A coordinate type single-axis robot

Abstract

The present invention belongs to the technical field of single-axis robots, and specifically is a coordinate-type single-axis robot, comprising an axis body and a manipulator, and further comprising: a slider slidably mounted on the axis body, the slider being provided with a groove; a connecting component slidably mounted on the axis body, the manipulator being mounted below the connecting component, the connecting component comprising an insert rod, and the connecting component is connected to the slider by inserting the insert rod into the groove; after a failure of the manipulator, the insert rod is controlled to be taken out of the groove, that is, the connecting component and the slider are separated, at which time the slider can continue to move, while the connecting component and the manipulator remain stationary, so that the manipulator and the connecting component can be directly removed from the axis body, and the failed manipulator can be repaired without controlling all the manipulators on the entire axis body to stop working, and the robot is easy to use.

Description

Technical Field

[0001] The invention belongs to the field of single-axis robots, in particular to a coordinate-type single-axis robot. Background Art

[0002] A coordinate-type single-axis robot, also known as a single-axis manipulator, is a mechanical structure that can provide linear motion. Due to its simple structure, easy maintenance and low cost, it is often used in automated production lines, electronic equipment assembly lines, etc.

[0003] A patent application with publication number CN214604456U discloses a silent single-axis manipulator, including a base, and also includes: a slide rail installed on the base; a sliding base installed on the slide rail; a first coupling installed on the sliding base; a second coupling installed on the first coupling; a mechanical arm installed on the second coupling; when the mechanical arm grabs a product, the sliding base slides on the slide rail, and the movement of the sliding base drives the first coupling, the second coupling and the mechanical arm to move synchronously, thereby realizing the action of transporting objects.

[0004] The robot arm of the above scheme moves on the slide rail through a sliding base. Generally, a screw rod is arranged on the slide rail, and the movement of the sliding base is controlled by the screw rod. On the existing assembly line, in order to improve production efficiency, multiple lines are usually produced simultaneously. Therefore, multiple robot arms are arranged on the same screw rod to clamp the products at the same time. Since the robot arms are controlled by a screw rod and it is difficult to remove the robot arms from the slide rail, when one of the robot arms fails, it is necessary to control the screw rod to stop so that multiple robot arms stop working at the same time. Only after the failed robot arm is removed can the remaining robot arms be controlled to continue working, which is more inconvenient to use.

[0005] To this end, the present invention provides a coordinate type single-axis robot. Summary of the invention

[0006] In order to make up for the deficiencies of the prior art, at least one technical problem raised in the background technology is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is: the coordinate type single-axis robot described in the present invention includes an axis body and a manipulator, and also includes: a slider slidably mounted on the axis body, the slider is provided with a groove; a connecting component slidably mounted on the axis body, the manipulator is installed below the connecting component, the connecting component includes an insertion rod, and the connecting component is connected to the slider by inserting the insertion rod into the groove.

[0008] Preferably, the manipulator includes a connecting shell installed on the connecting assembly, a plurality of clamps are installed on the connecting shell, a driving rod is slidably installed on the connecting shell, and the driving rod can control the clamping and loosening of the plurality of clamps by sliding up and down. A detection assembly is installed on the connecting shell, and the detection assembly is used to detect whether the clamps are actuated after the driving rod moves. If the clamps do not actuate, the insertion rod of the connecting assembly is controlled to be taken out of the groove.

[0009] Preferably, the connecting assembly also includes: a connecting block slidably mounted on the shaft body; two connecting plates detachably and symmetrically mounted on the connecting block; a hollow plate detachably mounted on the connecting plate; two No. 1 and No. 2 connecting rods that drive the insertion rod to slide up and down, and the two ends of the No. 1 and No. 2 connecting rods are rotatably mounted with connecting shafts, and the two ends of the two No. 1 and No. 2 connecting rods are respectively mounted on the same connecting shaft, and the connecting shaft is slidably connected to the hollow plate, and a No. 2 and No. 2 connecting rod is mounted on the No. 1 and No. 2 connecting rods, and the insertion rod is mounted on the No. 2 and No. 2 connecting rods; two push plates slidably mounted on the connecting plates, and the two push plates are respectively used to push the two connecting shafts to slide; a telescopic rod installed between the two push plates, and the telescopic rod is used to drive the two push plates to move closer and farther away.

[0010] Preferably, the detection assembly includes: a plate No. 1 slidably mounted on the connecting shell; a rotating rod connecting the plate No. 1 and the clamp, wherein both ends of the rotating rod are rotatably connected to the plate No. 1 and the clamp respectively; a pressure sensor No. 1 mounted on the plate No. 1, wherein the pressure sensor No. 1 is located within the moving range of the driving rod, and wherein the pressure sensor No. 1 can control the extension and retraction of the telescopic rod after being triggered.

[0011] Preferably, the detection assembly comprises a plurality of groups, and the rotating rods of the plurality of groups of the detection assemblies are respectively connected to different clamping jaws.

[0012] Preferably, the connecting assembly also includes: a No. 1 spring installed between the two connecting shafts; a baffle installed on the side wall of the hollow plate for sliding up and down movement, the baffle adopts a telescopic structure, a rotary rod is rotatably installed on the side wall of the hollow plate, the baffle is slidably connected to the rotary rod; a protrusion fixed and installed on the sliding block, the rotary rod is located within the moving range of the protrusion.

[0013] Preferably, the insertion rod adopts a telescopic structure, the connection point of the No. 2 second connecting rod is rotatably connected to the connection point of the No. 1 second connecting rod, and the two ends of the No. 2 second connecting rod are respectively connected to the two parts of the insertion rod.

[0014] Preferably, the connecting assembly further comprises: a No. 2 spring installed in the insert rod; and a square shell fixedly installed in the hollow plate, and the connection point of the No. 2 second connecting rod slides up and down on the square shell.

[0015] Preferably, the rotating rod adopts a telescopic structure, and a No. 2 pressure sensor is installed inside the rotating rod. The No. 2 pressure sensor can be triggered after the rotating rod is stretched.

[0016] Preferably, a pull rope is wound inside the connecting block, the end of the pull rope is connected to the connecting shell, a round cover is rotatably installed on the connecting plate, a round rod is fixedly installed on the connecting shell, the round rod is threadedly connected to the round cover, and the No. 2 pressure sensor can control the rotation of the round cover after being triggered.

[0017] The beneficial effects of the present invention are as follows:

[0018] 1. A coordinate-type single-axis robot described in the present invention is provided with a connecting assembly. After a manipulator fails, the control rod is taken out of the groove, that is, the connecting assembly and the slider are separated. At this time, the slider can continue to move, while the connecting assembly and the manipulator remain stationary. Therefore, the manipulator and the connecting assembly can be directly removed from the shaft body to repair the failed manipulator without controlling all the manipulators on the entire shaft body to stop working, and the production line where the other normal manipulators are located is not affected. It is easy to use.

[0019] 2. The coordinate-type single-axis robot described in the present invention is provided with an insertion rod. After the manipulator is repaired, the manipulator and the connecting component are reinstalled on the shaft body, and the manipulator and the connecting component are located on one side of the slider. During the movement of the slider, the insertion rod can be automatically inserted into the groove to realize the connection between the connecting component and the slider, which is easy to use.

[0020] 3. The coordinate-type single-axis robot described in the present invention controls the manipulator to separate from the connecting component by setting a pull rope after the manipulator breaks, and then drives the manipulator to move downward by the pull rope until it contacts the workbench or the ground below the manipulator, thereby improving the situation in which objects on the manipulator fall directly from the manipulator and are damaged after the manipulator breaks. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings.

[0022] Figure 1 is a three-dimensional diagram of the first embodiment of the present invention;

[0023] Figure 2 It is a structural schematic diagram of the clamping jaws of the present invention;

[0024] Figure 3 It is a structural schematic diagram of the connecting plate of the present invention;

[0025] Figure 4 It is a structural schematic diagram of the slider of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the projection and the rotating rod of the present invention;

[0027] Figure 6 It is a structural schematic diagram of the plunger of the present invention;

[0028] Figure 7 is a cross-sectional view of the hollow plate and the slider of the present invention;

[0029] Figure 8 It is a schematic diagram of the structure of the draw rope of the present invention;

[0030] Fig. 9 is a cross-sectional view of the connection shell and the first plate of the present invention;

[0031] Fig.10 is a cross-sectional view of the rotating rod of the present invention;

[0032] In the figure: 1. shaft body; 2. manipulator; 21. connecting shell; 22. clamping claw; 23. driving rod; 24. round rod; 3. slider; 31. groove; 4. connecting assembly; 41. plug rod; 42. connecting block; 43. connecting plate; 44. hollow plate; 45. No. 1 two-link rod; 46. connecting shaft; 47. No. 2 two-link rod; 48. push plate; 49. telescopic rod; 410. No. 1 spring; 411. baffle; 412. rotating rod; 413. bump; 414. No. 2 spring; 415. square shell; 5. detection assembly; 51. No. 1 plate; 52. rotating rod; 53. No. 1 pressure sensor; 54. No. 2 pressure sensor; 6. pull rope; 7. round cover. DETAILED DESCRIPTION

[0033] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0034] like Figure 1-10 As shown, a coordinate-type single-axis robot described in an embodiment of the present invention includes an axis body 1 and a manipulator 2, and also includes: a slider 3 slidably mounted on the axis body 1, and a groove 31 is provided on the slider 3; a connecting component 4 slidably mounted on the axis body 1, and the manipulator 2 is installed below the connecting component 4, and the connecting component 4 includes an insertion rod 41, and the connecting component 4 is connected to the slider 3 by inserting the insertion rod 41 into the groove 31.

[0035] Specifically, in order to improve production efficiency, on the existing assembly line, multiple lines are usually produced simultaneously. Therefore, multiple manipulators 2 are set on the same screw rod to clamp the products at the same time. Since the manipulators 2 are controlled by a screw rod and it is difficult to remove the manipulators 2 from the slide rail, when one of the manipulators 2 fails, it is necessary to control the screw rod to stop so that multiple manipulators 2 stop working at the same time. Only after the failed manipulator 2 is removed can the remaining manipulators 2 be controlled to continue working, which is more troublesome to use; before working, the control rod 41 is inserted into the groove 31, that is, the action of connecting the connecting component 4 and the slider 3 is realized. When working, the slider 3 is controlled to move back and forth on the shaft body 1, driving the connecting component 4 to move back and forth synchronously. Since the manipulator 2 is installed on the connecting component 4, the manipulator 2 can move relative to the shaft body 1 The reciprocating movement, in which the manipulator 2 grabs the object, moves it, and then releases it, can realize the uninterrupted movement of carrying objects in this cycle. After the manipulator 2 fails, the control rod 41 is taken out of the groove 31, that is, the connecting component 4 and the slider 3 are separated. At this time, the slider 3 can continue to move, while the connecting component 4 and the manipulator 2 remain stationary. Therefore, the manipulator 2 and the connecting component 4 can be directly removed from the shaft body 1 to repair the failed manipulator 2. A spare manipulator 2 can also be placed near the equipment. After the failed manipulator 2 is removed, the spare manipulator 2 can be reinstalled on the shaft body 1 to repair the failed manipulator 2. After the repair, the manipulator 2 serves as a spare manipulator 2. There is no need to control all the manipulators 2 on the entire shaft body 1 to stop working. Therefore, it has no impact on the production line where the other normal manipulators 2 are located, and it is easy to use.

[0036] like Figure 2 , Figure 3 and Fig. 9 As shown, the manipulator 2 includes a connecting shell 21 installed on the connecting component 4, a plurality of clamps 22 are installed on the connecting shell 21, a driving rod 23 is slidably installed on the connecting shell 21, and the driving rod 23 slides up and down to control the clamping and loosening of the plurality of clamps 22. A detection component 5 is installed on the connecting shell 21, and the detection component 5 is used to detect whether the clamps 22 move after the driving rod 23 moves. If the clamps 22 do not move, the insertion rod 41 of the connecting component 4 is controlled to be taken out of the groove 31.

[0037] Specifically, affected by factors such as service life and overload operation, there is a situation where the driving rod 23 moves but the clamp 22 does not work, that is, it is unable to clamp and release. Therefore, a detection component 5 is provided to detect such a situation. When the clamp 22 fails, the insertion rod 41 of the control connection component 4 is removed from the groove 31 of the slider 3, that is, the connection component 4 and the slider 3 are separated, and then the manipulator 2 and the connection component 4 can be removed from the shaft body 1 and repaired.

[0038] like Figure 4-Figure 7 As shown, the connecting assembly 4 also includes: a connecting block 42 slidably mounted on the shaft body 1; two connecting plates 43 detachably and symmetrically mounted on the connecting block 42; a hollow plate 44 detachably mounted on the connecting plate 43; two No. 1 and No. 2 connecting rods 45 that drive the insertion rod 41 to slide up and down, and the two ends of the No. 1 and No. 2 connecting rods 45 are respectively rotatably mounted with connecting shafts 46, and the two ends of the two No. 1 and No. 2 connecting rods 45 are respectively mounted on the same connecting shaft 46, and the connecting shaft 46 is slidably connected to the hollow plate 44, and a No. 2 and No. 2 connecting rods 47 are mounted on the No. 1 and No. 2 connecting rods 45, and the No. 2 and No. 2 connecting rods 47 are mounted on the insertion rod 41; two push plates 48 slidably mounted on the connecting plate 43, and the two push plates 48 are respectively used to push the two connecting shafts 46 to slide; a telescopic rod 49 installed between the two push plates 48, and the telescopic rod 49 is used to drive the two push plates 48 to move closer and farther away.

[0039] Specifically, in the initial state, the insertion rod 41 is inserted in the groove 31. When the manipulator 2 fails, the telescopic rod 49 is controlled to extend. The extension of the telescopic rod 49 pushes the two push plates 48 to move away from each other. The movement of the push plates 48 pushes the two connecting shafts 46 to move horizontally away from each other. Since the two ends of the No. 1 and No. 2 connecting rods 45 are connected to the two connecting shafts 46, the No. 1 and No. 2 connecting rods 45 expand to both sides, and the connection point of the No. 1 and No. 2 connecting rods 45 moves up and down in the direction away from the groove 31, driving the No. 2 and No. 2 connecting rods 47 and the insertion rod 41 to move up and down synchronously until the insertion rod 41 is taken out of the groove 31, thereby realizing the action of separating the connecting component 4 and the slider 3.

[0040] like Figure 8-Figure 10 As shown, the detection component 5 includes: a plate No. 1 51 slidably mounted on the connecting shell 21; a rotating rod 52 connecting the plate No. 1 51 and the clamping jaw 22, and the two ends of the rotating rod 52 are respectively rotatably connected to the plate No. 1 51 and the clamping jaw 22; a pressure sensor No. 1 53 installed on the plate No. 1 51, and the pressure sensor No. 1 53 is located within the moving range of the driving rod 23. After the pressure sensor No. 1 53 is triggered, it can control the extension and retraction of the telescopic rod 49.

[0041] Specifically, the driving rod 23 moves upward, so that the clamping jaws 22 are clamped, and the driving rod 23 moves downward, so that the clamping jaws 22 are loosened. When the driving rod 23 moves upward, the clamping jaws 22 are clamped. Since one end of the rotating rod 52 is connected to the clamping jaws 22 and the other end is connected to the No. 1 plate 51, the clamping jaws 22 can push the No. 1 plate 51 to move upward through the rotating rod 52, and the No. 1 plate 51 moves upward to drive the No. 1 pressure sensor 53 to move synchronously. If the clamping jaws 22 fail, the clamping jaws 22 remain stationary after the driving rod 23 moves upward, and the No. 1 pressure sensor 53 remains stationary. Therefore, the driving rod 23 can contact the No. 1 pressure sensor 53 after moving upward and trigger the No. 1 pressure sensor 53. After the No. 1 pressure sensor 53 is triggered, the data is fed back to the controller, and the controller transmits the fault message to the staff, and at the same time controls the telescopic rod 49 to extend, so that the connecting assembly 4 is separated from the slider 3, so that the staff can quickly remove the connecting assembly 4 and the manipulator 2 during maintenance.

[0042] like Figure 8 As shown, the detection assembly 5 includes several groups, and the rotating rods 52 of the several groups of the detection assembly 5 are respectively connected to different clamping jaws 22.

[0043] Specifically, by connecting the rotating rod 52 to different clamping jaws 22 respectively, a single clamping jaw 22 can be tested, and the test result is more accurate.

[0044] As shown in the figure, the connecting component 4 also includes: a No. 1 spring 410 installed between the two connecting shafts 46; a baffle 411 installed on the side wall of the hollow plate 44 for sliding up and down, the baffle 411 adopts a telescopic structure, and a rotating rod 412 is rotatably installed on the side wall of the hollow plate 44, and the baffle 411 is slidably connected to the rotating rod 412; a protrusion 413 fixed and installed on the slider 3, and the rotating rod 412 is located within the moving range of the protrusion 413.

[0045] Specifically, after the No. 1 pressure sensor 53 is triggered, the telescopic rod 49 performs a telescopic action. When the telescopic rod 49 is extended, the two connecting shafts 46 move away from each other. When moving, the connecting shaft 46 contacts the baffle 411. The contact surface of the baffle 411 and the connecting shaft 46 is an inclined surface. Therefore, when the connecting shafts 46 move away from each other, the baffle 411 can be pushed to shrink until the connecting shaft 46 passes through the baffle 411. Then the baffle 411 returns to its initial state under the action of gravity. At this time, the insertion rod 41 slides out of the groove 31, the connecting component 4 is separated from the slider 3, and the No. 1 spring 410 is extended. Then the telescopic rod 49 shrinks to its original state. Blocked by the baffle 411, the connecting shaft 46 cannot move. After the repair of the manipulator 2 is completed, the connecting component 4 and the manipulator 2 are reinstalled on the shaft body 1 and located on one side of the slider 3. When When the slider 3 approaches the hollow plate 44, the protrusion 413 on the slider 3 first contacts the rotary rod 412 and pushes the rotary rod 412 to rotate. The rotation of the rotary rod 412 causes the baffle 411 to move upward until the baffle 411 is no longer in contact with the connecting shaft 46. At this time, the connecting shaft 46 slides horizontally in a direction close to each other under the action of the elastic force of the No. 1 spring 410, so that the No. 1 and No. 2 connecting rods 45 are folded. Therefore, the connection point of the No. 1 and No. 2 connecting rods 45 moves horizontally in a direction close to the groove 31, driving the No. 2 and No. 2 connecting rods 47 and the insertion rod 41 to move synchronously until the insertion rod 41 is inserted into the groove 31, thereby realizing the connection between the connecting component 4 and the slider 3; by setting the insertion rod 41, during the movement of the slider 3, the insertion rod 41 can be automatically inserted into the groove 31, thereby realizing the connection between the connecting component 4 and the slider 3, which is easy to use.

[0046] like Figure 6 As shown, the insertion rod 41 adopts a telescopic structure, the connection point of the No. 2 second connecting rod 47 is rotatably connected to the connection point of the No. 1 second connecting rod 45, and the two ends of the No. 2 second connecting rod 47 are respectively connected to the two parts of the insertion rod 41.

[0047] Specifically, a telescopic plug rod 41 is used. When connecting the connecting component 4 and the slider 3, the plug rod 41 enters the groove 31 in a retracted state and then extends until it contacts the side wall of the groove 31. Compared with a structure in which the plug rod 41 and the groove 31 are of the same size, this structure can better realize the connection between the plug rod 41 and the groove 31.

[0048] like Figure 6 As shown, the connecting assembly 4 also includes: a No. 2 spring 414 installed in the plug rod 41; a square shell 415 fixedly installed in the hollow plate 44, and the connection point of the No. 2 second connecting rod 47 slides up and down on the square shell 415.

[0049] Specifically, when the insertion rod 41 contracts, the No. 2 spring 414 is compressed. When the connecting assembly 4 and the slider 3 are connected, the connecting shaft 46 moves in a direction approaching each other. Therefore, the connection point of the No. 1 second connecting rod 45 and the No. 2 second connecting rod 47 slides up and down at the square shell 415 in a direction close to the groove 31. When sliding, the No. 2 second connecting rod 47 gradually moves out of the square shell 415 and is therefore not restricted by the square shell 415. Under the elastic force of the No. 2 spring 414 in the insertion rod 41, the two ends of the No. 2 second connecting rod 47 can expand, so the insertion rod 41 stretches until the insertion rod 41 contacts the inner wall of the groove 31. There is no need to set up an additional device to drive the insertion rod 41 to retract and retract, and it is easy to use.

[0050] like Fig.10 As shown, the rotating rod 52 adopts a telescopic structure, and a second pressure sensor 54 is installed inside the rotating rod 52. The second pressure sensor 54 can be triggered when the rotating rod 52 is stretched.

[0051] Specifically, due to the factors such as the clamping jaw 22 clamping an overweight object and a collision occurring during movement, the clamping jaw 22 is broken and separated from the connecting shell 21. By providing a No. 2 pressure sensor 54, after the clamping jaw 22 is separated from the connecting shell 21, the rotating rod 52 extends and triggers the No. 2 pressure sensor 54. The No. 2 pressure sensor 54 feeds back data to the staff so that timely maintenance can be carried out.

[0052] like Figure 8 and Fig.10 As shown, a pull rope 6 is wound inside the connecting block 42, and the end of the pull rope 6 is connected to the connecting shell 21. A round cover 7 is rotatably installed on the connecting plate 43. A round rod 24 is fixedly installed on the connecting shell 21. The round rod 24 is threadedly connected to the round cover 7. The No. 2 pressure sensor 54 can control the rotation of the round cover 7 after being triggered.

[0053] Specifically, after the No. 2 pressure sensor 54 is triggered, the round cover 7 is controlled to rotate so that the round cover 7 and the round rod 24 are separated, that is, the connecting component 4 and the manipulator 2 are separated, and at the same time, the pull rope 6 is controlled to be lengthened so that the manipulator 2 moves downward under the action of gravity until it contacts the workbench or the ground below the manipulator 2; by setting the pull rope 6, after the manipulator 2 breaks, the manipulator 2 is controlled to separate from the connecting component 4 and move downward, so that the objects are driven downward by the pull rope 6 before the rotating rod 52 breaks, thereby improving the situation in which the objects on the manipulator 2 fall directly from the manipulator 2 and are damaged after the manipulator 2 breaks.

[0054] Working principle: During operation, the control slider 3 moves back and forth on the shaft body 1, driving the connecting component 4 to move back and forth synchronously. Since the manipulator 2 is installed on the connecting component 4, the manipulator 2 can move back and forth relative to the shaft body 1. The manipulator 2 grabs the object, moves it, and then releases it. In this cycle, uninterrupted object transportation can be achieved. Affected by factors such as service life and overload operation, the driving rod 23 moves, but the clamping claw 22 does not work, that is, the clamping and releasing actions cannot be performed. When the driving rod 23 moves upward, the clamping claw 22 clamps. Since one end of the rotating rod 52 is connected to the clamping claw 22 and the other end is connected to the No. 1 plate 51, the clamping claw 22 can push the No. 1 plate 51 upward through the rotating rod 52. The No. 1 plate 51 moves upward, driving the No. 1 pressure sensor 53 to move synchronously. If the clamping jaw 22 fails, the clamping jaw 22 remains stationary after the driving rod 23 moves upward, and the No. 1 pressure sensor 53 remains stationary. Therefore, the driving rod 23 can contact the No. 1 pressure sensor 53 after moving upward, and trigger the No. 1 pressure sensor 53. After the No. 1 pressure sensor 53 is triggered, the data is fed back to the controller, and the controller transmits the fault message to the staff, and at the same time controls the telescopic rod 49 to extend and retract. The extension of the telescopic rod 49 pushes the two push plates 48 to move away from each other. The movement of the push plates 48 pushes the two connecting shafts 46 to move horizontally in the direction away from each other. When moving, the connecting shaft 46 contacts the baffle 411, and the baffle 41 The surface in contact with the connecting shaft 46 is an inclined surface, so the baffle 411 is pushed to shrink until the connecting shaft 46 passes through the baffle 411, and then the baffle 411 returns to its original state under the action of gravity. Since both ends of the No. 1 second connecting rod 45 are connected to the two connecting shafts 46, the No. 1 second connecting rod 45 expands to both sides, and the connection point of the No. 1 second connecting rod 45 moves up and down in the direction away from the groove 31, driving the No. 2 second connecting rod 47 and the plug rod 41 to move up and down synchronously until the plug rod 41 is taken out of the groove 31. At this time, the No. 1 spring 410 stretches, the connecting assembly 4 is separated from the slider 3, and then the telescopic rod 49 shrinks to the original state. The connecting shaft 46 is blocked by the baffle 411 and cannot move. After the maintenance of the manipulator 2 is completed, the connecting assembly 47 is moved up and down. Component 4 and manipulator 2 are reinstalled on shaft body 1 and are located on one side of slider 3. When slider 3 approaches hollow plate 44, protrusion 413 on slider 3 first contacts with rotary rod 412 and pushes rotary rod 412 to rotate. Rotation of rotary rod 412 causes baffle 411 to move upward until baffle 411 is no longer in contact with connecting shaft 46. At this time, connecting shaft 46 slides horizontally in a direction approaching each other under the action of elastic force of spring No. 1 410, so that connecting rod No. 1 and connecting rod 45 are folded. Therefore, the connection point of connecting rod No. 1 and connecting rod 45 moves horizontally in a direction close to groove 31, driving connecting rod No. 2 and connecting rod 47 and insertion rod 41 to move synchronously until insertion rod 41 is inserted into groove 31, thus realizing connection between connecting component 4 and slider 3.

[0055] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A coordinate type single-axis robot, comprising an axis body (1) and a manipulator (2), characterized in that: Also includes: A sliding block (3) slidably mounted on the shaft body (1), wherein the sliding block (3) is provided with a groove (31); A connecting component (4) slidably mounted on the shaft body (1), the manipulator (2) being mounted below the connecting component (4), the connecting component (4) comprising an insertion rod (41), the connecting component (4) being connected to the slider (3) by inserting the insertion rod (41) into the groove (31), the connecting component (4) further comprising: a connecting block (42) slidably mounted on the shaft body (1); two connecting plates (43) detachably and symmetrically mounted on the connecting block (42); a hollow plate (44) detachably mounted on the connecting plate (43); and two connecting plates (45) for driving the insertion rod (41) to slide up and down. A second connecting rod (45) is provided, and the two ends of the first second connecting rod (45) are rotatably mounted with connecting shafts (46), and the two ends of the two first second connecting rods (45) are respectively mounted on the same connecting shaft (46), and the connecting shaft (46) is slidably connected to the hollow plate (44), and a second second connecting rod (47) is mounted on the first second connecting rod (45), and a plug rod (41) is mounted on the second second connecting rod (47); two push plates (48) are slidably mounted on the connecting plate (43), and the two push plates (48) are respectively used to push the two connecting shafts (46) to slide; a telescopic rod (41) is mounted between the two push plates (48); 9), the telescopic rod (49) is used to drive the two push plates (48) to move closer and farther away, the manipulator (2) includes a connection shell (21) installed on the connection component (4), a plurality of clamping claws (22) are installed on the connection shell (21), a driving rod (23) is slidably installed on the connection shell (21), and the driving rod (23) can control the clamping and loosening of the plurality of clamping claws (22) by sliding up and down, and a detection component (5) is installed on the connection shell (21), and the detection component (5) is used to detect whether the clamping claws (22) move after the driving rod (23) moves, and if the clamping claws (22) do not move, then the detection component (5) is controlled. The insertion rod (41) of the connecting assembly (4) is taken out from the groove (31), and the detection assembly (5) comprises: a No. 1 plate (51) slidably mounted on the connecting shell (21); a rotating rod (52) connecting the No. 1 plate (51) and the clamping claw (22), and the two ends of the rotating rod (52) are respectively rotatably connected to the No. 1 plate (51) and the clamping claw (22); and a No. 1 pressure sensor (53) mounted on the No. 1 plate (51), wherein the No. 1 pressure sensor (53) is located within the moving range of the driving rod (23), and when the No. 1 pressure sensor (53) is triggered, it can control the telescopic rod (49) to be telescopic.

2. A coordinate type single-axis robot according to claim 1, characterized in that: The detection assembly (5) comprises a plurality of groups, and the rotating rods (52) of the plurality of groups of the detection assembly (5) are respectively connected to different clamping jaws (22).

3. A coordinate type single-axis robot according to claim 2, characterized in that: The connection component (4) further comprises: A spring (410) installed between the two connecting shafts (46); A baffle (411) slidably mounted on the side wall of the hollow plate (44) up and down, wherein the baffle (411) adopts a telescopic structure; A rotary rod (412) mounted on a side wall of the hollow plate (44) is rotatably connected to the baffle plate (411) and the rotary rod (412); A protrusion (413) is fixedly mounted on the sliding block (3), and the rotary rod (412) is located within the moving range of the protrusion (413).

4. A coordinate type single-axis robot according to claim 3, characterized in that: The insertion rod (41) adopts a telescopic structure, the connection point of the No. 2 second connecting rod (47) is rotatably connected to the connection point of the No. 1 second connecting rod (45), and the two ends of the No. 2 second connecting rod (47) are respectively connected to two parts of the insertion rod (41).

5. A coordinate type single-axis robot according to claim 4, characterized in that: The connection component (4) further comprises: A second spring (414) installed in the insertion rod (41); A square shell (415) is fixedly mounted inside the hollow plate (44), and the connection point of the No. 2 second connecting rod (47) slides up and down on the square shell (415).

6. A coordinate type single-axis robot according to claim 5, characterized in that: The rotating rod (52) adopts a telescopic structure, and a second pressure sensor (54) is installed inside the rotating rod (52). When the rotating rod (52) is stretched, the second pressure sensor (54) can be triggered.

7. A coordinate type single-axis robot according to claim 6, characterized in that: A pull rope (6) is wound inside the connection block (42), and the end of the pull rope (6) is connected to the connection shell (21). A round cover (7) is rotatably mounted on the connection plate (43), and a round rod (24) is fixedly mounted on the connection shell (21). The round rod (24) is threadedly connected to the round cover (7), and the second pressure sensor (54) can control the rotation of the round cover (7) after being triggered.

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