A high-precision positioning mechanical hand device capable of being quickly disassembled and a method of using the same

Abstract

This invention discloses a high-precision, quickly detachable robotic arm device and its usage method, belonging to the technical field of injection molding robotic arm structures. It includes a push plate assembly comprising a first push plate and a second push plate, with a connecting member between them. A positioning member is located on the side of the second push plate near the first push plate. An elastic member is located on the side of the second push plate away from the first push plate, and a limiting member is located on the side of the first push plate away from the second push plate. The robotic arm replacement process is very simple and labor-saving; the replacement operation can be completed simply by pressing and releasing the first push plate. Furthermore, the robotic arm fixture has high assembly precision, eliminating the need for readjustment of the fixture angle after installation; this reduces the consumption of manpower and resources, and improves production efficiency.

Description

Technical Field

[0001] This invention relates to a robotic arm device, and more specifically, to a robotic arm device with high positioning accuracy and quick assembly / disassembly, and its method of use. Background Technology

[0002] The injection molding robot jig used on the production line requires the jig plate to be re-fixed with screws every time the product model is changed, and the jig plate and the mold level and angle need to be adjusted. Each adjustment takes more than 30 minutes. Moreover, the alignment of the nozzle and the product position is roughly judged by human eyes. Adjusting back and forth is not only time-consuming, but also has lower positioning accuracy.

[0003] For example, Chinese Patent Publication No. CN212288419U, published on January 5, 2021, is entitled "A Tool Changing Device for a Robotic Arm". This application discloses a tool changing structure for a robotic arm, including a tool changing device. The tool changing device includes a connecting plate connected to an external tool or robotic arm. The inner sides of the first and second panels of the frame are respectively equipped with first and second linear guides and several first and second linear sliders. This design is reasonable and improves production efficiency. However, the structure of this solution is complex, and the time required to change the robotic arm is still relatively long. Summary of the Invention

[0004] This invention overcomes the problems of long replacement time and complex structure of robotic arm fixtures, and provides a high-precision robotic arm device that can be quickly disassembled and assembled, as well as its usage method. This solution can realize the quick replacement of robotic arm fixtures, and has a simple structure and is easy to operate.

[0005] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: a high-precision, quickly detachable robotic arm device, comprising... A push plate assembly is disposed on a fixed plate and includes a first push plate and a second push plate. A connecting member is provided between the first push plate and the second push plate, and a positioning member is provided on the side of the second push plate near the first push plate. An elastic element is provided on the side of the second push plate away from the first push plate; The limiting component is located on the side of the first push plate away from the second push plate.

[0006] The first and second push plates in the push plate assembly are fixed together. When the first push plate is pushed, the second push plate is also pushed. The positioning component is used to lock the structure to be fixed. The elastic component provides the push plate assembly with movable space and also resets the push plate assembly, so that the positioning component can lock. The limiting component abuts against the first push plate to prevent the first push plate from moving excessively under the reset action of the elastic component, and keeps the elastic component in a certain degree of compression to ensure that the push plate assembly is in an effective working state. The specific operation steps are as follows: First, push the first push plate towards the second push plate. Since there is a connecting component between the first and second push plates, and the connecting component is a rigid structure, the second push plate is also pushed. At this time, the second push plate compresses the elastic component, and the positioning component also moves with the second push plate. Then, place the structure to be fixed into the position corresponding to the positioning component. Then, release the first push plate, and the compressed elastic component begins to reset, pushing the second push plate to reset, the positioning component resets, locking the structure to be replaced, and the first push plate resets until the first push plate abuts against the limiting component, thus completing the robot replacement operation. The process of replacing the robotic arm in this solution is very simple and labor-saving. The replacement operation can be completed simply by pressing and releasing the first push plate.

[0007] Preferably, the system also includes a robotic arm mounting plate, which has a locking component and mounting holes that are compatible with and correspond to the positioning component. The robotic arm mounting plate is the structure to be replaced. A robotic arm is mounted on the mounting plate, and the locking component on the mounting plate engages with the mounting holes on the positioning component to fix the robotic arm mounting plate in place. The specific process is as follows: First, the first push plate is pushed towards the second push plate. Since there is a connecting component between the first and second push plates, and the connecting component is a rigid structure, the second push plate is also pushed. At this time, the second push plate compresses the elastic component, and the positioning component moves along with the second push plate. Then, the mounting holes of the locking component on the robotic arm mounting plate are inserted into the positions corresponding to the positioning component. Then, the first push plate is released, and the compressed elastic component begins to reset, pushing the second push plate to reset. The positioning component resets and inserts into the mounting holes on the locking component, and the first push plate resets until it abuts against the limiting component, thus completing the robotic arm replacement operation.

[0008] Preferably, an intermediate connector is provided between the robot arm mounting plate and the push plate assembly. The intermediate connector is a hollow body, and the push plate assembly is located inside the hollow body. The intermediate connector is used to connect and fix the robot arm mounting plate and the push plate assembly together. The hollow interior of the intermediate connector is used to house the main structure of the push plate assembly and to protect the push plate assembly.

[0009] Preferably, the intermediate connecting member includes a limiting plate with a retaining groove for the elastic element. The limiting plate abuts against the elastic element, and the retaining groove on the limiting plate secures one end of the elastic element, ensuring that the limiting plate remains in contact with the elastic element at all times. This prevents the elastic element from shifting position during operation.

[0010] Preferably, the intermediate connecting member further includes a top plate, which is provided with a through hole corresponding to the locking member. When the robot mounting plate is installed, it is tightly attached to the top plate. The through hole on the top plate is used for the locking member to pass through, and the through hole is adapted to the size of the locking member, so that after the locking member passes through the through hole, the outer surface of the locking member and the inner surface of the through hole have a mating surface in the circumferential direction, preventing the locking member from having any displacement in the radial position.

[0011] Preferably, the intermediate connector is also equipped with sensors, which are diagonally distributed on the connector and closely attached to the robot arm mounting plate. The sensors at the two diagonal positions of the intermediate connector serve two functions: first, they can detect the position of the mounting plate and issue an alarm signal if the mounting plate is not properly installed; second, they act as a foolproof mechanism, ensuring that operators correctly install the robot arm mounting plate. The diagonal placement of the sensors on the intermediate connector ensures that the entire surface of the robot arm mounting plate is firmly attached to the top plate of the intermediate connector, preventing warping.

[0012] Preferably, the through hole is circular, and the locking member is semi-cylindrical, with the planar side of the locking member corresponding to the positioning member. The circular through hole and semi-circular locking member facilitate easier assembly of the locking member into the through hole, and the cylindrical surface of the locking member fits snugly against the cylindrical surface of the through hole. The planar surface of the locking member is advantageous for creating mounting holes, and the correspondence between the planar side and the positioning member makes it easier to insert the positioning member into the mounting hole. This also improves the assembly accuracy of the robot mounting plate. Once the robot mounting plate is installed, the level and angle of the mold can be automatically calibrated, greatly improving the efficiency of robot replacement. It should be noted that the cross-section of the locking member, besides being semi-circular, can also be an arc shape with a central angle greater than 180°, but it still retains a planar side for creating mounting holes.

[0013] A method for using a high-precision, quickly detachable robotic arm device includes the following steps: a. Push the first push plate; b. Insert the locking device on the robot arm mounting plate into the through hole; c. Release the first push plate to complete the installation.

[0014] The specific usage method of this solution is as follows: First, push the first push plate towards the second push plate. Since there is a connecting piece between the first and second push plates, and the connecting piece is a rigid structure, the second push plate is also pushed. At this time, the second push plate compresses the elastic element, and the positioning element also moves with the second push plate. Then, insert the mounting hole of the locking element on the robot arm mounting plate into the corresponding position of the positioning element. Then, release the first push plate, and the compressed elastic element begins to reset, pushing the second push plate to reset. The positioning element resets and inserts into the mounting hole on the locking element, and the first push plate resets until the first push plate abuts against the limiting element. The robot arm replacement operation is then complete. The process of replacing the robot arm using this solution is very simple and labor-saving. The robot arm replacement operation can be completed simply by pressing and releasing the first push plate, which can improve work efficiency.

[0015] Preferably, in step a, when the first push plate is pressed, the positioning member needs to be moved to a position where the top plate does not have a through hole. When the first push plate is pushed, the positioning member on the second push plate will also move together, gradually moving from the through hole position to the limiting plate position. Finally, the locking end of the positioning member needs to be located at the position where the top plate does not have a through hole, so that when the locking member is inserted into the through hole, it will not collide with the positioning member or will not be able to be inserted into the through hole.

[0016] Preferably, in step b, when the robot mounting plate is tightly attached to the top plate of the intermediate connecting member, the positions of the positioning member and the mounting hole correspond exactly. With the robot mounting plate firmly attached to the top plate and the positioning member perfectly aligned with the mounting hole, there is no need to readjust the position of the robot mounting plate, significantly reducing installation time and difficulty.

[0017] Compared with the prior art, the beneficial effects of the present invention are: (1) the structure is simple and the operation is very convenient, which greatly reduces the time for changing the robot jig; (2) the assembly accuracy is high, and the angle of the jig does not need to be readjusted after installation; (3) the consumption of manpower and material resources is reduced and the production efficiency is improved. Attached Figure Description

[0018] Figure 1 This is an isometric view of the present invention.

[0019] Figure 2 This is an isometric view of the invention from another perspective.

[0020] Figure 3 This is an exploded view of the present invention.

[0021] Figure 4 This is a schematic diagram of the push plate assembly of the present invention.

[0022] Figure 5 This is a schematic diagram of the intermediate connector of the present invention.

[0023] Figure 6 This is a schematic diagram of the robotic arm mounting plate of the present invention.

[0024] Figure 7 This is a schematic diagram illustrating the application of the present invention.

[0025] In the diagram: 1. Push plate assembly, 2. First push plate, 3. Second push plate, 4. Fixing plate, 5. Connector, 6. Positioning component, 7. Elastic component, 8. Limiting component, 9. Robotic arm mounting plate, 10. Locking component, 11. Mounting hole, 12. Intermediate connector, 13. Limiting plate, 14. Elastic component fixing groove, 15. Top plate, 16. Through hole, 17. Sensor, 18. Side plate, 19. Robotic arm fixture, 20. Mounting groove, 21. Positioning hole, 22. Positioning pin, 23. Robotic arm. Detailed Implementation

[0026] The technical solution of the present invention will be further described in detail below through specific embodiments and in conjunction with the accompanying drawings.

[0027] Example: Figures 1 to 7 The illustrated high-precision, quickly detachable robotic arm device includes a robotic arm mounting plate 9, an intermediate connector 12, and a push plate assembly 1. The push plate assembly 1 is mounted on a fixed plate 4 and can move or slide on the surface of the fixed plate 4. The intermediate connector 12 is located between the robotic arm mounting plate 9 and the push plate assembly 1. The push plate assembly 1 includes a first push plate 2 and a second push plate 3, which are parallel to each other and are fixedly connected together by a connector 5. The connector 5 specifically adopts a connecting plate structure, and the connecting plate is connected to the first push plate 2 and the second push plate 3. The connection area between the push plates 3 is larger and the connection strength is higher. The connecting plate is at the same height as the first push plate 2 and the second push plate 3. Positioning elements 6 and elastic elements 7 are respectively provided on both sides of the second push plate 3. The positioning elements 6 are located on the side of the second push plate 3 closer to the first push plate 2, and the elastic elements 7 are located on the side of the second push plate 3 away from the first push plate 2. There are two positioning elements 6 and two elastic elements 7. The two positioning elements 6 can improve the positioning accuracy, and the two elastic elements 7 can provide a balancing force on the left and right sides of the second push plate 3, so that the second push plate 3 does not tilt during the movement. The elastic element 7 can be specifically adopted as a spring structure.

[0028] The intermediate connector 12 consists of a top plate 15, two side plates 18, and a limiting plate 13. The limiting plate 13 is connected to the ends of the top plate 15 and the two side plates 18, forming a hollow body with a bottom gap and a side gap. The bottom of the intermediate connector 12 is fixedly connected to the fixing plate 4, and the push plate assembly 1 is located inside the intermediate connector 12. The two ends of the first push plate 2 and the second push plate 3 are in contact with the inner surfaces of the two side plates 18, so that the two side plates 18 form a slide for the push plate assembly 1 to slide. Two elastic element fixing grooves 14 are provided inside the limiting plate 13 of the intermediate connector 12. The two elastic element fixing grooves 14 are connected to the two elastic elements. The elastic element 7 is positioned accordingly, and one end of the elastic element 7 is fixed to the second push plate 3, while the other end is fixed in the elastic element fixing groove 14. Two limiting elements 8 are also provided on the fixing plate 4. The limiting elements 8 are located at a position where the first push plate 2 is away from the second push plate 3. When the first push plate 2 abuts against the limiting elements 8, the first push plate 2 is exactly located at the side gap of the intermediate connecting member 12, and the first push plate 2 does not extend beyond the bottom position of the top plate 15. Therefore, the push plate assembly 1 will not detach from the intermediate connecting member 12 and will always remain within the intermediate connecting member 12, preventing the push plate assembly 1 from detaching from the intermediate connecting member 12 and failing, or increasing the difficulty of replacing the robotic arm fixture 19. Figure 4 As shown, there are two limiting members 8, located at both ends of the first push plate 2. This ensures that the first push plate 2 is resisted by the two limiting members 8 on both sides, and the forces are balanced, thus preventing the first push plate 2 from tilting. It should be noted that, in addition to using two limiting members 8 as shown in the figure, the number of limiting members 8 can be adapted. Moreover, the limiting members 8 can also be specific structures such as limiting blocks or limiting strips, which can keep the first push plate 2 parallel to the second push plate 3 and the limiting plate 13. All of these are within the protection scope of this solution.

[0029] Two locking members 10 are provided on one side of the robot arm mounting plate 9, and two through holes 16 are provided on the top plate 15 of the middle connecting member 12. The relative positions of the two locking members 10 correspond to the relative positions of the two through holes 16, and also correspond to the relative positions of the two positioning members 6 on the second push plate 3. When the locking member 10 is inserted into the through hole 16, the positioning member 6 can smoothly position and lock the locking member 10. The through hole 16 is cylindrical, and the locking member 10 is semi-cylindrical. The circular through hole 16 and the semi-circular cross-section of the locking member 10 facilitate easier assembly into the through hole 16. Furthermore, the cylindrical surface of the locking member 10 fits snugly against the cylindrical surface of the through hole. The flat surface of the locking member 10 facilitates the creation of the mounting hole 11, which corresponds to the positioning member 6, making it easier to insert the positioning member 6 into the mounting hole 11. This also improves the assembly accuracy of the robot mounting plate 9. After the robot mounting plate 9 is installed, the level and angle of the robot fixture 19 can be automatically calibrated, greatly improving the efficiency of changing the robot fixture 19. It should be noted that the cross-section of the locking member 10 can be either semi-circular or an arc with a central angle greater than 180°, but a flat surface is still retained for creating the mounting hole 11.

[0030] like Figure 7 As shown, the robotic arm mounting plate 9 is the structure that needs to be replaced. A robotic arm fixture 19 is mounted on the robotic arm mounting plate 9. The mounting hole 11 on the locking member 10 of the robotic arm mounting plate 9 cooperates with the positioning member 6 to fix the robotic arm mounting plate 9. The specific process is as follows: First, push the first push plate 2 towards the second push plate 3. Since there is a connecting member 5 between the first push plate 2 and the second push plate 3, and the connecting member 5 is a rigid structure, the second push plate 3 is also pushed. At this time, the second push plate 3 compresses the elastic member 7, and the positioning member 6 also moves with the second push plate 3. Then, the mounting hole 11 of the locking member 10 on the robotic arm mounting plate 9 is placed into the position corresponding to the positioning member 6. Then, the first push plate 2 is released, the compressed elastic member 7 begins to reset, and pushes the second push plate 3 to reset. The positioning member 6 resets and inserts into the mounting hole 11 on the locking member 10. The first push plate 2 resets until the first push plate 2 abuts against the limiting member 8, thus completing the operation of replacing the robotic arm fixture 19.

[0031] The intermediate connector 12 includes two mounting slots 20 on its top plate 15, located at opposite corners. Each slot contains a sensor 17, which serves two functions: first, it detects the position of the robotic arm mounting plate 9 and issues an alarm if it is not properly installed; second, it prevents incorrect installation, ensuring correct installation. The diagonal placement of the sensors ensures the entire surface of the robotic arm mounting plate 9 is flush with the top plate 15, preventing it from warping. Two positioning holes 21 are provided on the top plate 15 of the intermediate connector 12 and the robot mounting plate 9. After the locking part 10 on the robot mounting plate 9 is locked by the positioning part 6, the positioning pin 22 is used to fix the two positioning holes 21 so that the robot mounting plate 9 is completely fixed on the intermediate connector 12.

[0032] like Figure 7 As shown, the fixing plate 4 is fixedly installed on the robotic arm 23 of the frame, and the robotic arm mounting plate 9 is detachably installed on the intermediate connecting member 12. The robotic arm fixture 19 is installed on the robotic arm mounting plate 9. The robotic arm fixture 19 can be replaced by replacing the robotic arm mounting plate 9.

[0033] A method for using a high-precision, quick-assembly and disassembly robotic arm device includes the following steps: a. Pushing the first push plate 2; b. Inserting the locking member 10 on the robotic arm mounting plate 9 into the through hole 16; c. Releasing the first push plate 2 to complete the installation.

[0034] First, push the first push plate 2 towards the second push plate 3. Since there is a connecting piece 5 between the first push plate 2 and the second push plate 3, and the connecting piece 5 is a rigid structure, the second push plate 3 is also pushed. At this time, the second push plate 3 compresses the elastic element 7, and the positioning element 6 also moves with the second push plate 3. Then, the mounting hole 11 of the locking element 10 on the robot arm mounting plate 9 is placed into the position corresponding to the positioning element 6. Then, the first push plate 2 is released, the compressed elastic element 7 begins to reset, pushes the second push plate 3 to reset, the positioning element 6 resets and inserts into the mounting hole 11 on the locking element 10, and the first push plate 2 resets until the first push plate 2 abuts against the limiting element 8, that is, the operation of changing the robot arm fixture 19 is completed.

[0035] In step a, when the first push plate 2 is pushed tight, the positioning member 6 needs to be moved to a position on the top plate 15 where the through hole 16 is not provided. When the first push plate 2 is pushed, the positioning member 6 on the second push plate 3 will also move together, gradually moving from the position of the through hole 16 to the position of the limiting plate 13. Finally, the locking end of the positioning member 6 needs to be located at the position on the top plate 15 where the through hole 16 is not provided, so that when the locking member 10 is inserted into the through hole 16, it will not collide with the positioning member 6 or be unable to be inserted into the through hole 16. In step b, when the robot mounting plate 9 is pressed against the top plate 15 of the intermediate connecting member 12, the positions of the positioning member 6 and the mounting hole 11 correspond exactly. With the robot mounting plate 9 pressed against the top plate 15 and the positions of the positioning member 6 and the mounting hole 11 corresponding exactly, there is no need to readjust the position of the robot mounting plate 9, which greatly reduces the installation time and difficulty.

Claims

1. A high-precision, quickly detachable robotic arm device, characterized in that, include: A push plate assembly is mounted on a fixed plate and includes a first push plate and a second push plate. A connector is provided between the first push plate and the second push plate. The connector is specifically a connecting plate structure. The connecting plate is at the same height as the first push plate and the second push plate. A positioning element is provided on the side of the second push plate near the first push plate. An elastic element is provided on the side of the second push plate away from the first push plate; A limiting component is provided on the side of the first push plate away from the second push plate; The middle connector is a hollow body with a gap at the bottom and a gap on one side; Positioning and elastic components are located on both sides of the second push plate. The bottom of the intermediate connecting component is fixedly connected to the fixed plate, and the push plate assembly is located inside the intermediate connecting component. When the first push plate abuts against the limiting component, the first push plate is located at the side gap of the intermediate connecting component.

2. The high-precision, quick-assembly and disassembly robotic arm device according to claim 1, characterized in that, It also includes a robotic arm mounting plate, which is provided with a locking component and a mounting hole, which is adapted to and corresponds in position to the positioning component.

3. The high-precision, quickly detachable robotic arm device according to claim 2, characterized in that, An intermediate connector is provided between the robotic arm mounting plate and the push plate assembly.

4. The high-precision, quick-assembly and disassembly robotic arm device according to claim 3, characterized in that, The intermediate connecting component includes a limiting plate, and the limiting plate is provided with an elastic element fixing groove.

5. A high-precision, quickly detachable robotic arm device according to claim 4, characterized in that, The intermediate connector also includes a top plate, which is provided with a through hole corresponding to the locking component.

6. A high-precision, quickly detachable robotic arm device according to claim 4 or 5, characterized in that, The intermediate connector is also equipped with sensors, which are diagonally distributed on the intermediate connector and are closely attached to the robot arm mounting plate.

7. A high-precision, quickly detachable robotic arm device according to claim 5, characterized in that, The through hole is circular, the locking member is semi-cylindrical, and the planar side of the locking member corresponds to the positioning member.

8. A method for using a high-precision, quickly detachable robotic arm device, characterized in that, The method is implemented using a high-precision, quickly detachable robotic arm device as described in claim 7, and includes the following steps: a. Push the first push plate; b. Insert the locking device on the robot arm mounting plate into the through hole; c. Release the first push plate to complete the installation.

9. A high-precision, quickly detachable robotic arm device according to claim 8, characterized in that, In step a, when the first push plate is pushed tight, the positioning component needs to be moved to a position where the top plate does not have a through hole.

10. A high-precision, quickly detachable robotic arm device according to claim 8, characterized in that, In step b, when the robot mounting plate is pressed against the top plate of the intermediate connector, the position of the positioning component corresponds exactly to the position of the mounting hole.

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