Quick-change type mechanical arm

Abstract

A quick-change type mechanical arm comprises a mechanical arm body, a quick-change device and a tail end gripper. Wherein the mechanical arm comprises at least one cantilever; one end of the lifting arm is connected with the lower part of the cantilever; one end of the swing arm is movably connected with the other end of the lifting arm; the quick-change device is arranged at the other end of the swing arm and comprises a quick-change male disc, a quick-change female disc and a locking mechanism; and the tail end gripper is connected to a quick-change mother disc of the quick-change device. Through the quick-change design, the replacement convenience of switching of the mechanical arm body and the multiple sets of front-end grippers under the complex working conditions of different workpieces is achieved, and the product replacement rhythm is improved; equipment gripper innovation is optimized, the number of mechanical arm bodies is reduced, and the space of a production site is saved; and the tail end executing gripper + is flexibly butted, so that the cost of the equipment is reduced. The clamping device is suitable for clamping, moving, positioning and installing parts of line bodies, warehouse logistics, automobile assembly and the like.

Description

Technical Field

[0001] The invention relates to the field of mechanical arms, and in particular to a quick-change mechanical arm. Background Art

[0002] The existing robot arm body is mostly connected to the end-actuator gripper with bolts, one-to-one, integrated with the gripper, and specialized in one operation. When encountering complex working conditions and production space allows, it is necessary to add a new robot arm to cooperate with the existing robot arm to complete the production needs, resulting in high equipment costs, large on-site space occupation, and crowded space.

[0003] In addition, when existing robotic arms encounter complex working conditions but crowded production space and the end effector gripper must be replaced, manual replacement is mostly adopted. It is necessary to manually plug and unplug the air supply pipe of the end effector gripper and manually tighten the plug-in pin at the connection of the end gripper. This is labor-intensive and not only slows down the cycle, but also easily causes safety and quality risks.

[0004] When manually replacing the end gripper, due to human elasticity factors, the force size cannot be controlled in a standard manner (large force will damage the wearing parts, and small force will lead to loose connection), and the degree of tightening is different, which can easily reduce the safety and service life of the equipment. Summary of the invention

[0005] The purpose of the present invention is to provide a quick-change robotic arm. Through the quick-change design, the convenience of switching between the robotic arm body and multiple sets of front-end grippers for different workpieces under complex working conditions is solved, and the product replacement rhythm is improved; the equipment gripper innovation is optimized, the number of robotic arm bodies is reduced, and the space of the production site is saved; multiple sets of robotic arms are simplified into one set of robotic arm bodies, and the "end execution gripper +" is flexibly connected to reduce the cost of the equipment. The present invention is suitable for the clamping, movement, positioning, and installation of parts in production lines, warehousing and logistics, and automobile assembly.

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

[0007] A quick-change mechanical arm, comprising: a mechanical arm, a quick-change device and an end gripper; wherein:

[0008] The robotic arm comprises:

[0009] at least one cantilever;

[0010] a liftable arm, one end of which is connected to the lower part of the cantilever;

[0011] At least one swing arm, one end of which is movably connected to the other end of the liftable arm;

[0012] The quick-change device is arranged at the other end of the swing arm; it comprises:

[0013] The quick-change male plate has a center hole in the center, and two support plates are arranged parallel and vertically on both sides of the center hole on the bottom surface, and an axial hole is arranged at the lower part of each side of the support plate; two pin holes are symmetrically arranged on both sides of the quick-change male plate, and positioning pins are arranged in the pin holes;

[0014] The quick-change female disc has a rectangular mounting hole in the center for the two support plates on the bottom surface of the quick-change male disc to penetrate, a fixing groove is provided in the center of the inner wall of the rectangular short side of the mounting hole, and fixing holes and a bayonet are provided on the upper part of the two side walls in the fixing groove; two positioning holes are provided on the quick-change female disc for the two positioning pins to pass through; preferably, the quick-change male disc and the quick-change female disc are symmetrically provided with mounting through holes, and a gas connector is provided;

[0015] A locking mechanism comprising:

[0016] The cylinder body is fixed to the top surface of the quick-change male plate, and the piston rod thereof extends from the central hole of the quick-change male plate; a connecting flange is provided on the top surface of the cylinder body, and is connected to the end of the swing arm;

[0017] The connecting seat is in an inverted T shape, mainly composed of a fixing sleeve and two connecting plates arranged parallel to the lower parts of the two side surfaces of the fixing sleeve, and through holes are respectively arranged at the outer ends of the connecting plates;

[0018] Two clamping blocks are respectively arranged at the two side ends of the connecting plate of the connecting seat, and the clamping block is triangular in shape, and a first rotating shaft is passed through one corner thereof, and the two ends of the first rotating shaft are arranged in the two supporting plate shaft holes on the bottom surface of the quick-change male disc; a limiting groove is radially arranged at the other corner of the clamping block, and a second rotating shaft is arranged in the limiting groove, and the two ends of the second rotating shaft are arranged in the through holes of the two connecting plates of the connecting seat; the third triangular part of the clamping block can be flipped to correspond to the bayonet pin in the fixing groove of the quick-change female disc;

[0019] The end gripper is connected to the quick-change mother plate of the quick-change device.

[0020] Furthermore, a transplanting device is provided, which includes: a base, a frame structure, and a fixed plate in the center; a plurality of guide wheel groups with movable guide rails are symmetrically provided on both sides of the top surface of the frame structure; and the upper end of the cantilever of the mechanical arm is connected to the center of the bottom surface of the fixed plate.

[0021] Preferably, a first swivel joint is vertically arranged on the top surface of the cantilever, and the first swivel joint includes a swivel shaft and upper and lower bearings thereof and an external sleeve; the top surface of the sleeve is connected to the center of the bottom surface of the fixed plate; the swivel shaft is connected to the top surface of the cantilever through a bottom plate, and the lower part of the cantilever is two support plates arranged in parallel; preferably, a first swivel limit device is arranged on one side of the first swivel joint, which includes: a limit plate, which is coaxially arranged outside the first swivel joint sleeve; a limit cylinder, whose cylinder body is arranged on the outer side surface of the top end of the cantilever and below the limit plate through a bracket; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located above the cylinder body of the limit cylinder and the limit plate; a movable limit block, which is arranged at the end of the piston rod of the limit cylinder, is located below the limit plate and corresponds to the fixed limit block, and cooperates with each other to clamp the limit plate;

[0022] The lifting arm comprises two connecting rods arranged in parallel up and down, one end of the two connecting rods is inserted between the two supporting plates at the lower part of the cantilever, and is pivotally connected to the supporting plates respectively; the other ends of the two connecting rods are pivotally connected to a connecting seat respectively, and the connecting seat is composed of two L-shaped fixing plates arranged in parallel and a connecting plate connecting the two fixing plates up and down; the other ends of the two connecting rods are pivotally connected to one side of the two fixing plates up and down respectively to form a connecting rod mechanism; the other side of the two fixing plates of the connecting seat is vertically provided with a second swivel joint, including a swivel shaft and its upper and lower bearings and an external sleeve; the second swivel joint The sleeve of the swivel joint is connected to the connecting plate between the two fixed plates; preferably, a second swivel limit device is provided on one side of the second swivel joint, which includes: a limit plate, which is coaxially arranged outside the sleeve of the second swivel joint; a limit cylinder, whose cylinder body is arranged on the outer side of the top end of the connecting seat and below the limit plate through a bracket; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located above the cylinder body of the limit cylinder and the limit plate; a movable limit block is arranged at the end of the piston rod of the limit cylinder, located below the limit plate and corresponding to the fixed limit block, and cooperates with each other to clamp the limit plate;

[0023] A lifting cylinder, whose cylinder body is vertically fixed to one side of the upper part of the cantilever, and whose piston rod is downward and connected to one end of one of the two connecting rods; preferably, a limit rod is provided on the end surface of the cylinder body near the piston rod, and correspondingly, a limit block for the limit rod to pass through is provided on the connecting rod connected to the piston rod;

[0024] A swing arm, one end of which is connected to the top of the rotating shaft of the second rotating joint through a connecting bottom plate, and the other end of the swing arm is connected to the third rotating joint, including the rotating shaft and its upper and lower bearings and an external sleeve; the other end of the swing arm is connected to the sleeve of the third rotating joint;

[0025] Preferably, a third swivel limit device is provided on one side of the third swivel joint, which includes: a limit plate, which is coaxially arranged outside the bottom plate sleeve at the bottom end of the third swivel joint shaft, and the outer edge of the limit plate extends downward; a limit cylinder, the cylinder body of which is arranged on the outer side of the sleeve of the third swivel joint through a bracket, and the cylinder body is parallel to the swing arm; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located on the inner side of the outer edge of the limit cylinder and above the limit plate; a movable limit block is arranged at the end of the piston rod of the limit cylinder, located below the outer side of the outer edge of the limit plate, and corresponds to the fixed limit block, and cooperates with each other to clamp the outer edge of the limit plate;

[0026] The connecting rod has connecting flanges at its upper and lower ends respectively, and the upper end is connected to the bottom end of the rotating shaft of the third rotary joint through the connecting bottom plate; the lower end of the connecting rod is connected to the connecting flange on the top surface of the cylinder body in the locking mechanism of the quick-change device.

[0027] Preferably, the end gripper comprises:

[0028] A support seat, the upper end of which is connected to the bottom surface of the quick-change mother plate of the quick-change device;

[0029] The support frame is a cage-type frame structure, and its rear end is fixed to the support seat;

[0030] A fixing plate, which has three fixing parts evenly protruding along the circumference, and grooves are provided at the ends of the fixing parts; the fixing plate is arranged at the front end of the support frame;

[0031] A support plate, the back side of which is arranged at the middle of the front side of the fixing plate through at least three support blocks;

[0032] Three supporting positioning claws, respectively arranged on three fixing parts of the fixing plate outside the supporting plate;

[0033] The clamping mechanism comprises:

[0034] A clamping cylinder, the cylinder body of which is arranged on the support seat, and the piston rod of which extends into the support frame and is coaxially arranged with the support frame;

[0035] Three guide rods are arranged on the back of the fixing plate, corresponding to the three fixing parts, and the other ends of the guide rods are fixed to the support frame;

[0036] The movable plate has three connecting parts uniformly protruding along the circumference, and the connecting parts are provided with guide holes, and are penetrated on the three guide rods; the center of the back of the movable plate is connected to the end of the piston rod of the clamping cylinder extending into the support frame; the ends of the three connecting parts are respectively movably connected to one end of a connecting joint through a connecting shaft;

[0037] Three clamping jaws, the middle part of the clamping jaws is pivotally connected to the grooves of the three fixing parts of the fixing plate; the rear end of the clamping jaw is movably connected to the other end of the connecting joint through a connecting shaft.

[0038] Preferably, the support base of the end gripper is a tube body, on which an angle adjustment mechanism is provided, including:

[0039] The adjusting rod has a rotating shaft passing through its upper part, and bearings are arranged at both ends of the rotating shaft; the adjusting rod is inserted into the supporting seat tube body, and mounting holes are arranged on the opposite sides of the upper part of the tube body, and the bearings at both ends of the rotating shaft of the adjusting rod are arranged in the mounting holes on both sides of the tube body, so as to realize swinging; the top end of the adjusting rod extends out of the upper end of the supporting seat tube body, and the top end of the adjusting rod is provided with a connecting flange, and is connected to the bottom surface of the quick-changing mother plate of the quick-changing device;

[0040] An angle adjustment cylinder, whose cylinder body is arranged on the outer side of the lower part of the support seat tube body, and whose piston rod extends into the support seat tube body and is movably connected to the lower end of the adjustment rod;

[0041] An angle adjustment auxiliary handle is arranged on the outer side surface of the lower part of the support seat tube body.

[0042] Preferably, the end of the angle adjustment cylinder piston rod of the end gripper is connected to a connecting block, the connecting block is provided with an axial hole, the lower end of the adjusting rod is provided with a groove, and the two side walls of the groove are provided with through holes; the connecting block is inserted into the groove of the adjusting rod, and the adjusting rod is movably connected to the connecting block through a connecting shaft.

[0043] Preferably, the end gripper further includes a movable positioning pin assembly, which includes:

[0044] A bearing seat and an upper bearing thereof, wherein the bearing seat is arranged at the center of the front face of the fixing plate;

[0045] A fixing rod, one end of which is provided with a fixing ring, the end of which is inserted between the support plate and the fixing plate, and the fixing ring is sleeved and fixed on the bearing;

[0046] A guide rail and a slider, wherein the guide rail is arranged on the front side of the outer end of the fixing rod;

[0047] A movable positioning pin is vertically arranged on the slider;

[0048] A handle is arranged on the back side of the outer end of the fixing rod.

[0049] Preferably, the clamping claw of the end gripper includes a base, a connecting portion extending from one end of the base, and a hook portion extending obliquely outward from the other end of the base and bent; the base is pivotally connected to the groove of the fixing portion of the fixing plate, and the connecting portion is movably connected to the other end of the connecting joint through a connecting shaft.

[0050] Preferably, the end gripper is also provided with two buffers, which are arranged on the front side of the fixed plate and symmetrically arranged on both sides of the fixed rod; preferably, the buffer of the end gripper includes a fixed seat and an adjusting bolt thereon, a buffer spring arranged on the adjusting bolt, and the outer end of the buffer spring rests against the side of the fixed rod.

[0051] Furthermore, the present invention is also provided with a trigger mechanism, which includes: a valve member, on which a trigger-type pneumatic switch is provided; a protective cover is provided on the valve member, and is arranged on one side of the quick-change male disc through the protective cover; a trigger plate is arranged on the placement frame of the end gripper.

[0052] The present invention utilizes a cylinder-driven quick-change disc, and controls the opening and closing of the dead-point locking mechanism inside the quick-change male and female discs through buttons to realize the opening and closing of the quick-change male and female discs; and is equipped with a guide pin and an air path docking system to realize seamless switching of the front-end gripper air path system.

[0053] The present invention adopts the combination of a cylinder and a clamping block to form a dead point mechanism; when the cylinder is cut off, the quick-change male disc and the quick-change female disc will not fall off, thereby ensuring the safety of operation; and the bearing capacity is greater than that of the prior art, and can meet a bearing capacity of not less than 250 kilograms.

[0054] The present invention utilizes cylinder drive to enable the movable plate and the connecting joint to be arranged in a straight line or a plane to form a dead point mechanism to clamp the product (the cylinder ensures the safety and stability of the clamping force, and the dead point mechanism ensures that the clamping mechanism can maintain the clamping force even when the air is accidentally cut off).

[0055] The present invention utilizes a cylinder-driven lever mechanism to adjust the mechanism swing angle (adjusting the air pressure to ensure that the cylinder driving force is equal to the product weight). The swing angle can be manually adjusted through a handle to achieve good compatibility of product installation alignment angles and solve the problem of difficult adjustment during product alignment installation.

[0056] The present invention solves the positioning and clamping problem of flange products (20-200kg) and the accidental falling problem of flange products by designing a dead point mechanism.

[0057] The present invention designs an angle adjustment mechanism and a movable positioning pin assembly, thereby optimizing the problem of angle deviation of flange products during installation and improving the compatibility of installation angles;

[0058] The present invention also provides a valve member, and a trigger plate corresponding to an end gripper can be provided to identify different end grippers, thereby realizing the quick-change function; and the quick-change device can only be triggered and operated on the end gripper placement rack to avoid misoperation.

[0059] Compared with the prior art, the present invention has the following advantages or positive effects:

[0060] The present invention solves the bottleneck of the quick change of the end gripper of the robot arm under complex working conditions, optimizes the quick change process of the robot arm and the end gripper, realizes the convenience of quick change of the robot arm and the end gripper, reduces the replacement time, improves the quick change rhythm of the robot arm, reduces the docking error of the trachea operation, expands the applicable scenes of the robot arm, reduces the equipment cost, and eliminates the problems of reduced safety and shortened service life caused by manual quick change of the end gripper of the robot arm. It realizes the innovative breakthrough of the button control of the quick change of the end gripper of the robot arm, and simplifies multiple sets of robot arms into one set of robot arm bodies, and flexibly docks the "end gripper +". The device can also be applied to other quick change fields to expand the application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 The three-dimensional embodiment of the present invention Figure 1 ;

[0062] Figure 2 The three-dimensional embodiment of the present invention Figure 2 ;

[0063] Figure 3 A three-dimensional diagram of a mechanical arm in an embodiment of the present invention;

[0064] Figure 4 is a front view of a mechanical arm according to an embodiment of the present invention;

[0065] Figure 5 is a top view of a mechanical arm according to an embodiment of the present invention;

[0066] Figure 6 for Figure 5 AA section view;

[0067] Figure 7 for Figure 5 BB cross-sectional view;

[0068] Figure 8 A three-dimensional diagram of a quick-change device and a controller in an embodiment of the present invention;

[0069] Fig. 9 is a three-dimensional diagram of a quick-change device (locked state) in an embodiment of the present invention;

[0070] Fig.10 It is a three-dimensional exploded view of the quick-change device (locked state) in an embodiment of the present invention;

[0071] Fig.11 A bottom view of a quick-change device in an embodiment of the present invention;

[0072] Fig.12 for Fig.11 CC section view;

[0073] Fig.13A three-dimensional diagram of a quick-change male disc and a locking mechanism in a quick-change device (unlocked state) in an embodiment of the present invention;

[0074] Fig.14 It is a three-dimensional exploded view of the quick-change male disc and the locking mechanism in the quick-change device (unlocked state) in an embodiment of the present invention;

[0075] Fig.15 is a cross-sectional view of the quick-change device (unlocked state) in an embodiment of the present invention;

[0076] Fig.16 A three-dimensional diagram of a quick-changing mother disk of a quick-changing device in an embodiment of the present invention;

[0077] Fig.17 The three-dimensional end gripper in the embodiment of the present invention Figure 1 ;

[0078] Fig.18 The three-dimensional end gripper in the embodiment of the present invention Figure 2 ;

[0079] Fig.19 It is a front view of the end gripper in an embodiment of the present invention;

[0080] Fig. 20 A top view of the end gripper in an embodiment of the present invention;

[0081] Fig.21 for Fig. 20 DD cross-sectional view;

[0082] Fig. 22 A partial stereoscopic diagram of the end gripper in an embodiment of the present invention;

[0083] Fig.23 It is a three-dimensional diagram of the end gripper clamping mechanism in an embodiment of the present invention. DETAILED DESCRIPTION

[0084] See also Figure 1 to Figure 23 The quick-change robot arm of the present invention comprises: a robot arm 100, a quick-change device 200, an end gripper 300 and a controller 400; wherein,

[0085] The robot arm 100 comprises:

[0086] at least one cantilever 5;

[0087] a liftable arm 6, one end of which is connected to the lower part of the cantilever 5;

[0088] At least one swing arm 7, one end of which is movably connected to the other end of the liftable arm 6;

[0089] The quick-change device 200 is disposed at the other end of the swing arm 1; it includes:

[0090] The quick-change male disk 1 has a center hole 101 in the center, and two support plates 11 and 11' are arranged parallel and vertically on both sides of the center hole on the bottom surface. The lower parts of the two sides of the support plates 11 and 11' each have an axial hole 111 and 111'; two pin holes 102 and 102' are symmetrically arranged on both sides of the quick-change male disk 1, and positioning pins 12 and 12' are arranged in the pin holes;

[0091] The quick-change female disc 2 has a rectangular mounting hole 201 in the center for the two support plates 11, 11' on the bottom surface of the quick-change male disc 1 to pass through, a fixing groove 202, 202' is provided in the center of the inner wall of the rectangular short side of the mounting hole 201, and fixing holes and a locking pin 3 are provided on the upper part of the two side walls of the fixing groove 202; two positioning holes 203, 203' are provided on the quick-change female disc 2 for the two positioning pins 12, 12' to pass through; the quick-change male disc 1 and the quick-change female disc 2 are symmetrically provided with mounting through holes 103, 204, and a gas connector 47 is provided.

[0092] The locking mechanism 4 comprises:

[0093] The cylinder 41, the cylinder body is fixed to the top surface of the quick-change male disk 1, and the piston rod thereof extends from the central hole 101 of the quick-change male disk 1; a connecting flange 46 is provided on the top surface of the cylinder body, and is connected to the end of the swing arm 5;

[0094] The connecting seat 42 is in an inverted T shape, and mainly comprises a fixing sleeve 421 and two connecting plates 422 arranged parallel to the lower parts of the two side surfaces of the fixing sleeve 42, and the outer ends of the connecting plates 422 are respectively provided with through holes 4221;

[0095] The two clamping blocks 43 and 43' are respectively arranged on both sides of the connecting plate 422 of the connecting seat 42. The clamping block 43 (taking the clamping block 43 as an example, the same below) is triangular in shape, and a first rotating shaft 44 is passed through one corner thereof, and the two ends of the first rotating shaft are arranged in the shaft holes 111 and 111' of the two supporting plates 11 and 11' on the bottom surface of the quick-change male disk 1; a limiting groove 431 is radially arranged at the other corner of the clamping block 43, and a second rotating shaft 45 is arranged in the limiting groove 431, and the two ends of the second rotating shaft 45 are arranged in the through holes 4221 of the two connecting plates 422 of the connecting seat 42; the third triangular portion of the clamping block 43 can be flipped to correspond to the bayonet 3 in the fixing groove 202 of the quick-change female disk 2;

[0096] Move the quick-change male disc to the top of the quick-change female disc, insert the positioning pin into the quick-change female disc to complete the engagement of the male and female discs; then press the pneumatic button of the locking mechanism, the cylinder retracts and drives the clamping block to flip and lock the quick-change female disc; the same is true for unlocking.

[0097] The end gripper 300 is connected to the quick-change mother plate 2 of the quick-change device 200 .

[0098] Furthermore, a transplanting device 500 is provided, which includes: a base 8, a frame structure, and a fixed plate 81 in the center; a plurality of guide wheel groups 9 with movable guide rails are symmetrically provided on both sides of the top surface of the frame structure; and the upper end of the cantilever 5 of the mechanical arm 100 is connected to the center of the bottom surface of the fixed plate 81.

[0099] Preferably, a first rotary joint 15 is vertically arranged on the top surface of the cantilever 5, and the first rotary joint includes a rotating shaft 151 and upper and lower bearings 152 thereof and an external sleeve 153; the top surface of the sleeve is connected to the center of the bottom surface of the fixing plate 81; the rotating shaft 151 is connected to the top surface of the cantilever 5 through a bottom plate 1511, and the lower part of the cantilever 5 is two parallel support plates 51;

[0100] Preferably, a first swivel limit device 16 is provided at one side of the first swivel joint 15, which includes: a limit plate 161, which is coaxially arranged outside the sleeve 153 of the first swivel joint 15; a limit cylinder 162, whose cylinder body is arranged on the outer side of the top end of the cantilever 5 and below the limit plate 161 through a bracket 163; a fixed limit block 164, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket 163, and the other end is located above the cylinder body of the limit cylinder 162 and the limit plate 161; a movable limit block 165, which is arranged at the end of the piston rod of the limit cylinder 162, is located below the limit plate 161 and corresponds to the fixed limit block 164, and cooperates with each other to clamp the limit plate 161;

[0101] The liftable arm 6 comprises two connecting rods 61 arranged in parallel up and down, one end of the two connecting rods is passed through between the two supporting plates 51 at the lower part of the cantilever 5, and is pivotally connected to the supporting plates 51 respectively; the other ends of the two connecting rods 61 are pivotally connected to a connecting seat 62 respectively, and the connecting seat 62 is composed of two L-shaped fixing plates 621 arranged in parallel and a connecting plate 622 connecting the two fixing plates 621 up and down; the other ends of the two connecting rods 61 are pivotally connected to one side of the two fixing plates 621 up and down, respectively, to form a connecting rod mechanism; the other side of the two fixing plates 621 of the connecting seat 62 is vertically provided with a second rotary joint 17, including a rotating shaft and its upper and lower bearings and an external sleeve; the sleeve of the second rotary joint is connected to the connecting plate between the two fixing plates 621;

[0102] Preferably, a second swivel limit device 18 is provided on one side of the second swivel joint 17, which includes: a limit plate, coaxially arranged outside the second swivel joint sleeve; a limit cylinder, the cylinder body of which is arranged on the outer side of the top end of the connecting seat and below the limit plate through a bracket; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located above the cylinder body of the limit cylinder and the limit plate; a movable limit block, which is arranged at the end of the piston rod of the limit cylinder, is located below the limit plate and corresponds to the fixed limit block, and cooperates with each other to clamp the limit plate;

[0103] A lifting cylinder 63, whose cylinder body is vertically fixed to one side of the upper part of the cantilever 5, and whose piston rod is downward and connected to one end of one of the two connecting rods 61; preferably, a limit rod 631 is provided on the end surface of the cylinder body near the piston rod, and correspondingly, a limit block 632 for the limit rod 631 to pass through is provided on the connecting rod 61 connected to the piston rod;

[0104] The swing arm 7 has one end connected to the top of the rotating shaft of the second rotating joint 17 through the connecting bottom plate, and the other end of the swing arm 7 is connected to the third rotating joint 19, including a rotating shaft 191 and upper and lower bearings 192 thereof and an external sleeve 193; the other end of the swing arm 7 is connected to the sleeve 193 of the third rotating joint 19;

[0105] Preferably, a third rotation limit device 20 is provided on one side of the third rotation joint 19, which includes: a limit plate 201, which is coaxially arranged outside the bottom plate sleeve at the bottom end of the rotating shaft of the third rotation joint 19, and the outer edge 2011 of the limit plate 201 extends downward; a limit cylinder 202, the cylinder body of which is arranged on the outer side of the sleeve of the third rotation joint 19 through a bracket, and the cylinder body is parallel to the swing arm 7; a fixed limit block 203, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located on the inner side of the outer edge of the limit cylinder 201 and above the limit cylinder body and the limit plate; a movable limit block 204, which is arranged at the end of the piston rod of the limit cylinder 202, is located below the outer side of the outer edge of the limit plate 201, and corresponds to the fixed limit block 203, and cooperates with each other to clamp the outer edge of the limit plate 201;

[0106] The connecting rod 21 has connecting flanges at its upper and lower ends respectively, and the upper end is connected to the bottom end of the rotating shaft of the third rotary joint 19 through a connecting bottom plate; the lower end of the connecting rod 21 is connected to the connecting flange 46 on the top surface of the cylinder 41 in the locking mechanism 4 of the quick-change device 200.

[0107] Preferably, the end gripper 300 comprises:

[0108] A support seat 31, the upper end of which is connected to the bottom surface of the quick-change mother plate 2 of the quick-change device 200;

[0109] The support frame 32 is a cage frame structure, and its rear end is fixed to the support seat 31;

[0110] The fixing plate 33 has three fixing parts 331 uniformly protruding along the circumferential direction, and a groove 3311 is provided at the end of the fixing part 331; the fixing plate 33 is arranged at the front end of the support frame 32;

[0111] A support plate 34, the back side of which is arranged at the middle of the front side of the fixing plate 33 through at least three support blocks 341;

[0112] Three supporting and positioning claws 35 are respectively arranged on three fixing parts 331 of the fixing plate 33 outside the supporting plate 34;

[0113] The clamping mechanism 36 comprises:

[0114] A clamping cylinder 361, whose cylinder body is arranged on the support seat 31, and whose piston rod extends into the support frame 32 and is coaxially arranged with the support frame 32;

[0115] Three guide rods 362 are arranged on the back of the fixing plate 33, corresponding to the three fixing parts 331, and the other ends of the guide rods 362 are fixed to the support frame 32;

[0116] The movable plate 363 has three connecting parts 3631 uniformly protruding along the circumferential direction, and the connecting parts are provided with guide holes, and are penetrated through the three guide rods 362; the center of the back of the movable plate 363 is connected to the piston rod end of the clamping cylinder 361 extending into the support frame 32; the ends of the three connecting parts 3631 are respectively movably connected to one end of a connecting joint 364 through a connecting shaft 366;

[0117] The three clamping jaws 365 have a middle portion pivotally connected to the grooves 331 of the three fixing portions 331 of the fixing plate 33 ; and the rear end portion of the clamping jaw is movably connected to the other end of the connecting joint 364 via a connecting shaft.

[0118] Preferably, the support base 31 of the end gripper 300 is a tube, on which an angle adjustment mechanism 37 is provided, including:

[0119] The adjusting rod 371 has a rotating shaft 372 on its upper part, and bearings 373 are arranged at both ends of the rotating shaft; the adjusting rod 371 is inserted into the tube body of the support seat 31, and mounting holes are arranged on the opposite sides of the upper part of the tube body, and the bearings at both ends of the rotating shaft of the adjusting rod 371 are arranged in the mounting holes on both sides of the tube body, so as to achieve swinging; the top end of the adjusting rod 371 extends out of the upper end of the tube body of the support seat 31, and the top end of the adjusting rod 371 is provided with a connecting flange 377, and is connected to the bottom surface of the quick-changing mother plate 2 of the quick-changing device 200;

[0120] Angle adjustment cylinder 373, whose cylinder body is arranged on the outer side of the lower part of the tube body of the support seat 31, and whose piston rod extends into the tube body of the support seat 31 and is movably connected to the lower end of the adjustment rod 371;

[0121] An angle adjustment auxiliary handle 374 is provided on the outer side surface of the lower part of the tube body of the support seat 31.

[0122] Preferably, the piston rod end of the angle adjustment cylinder 374 of the end gripper 300 is connected to a connecting block 375, the connecting block 375 is provided with an axial hole, the lower end of the adjusting rod 371 is provided with a groove 3711, and the two side walls of the groove 3711 are provided with through holes; the connecting block 375 is inserted into the adjusting rod groove 3711, and the adjusting rod 371 is movably connected to the connecting block 375 through a connecting shaft 376.

[0123] Preferably, the end gripper 300 further includes a movable positioning pin assembly 38, which includes:

[0124] The bearing seat 381 and the upper bearing thereof, the bearing seat 81 is arranged at the center of the front face of the fixing plate 33;

[0125] A fixing rod 382, ​​one end of which is provided with a fixing ring 383, the end of which is inserted between the support plate 34 and the fixing plate 33, and the fixing ring 383 is sleeved and fixed on the bearing;

[0126] A guide rail 384 and a slider 3841, wherein the guide rail 384 is disposed on the front side of the outer end of the fixing rod 382;

[0127] A movable positioning pin 385 is vertically arranged on the slider 3841;

[0128] The handle 386 is disposed on the back side of the outer end of the fixing rod 382 .

[0129] Preferably, the clamping claw 365 of the end gripper 300 includes a base 3651, a connecting portion 3652 extending from one end of the base 3651, and a hook portion 3653 extending obliquely outward from the other end of the base 3651 and bending; the base 3651 is pivotally connected to the groove 3311 of the fixing portion 331 of the fixing plate 33, and the connecting portion 3652 is movably connected to the other end of the connecting joint 364 through a connecting shaft.

[0130] Preferably, the end gripper 300 is also provided with two buffers 39, which are arranged on the front side of the fixing plate 33 and symmetrically arranged on both sides of the fixing rod 382; preferably, the buffer 39 of the end gripper 300 includes a fixing seat 391 and an adjusting bolt 392 thereon, a buffer spring 393 arranged on the adjusting bolt 392, and the outer end of the buffer spring 393 abuts against the side of the fixing rod 382.

[0131] See also Figure 8 The present invention also has a trigger mechanism 600, which includes: a valve member 601, on which a trigger-type pneumatic switch 602 is provided; a protective cover 603 is provided on the valve member, and is arranged on one side of the quick-change male disc 1 through the protective cover 603; a trigger plate 604, which is arranged on the placement frame of the end gripper.

[0132] To replace the end gripper, just extend the robotic arm to the placement rack, and the trigger pneumatic switch 602 triggers the trigger plate 604, and the quick-change device can be opened and unlocked; and preferably, a trigger plate is provided for an end gripper, so that the robotic arm can replace the corresponding end gripper by identifying and triggering different trigger plates.

[0133] During operation, the buttons on the controller operation panel are used to control the locking and releasing of the quick-change male disc and the quick-change female disc. After placing a set of end grippers on the docking frame, press the release button to unlock the quick-change male disc and the quick-change female disc. Then move the robotic arm to the other set of end grippers, insert the quick-change male disc into the quick-change female disc on the other set of end grippers, press the locking button to lock the quick-change male disc and the quick-change female disc, and the switching of the end grippers is completed.

Claims

1. A quick-change robotic arm, comprising: A robotic arm, a quick-change device and an end gripper; characterized in that, The robotic arm comprises: at least one cantilever; a liftable arm, one end of which is connected to the lower part of the cantilever; At least one swing arm, one end of which is movably connected to the other end of the liftable arm; the quick-change device is arranged at the other end of the swing arm; it comprises: The quick-change male plate has a center hole in the center, and two support plates are arranged parallel and vertically on both sides of the center hole on the bottom surface, and an axial hole is arranged at the lower part of each side of the support plate; two pin holes are symmetrically arranged on both sides of the quick-change male plate, and positioning pins are arranged in the pin holes; The quick-change female disc has a rectangular mounting hole in the center for the two support plates on the bottom surface of the quick-change male disc to penetrate, a fixing groove is provided in the center of the inner wall of the rectangular short side of the mounting hole, and fixing holes and a bayonet are provided on the upper part of the two side walls in the fixing groove; two positioning holes are provided on the quick-change female disc for the two positioning pins to pass through; preferably, the quick-change male disc and the quick-change female disc are symmetrically provided with mounting through holes, and a gas connector is provided; A locking mechanism comprising: The cylinder body is fixed to the top surface of the quick-change male plate, and the piston rod thereof extends from the central hole of the quick-change male plate; a connecting flange is provided on the top surface of the cylinder body, and is connected to the end of the swing arm; The connecting seat is in an inverted T shape, mainly composed of a fixing sleeve and two connecting plates arranged parallel to the lower parts of the two side surfaces of the fixing sleeve, and through holes are respectively arranged at the outer ends of the connecting plates; Two clamping blocks are respectively arranged at the two side ends of the connecting plate of the connecting seat, and the clamping blocks are triangular in shape. A first rotating shaft is passed through one corner, and both ends of the first rotating shaft are arranged in the two supporting plate shaft holes on the bottom surface of the quick-change male disc; a limiting groove is radially arranged at the other corner of the clamping block, and a second rotating shaft is arranged in the limiting groove, and both ends of the second rotating shaft are arranged in the through holes of the two connecting plates of the connecting seat; the third corner of the clamping block can be flipped to correspond to the pin in the fixing groove of the quick-change female disc; the end gripper is connected to the quick-change female disc of the quick-change device.

2. The quick-change robot arm according to claim 1, characterized in that: A transplanting device is also provided, which includes: a base, a frame structure, and a fixed plate in the center; a plurality of guide wheel groups with travelable guide rails are symmetrically provided on both sides of the top surface of the frame structure; and the cantilever upper end of the mechanical arm is connected to the center of the bottom surface of the fixed plate.

3. The quick-change robot arm according to claim 1, characterized in that: The first swivel joint is vertically arranged on the top surface of the cantilever, and the first swivel joint includes a swivel shaft and upper and lower bearings thereof and an external sleeve; the top surface of the sleeve is connected to the center of the bottom surface of the fixed plate; the swivel shaft is connected to the top surface of the cantilever through the bottom plate, and the lower part of the cantilever is two parallel supporting plates; preferably, a first swivel limit device is arranged on one side of the first swivel joint, which includes: a limit plate, which is coaxially arranged outside the first swivel joint sleeve; a limit cylinder, the cylinder body of which is arranged on the outer side surface of the top end of the cantilever and below the limit plate through a bracket; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located above the cylinder body of the limit cylinder and the limit plate; a movable limit block is arranged at the end of the piston rod of the limit cylinder, is located below the limit plate and corresponds to the fixed limit block, and cooperates with each other to clamp the limit plate; The lifting arm comprises two connecting rods arranged in parallel up and down, one end of the two connecting rods is inserted between the two supporting plates at the lower part of the cantilever, and is pivotally connected to the supporting plates respectively; the other ends of the two connecting rods are pivotally connected to a connecting seat respectively, and the connecting seat is composed of two L-shaped fixing plates arranged in parallel and a connecting plate connecting the two fixing plates up and down; the other ends of the two connecting rods are pivotally connected to one side of the two fixing plates up and down respectively to form a connecting rod mechanism; the other side of the two fixing plates of the connecting seat is vertically provided with a second swivel joint, including a swivel shaft and its upper and lower bearings and an external sleeve; the second swivel joint The sleeve of the swivel joint is connected to the connecting plate between the two fixed plates; preferably, a second swivel limit device is provided on one side of the second swivel joint, which includes: a limit plate, which is coaxially arranged outside the sleeve of the second swivel joint; a limit cylinder, whose cylinder body is arranged on the outer side of the top end of the connecting seat and below the limit plate through a bracket; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located above the cylinder body of the limit cylinder and the limit plate; a movable limit block is arranged at the end of the piston rod of the limit cylinder, located below the limit plate and corresponding to the fixed limit block, and cooperates with each other to clamp the limit plate; A lifting cylinder, whose cylinder body is vertically fixed to one side of the upper part of the cantilever, and whose piston rod is downward and connected to one end of one of the two connecting rods; preferably, a limit rod is provided on the end surface of the cylinder body near the piston rod, and correspondingly, a limit block for the limit rod to pass through is provided on the connecting rod connected to the piston rod; A swing arm, one end of which is connected to the top of the rotating shaft of the second rotating joint through a connecting bottom plate, and the other end of the swing arm is connected to the third rotating joint, including the rotating shaft and its upper and lower bearings and an external sleeve; the other end of the swing arm is connected to the sleeve of the third rotating joint; Preferably, a third swivel limit device is provided on one side of the third swivel joint, which includes: a limit plate, which is coaxially arranged outside the bottom plate sleeve at the bottom end of the third swivel joint shaft, and the outer edge of the limit plate extends downward; a limit cylinder, the cylinder body of which is arranged on the outer side of the sleeve of the third swivel joint through a bracket, and the cylinder body is parallel to the swing arm; a fixed limit block, which is L-shaped, one end of which is fixed to one side of the upper end of the bracket, and the other end is located on the inner side of the outer edge of the limit cylinder and above the limit plate; a movable limit block is arranged at the end of the piston rod of the limit cylinder, located below the outer side of the outer edge of the limit plate, and corresponds to the fixed limit block, and cooperates with each other to clamp the outer edge of the limit plate; The connecting rod has connecting flanges at its upper and lower ends respectively, and the upper end is connected to the bottom end of the rotating shaft of the third rotary joint through the connecting bottom plate; the lower end of the connecting rod is connected to the connecting flange on the top surface of the cylinder body in the locking mechanism of the quick-change device.

4. The quick-change robot arm according to claim 1, characterized in that: The end gripper comprises: A support seat, the upper end of which is connected to the bottom surface of the quick-change mother plate of the quick-change device; The support frame is a cage-type frame structure, and its rear end is fixed to the support seat; A fixing plate, which has three fixing parts evenly protruding along the circumference, and grooves are provided at the ends of the fixing parts; the fixing plate is arranged at the front end of the support frame; A support plate, the back side of which is arranged at the middle of the front side of the fixing plate through at least three support blocks; Three supporting positioning claws, respectively arranged on three fixing parts of the fixing plate outside the supporting plate; The clamping mechanism comprises: A clamping cylinder, the cylinder body of which is arranged on the support seat, and the piston rod of which extends into the support frame and is coaxially arranged with the support frame; Three guide rods are arranged on the back of the fixing plate, corresponding to the three fixing parts, and the other ends of the guide rods are fixed to the support frame; The movable plate has three connecting parts uniformly protruding along the circumference, and the connecting parts are provided with guide holes, and are penetrated on the three guide rods; the center of the back of the movable plate is connected to the end of the piston rod of the clamping cylinder extending into the support frame; the ends of the three connecting parts are respectively movably connected to one end of a connecting joint through a connecting shaft; Three clamping jaws, the middle part of the clamping jaws is pivotally connected to the grooves of the three fixing parts of the fixing plate; the rear end of the clamping jaw is movably connected to the other end of the connecting joint through a connecting shaft.

5. The quick-change robot arm according to claim 4, characterized in that: The support base of the end gripper is a tube body, on which an angle adjustment mechanism is provided, including: The adjusting rod has a rotating shaft passing through its upper part, and bearings are arranged at both ends of the rotating shaft; the adjusting rod is inserted into the supporting seat tube body, and mounting holes are arranged on the opposite sides of the upper part of the tube body, and the bearings at both ends of the rotating shaft of the adjusting rod are arranged in the mounting holes on both sides of the tube body, so as to realize swinging; the top end of the adjusting rod extends out of the upper end of the supporting seat tube body, and the top end of the adjusting rod is provided with a connecting flange, and is connected to the bottom surface of the quick-changing mother plate of the quick-changing device; An angle adjustment cylinder, whose cylinder body is arranged on the outer side of the lower part of the support seat tube body, and whose piston rod extends into the support seat tube body and is movably connected to the lower end of the adjustment rod; An angle adjustment auxiliary handle is arranged on the outer side surface of the lower part of the support seat tube body.

6. The quick-change robot arm according to claim 5, characterized in that: The end of the piston rod of the angle adjustment cylinder of the end gripper is connected to a connecting block, which is provided with an axial hole, and the lower end of the adjusting rod is provided with a groove, and the two side walls of the groove are provided with through holes; the connecting block is inserted into the groove of the adjusting rod, and the adjusting rod is movably connected to the connecting block through a connecting shaft.

7. The quick-change robot arm according to claim 4, 5 or 6, characterized in that: The end gripper also includes a movable positioning pin assembly, which includes: A bearing seat and an upper bearing thereof, wherein the bearing seat is arranged at the center of the front face of the fixing plate; A fixing rod, one end of which is provided with a fixing ring, the end of which is inserted between the support plate and the fixing plate, and the fixing ring is sleeved and fixed on the bearing; A guide rail and a slider, wherein the guide rail is arranged on the front side of the outer end of the fixing rod; A movable positioning pin is vertically arranged on the slider; A handle is arranged on the back side of the outer end of the fixing rod.

8. The quick-change robot arm according to claim 4, 5, 6 or 7, characterized in that: The clamping claw of the end gripper includes a base, a connecting portion extending from one end of the base, and a hook portion extending obliquely outward from the other end of the base and bent; the base is pivotally connected to the groove of the fixing portion of the fixing plate, and the connecting portion is movably connected to the other end of the connecting joint through a connecting shaft.

9. The quick-change robot arm according to any one of claims 4 to 8, characterized in that: The end gripper is also provided with two buffers, which are arranged on the front side of the fixing plate and symmetrically arranged on both sides of the fixing rod; preferably, the buffer of the end gripper includes a fixing seat and an adjusting bolt thereon, a buffer spring arranged on the adjusting bolt, and the outer end of the buffer spring rests against the side of the fixing rod.

10. The quick-change robot arm according to any one of claims 1 to 9, characterized in that: A trigger mechanism is also provided, which comprises: A valve member, on which a trigger-type pneumatic switch is provided; a protective cover is provided on the valve member, and is arranged on one side of the quick-change male disc through the protective cover; The trigger plate is arranged on the placement frame of the end gripper.

Images