31 gradually slides into the annular groove 14, slide the card member 2 from the side close to the fixing block 21 to the upper end of the clamping block 31 gradually. At this time, the elastic piece 22 is compressed;

[0048] Step 3: Continue to rotate the second connecting member 3 until the card slot 311 is located below the elastic piece 22. At this time, the end of the elastic piece 22 away from the fixing block 21 pops into the card slot 311 under the action of its own elastic force and abuts against the inner wall of the card slot 311. The upper end of the inner wall on the other side of the card slot 311 is stuck in the arc-shaped groove 221 at the lower end of the elastic piece 22, realizing the quick fixed connection between the first connecting member 1 and the second connecting member 3.

[0049] The above-disclosed are only the preferred embodiments of the present invention, and the scope of the rights of the present invention cannot be limited thereby. Therefore, equivalent changes made according to the scope of the patent application of the present invention still fall within the scope covered by the present invention. The above does not impose any limitation on the technical scope of the present invention. Any modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. A structure for quickly and rigidly connecting an actuator to a robotic arm, characterized in that: It includes a first connecting piece, a clamping piece and a second connecting piece. A slot is formed on the inner side wall of the first connecting piece. A fixing groove is formed at the top end of the slot. A blocking block is fixedly arranged in the slot. The blocking block is located below the fixing groove, and an annular groove is formed between the blocking block and the top end of the slot. The clamping piece includes a fixing block and an elastic piece. The elastic piece is fixedly arranged on the fixing block. The fixing block is clamped in the fixing groove. A clamping block is fixedly arranged on the outer side of the second connecting piece. The upper part of the second connecting piece is inserted into the slot, and the clamping block is clamped in the annular groove. A clamping groove is formed in the middle of the clamping block. An arc-shaped groove is formed at the lower end of the elastic piece. One end of the elastic piece away from the fixing block abuts against the inner wall on one side of the clamping groove, and the upper end of the inner wall on the other side of the clamping groove is clamped in the arc-shaped groove.

2. The structure of a fast and rigid connection between an actuator and a robotic arm according to claim 1, characterized in that: First arc surfaces are arranged on both outer sides of the clamping block.

3. The structure of rapid rigid connection between an actuator and a robotic arm according to claim 1, characterized in that: Second arc surfaces are arranged on both outer sides of the blocking block.

4. The structure of rapid and rigid connection between an actuator and a robotic arm according to claim 1, characterized in that: The elastic piece is integrally formed at the lower end of the fixing block.

5. The structure of a fast and rigid connection between an actuator and a robotic arm according to claim 1, characterized in that: An implantation groove is formed in the middle of the blocking block.

6. The structure of rapid and rigid connection between an actuator and a robotic arm according to claim 1, wherein: Chamfered corners are formed at the upper ends of the inner walls of the clamping grooves.

7. A method for quickly and rigidly connecting an actuator to a robotic arm, characterized in that, It includes a structure for quickly and rigidly connecting an actuator and a robotic arm according to any one of claims 1-6, and further includes the following steps: Step 1: Clamp the fixing block on the clamping piece in the fixing groove, and insert the second connecting piece into the slot of the first connecting piece. Step 2: Rotate the second connecting piece. While the clamping block gradually slides into the annular groove, the elastic piece gradually slides from the side close to the fixing block to the upper end of the clamping block. At this time, the elastic piece is compressed. Step 3: Continue to rotate the second connecting piece until the clamping groove is located below the elastic piece. At this time, one end of the elastic piece away from the fixing block pops into the clamping groove under the action of its own elastic force and abuts against the inner wall of the clamping groove. The upper end of the inner wall on the other side of the clamping groove is clamped in the arc-shaped groove at the lower end of the elastic piece, realizing the quick and fixed connection between the first connecting piece and the second connecting piece.

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