Manipulator with clamp convenient to replace

Abstract

The invention relates to the technical field of manipulators, and particularly discloses a manipulator convenient for replacing a clamp, which comprises a mechanical arm, a first clamping mechanism is arranged at the right end of the mechanical arm, a connecting mechanism is arranged at the right end of the first clamping mechanism, a second clamping mechanism is arranged at the right end of the connecting mechanism, and the first clamping mechanism comprises a connecting block and a first clamping jaw. The right end of the mechanical arm is rotationally connected with a connecting block, and the right end of the connecting block is fixedly connected with a fixing plate. Under the mutual cooperation of the first clamping mechanism, the connecting mechanism and the second clamping mechanism, the second clamping mechanism can be rapidly installed on the first clamping mechanism, the second clamping mechanism can efficiently operate through the driving force provided by the first clamping mechanism, the clamping function is achieved, and the clamping efficiency is improved. Therefore, the problem that the overall production efficiency is reduced due to the fact that a large amount of time is consumed in the process that a mechanical arm part of a manipulator needs to be disassembled and then a proper clamp is installed when the clamp is replaced is solved.

Description

Technical Field

[0001] The invention belongs to the technical field of manipulators, and in particular relates to a manipulator that is convenient for replacing clamps. Background Art

[0002] A robot is an automatic device that can imitate certain movements of human hands and arms, and is used to pick up, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and its structure and performance combine the advantages of both human and mechanical machines.

[0003] The robot fixes the workpiece through its fixture and uses multi-axis movement function to move the workpiece; however, the fixtures equipped with most robots are of relatively single size and can usually only adapt to specific types of workpieces. Therefore, when different materials need to be processed, different fixtures often need to be replaced; traditionally, replacing the fixture requires disassembling the robot arm part of the robot and then installing the appropriate fixture. This process is not only time-consuming, but also reduces the overall production efficiency. Summary of the invention

[0004] The purpose of the present invention is to provide a robot that is easy to replace fixtures, so as to solve the problem in the prior art that replacing fixtures requires disassembling the mechanical arm part of the robot and then installing a suitable fixture. This process consumes a lot of time, thereby reducing overall production efficiency.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A robot for facilitating replacement of fixtures comprises a robot arm, wherein a first clamping mechanism is arranged at the right end of the robot arm, a connecting mechanism is arranged at the right end of the first clamping mechanism, a second clamping mechanism is arranged at the right end of the connecting mechanism, the first clamping mechanism comprises a connecting block and a first clamping claw, the right end of the robot arm is rotatably connected to the connecting block, the right end of the connecting block is fixedly connected to a fixing plate, and the first clamping claw is slidably connected to the front and rear sides of the right end of the fixing plate.

[0007] Preferably: the connecting mechanism includes a connecting seat and a locking assembly, the outer wall of the fixed plate is slidably connected to a connecting seat, the inner wall of the connecting seat is fixedly connected to a stop block, four groups of the stop blocks are provided and located at the four corners of the connecting seat, and the left end of the stop block abuts against the right end of the fixed plate.

[0008] Preferably: the locking assembly includes a mounting sleeve and a stop block, the upper and lower ends of the front and rear sides of the connecting seat are fixedly connected with the mounting sleeves, the inside of the mounting sleeve is fixedly connected with a first spring, the adjacent ends of the upper and lower groups of the first springs are fixedly connected with a stop block, the stop block is located inside the mounting sleeve and is slidably connected thereto, and the lower end of the stop block passes through the connecting seat.

[0009] Preferably, the right end of the abutment block inside the connection seat abuts against the left end of the fixing plate, and the left end surface of the abutment block inside the connection seat is provided with an inclined surface.

[0010] Preferably: a limit rod is fixedly connected inside the connecting seat, and the limit rod is provided with two groups and is located on the upper and lower sides of the first clamping jaw, the front and rear side walls of the limit rod are slidably connected with sliders, a driving plate is fixedly connected between the upper and lower sliders, the driving plate is located between the two groups of first clamping jaws, a second spring is fixedly connected between adjacent driving plates, and an end face of the driving plate away from the second spring is in contact with the first clamping jaw.

[0011] Preferably, both front and rear side walls of the limiting rod are fixedly connected to limiting sleeves, and one end of the limiting sleeve away from the inner wall of the connecting seat abuts against the driving plate.

[0012] Preferably: the second clamping mechanism includes a cross bar and a second clamping claw, the right ends of the front and rear sides of the connecting seat are fixedly connected to vertical bars, the right ends of the upper and lower sides of the vertical bars are fixedly connected to cross bars, and the second clamping claws are arranged on the front and rear sides of the cross bar.

[0013] Preferably: both the front and rear sides of the cross bar are fixedly connected with right-angle rods, one end of the right-angle rod away from the cross bar is rotatably connected with a second clamping jaw through a bearing seat, and the upper and lower groups of the clamping jaws are fixedly connected by a connecting rod.

[0014] Preferably, the front and rear groups of right-angle rods are symmetrical to each other, and the connecting rod is located at the right end of the bearing seat.

[0015] Preferably, the side wall of the connecting rod is rotatably connected with a connecting rod, and one end of the connecting rod away from the connecting rod is rotatably connected to the right end of the driving plate.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention enables the second clamping mechanism to be quickly installed on the first clamping mechanism through the mutual cooperation of the first clamping mechanism, the connecting mechanism and the second clamping mechanism, and the second clamping mechanism can operate efficiently through the driving force provided by the first clamping mechanism to realize the clamping function, thereby solving the problem that the mechanical arm part of the manipulator needs to be disassembled to replace the clamp, and then a suitable clamp is installed, which consumes a lot of time and reduces the overall production efficiency.

[0018] 2. The present invention realizes an efficient fixing mechanism by cleverly combining the installation sleeve, the first spring, the stopper and the mutual cooperation of the inclined surface; when the connecting seat moves to the left, the fixing plate will pass through the stopper and contact the stopper; in this process, the inclined surface in the stopper is pushed by the fixing plate, prompting the stopper to move toward the inside of the installation sleeve and compressing the first spring at the same time. Once the fixing plate completely passes through the stopper, the first spring will push the stopper to reset due to deformation recovery, so that the stopper is tightly against the fixing plate, thereby achieving the purpose of firmly fixing the connecting seat on the fixing plate; this not only simplifies the fixing process, but also improves the convenience and efficiency of operation.

[0019] 3. The present invention realizes efficient operation of the clamping mechanism through the mutual cooperation of the limit rod, the drive plate, the second spring, the connecting rod and the connecting rod. When the first clamping jaw moves toward the middle, it will squeeze the drive plate, causing the drive plate to move toward the center. This movement further drives the connecting rod, and then causes the second clamping jaw to rotate accordingly to realize the clamping action. This continuous power transmission process not only ensures the stability of the second clamping jaw during the clamping process, but also provides it with necessary power support, thereby improving the clamping efficiency and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2 It is a schematic diagram of the working structure of the second clamping mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the top plan structure of the connecting mechanism and the second clamping mechanism of the present invention;

[0023] Figure 4 It is a schematic diagram of the front cross-sectional structure of the connecting mechanism of the present invention;

[0024] Figure 5 For the present invention Figure 4 The enlarged structural diagram of part A in the middle;

[0025] Figure 6 It is a schematic diagram of the top plan structure of the connecting mechanism of the present invention;

[0026] Figure 7 It is a left-side structural schematic diagram of the connecting mechanism and the second clamping mechanism of the present invention;

[0027] Figure 8 It is a schematic diagram of the explosion structure of the driving plate and the limiting rod of the present invention.

[0028] In the figure: 1. Robot arm; 2. First clamping mechanism; 21. Connecting block; 22. Fixing plate; 23. First clamping jaw; 3. Connecting mechanism; 31. Connecting seat; 32. Locking assembly; 321. Mounting sleeve; 322. First spring; 323. Stop block; 324. Inclined surface; 33. Limiting rod; 331. Limiting sleeve; 34. Driving plate; 341. Sliding block; 35. Second spring; 36. Stop block; 4. Second clamping mechanism; 41. Vertical rod; 42. Cross rod; 43. Right-angle rod; 44. Second clamping jaw; 45. Connecting rod; 46. Connecting rod. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] Reference Figure 1-Figure 8 As shown, the present invention provides a manipulator for facilitating the replacement of a fixture, comprising a manipulator arm 1, a first clamping mechanism 2 is arranged at the right end of the manipulator arm 1, a connecting mechanism 3 is arranged at the right end of the first clamping mechanism 2, a second clamping mechanism 4 is arranged at the right end of the connecting mechanism 3, the first clamping mechanism 2 comprises a connecting block 21 and a first clamping claw 23, the right end of the manipulator arm 1 is rotatably connected to the connecting block 21, the right end of the connecting block 21 is fixedly connected to a fixing plate 22, and the front and rear sides of the right end of the fixing plate 22 are slidably connected to the first clamping claw 23; during operation, the second clamping mechanism 4 is quickly installed on the first clamping mechanism 2 through the connecting mechanism 3 On the right side, it solves the problem that when replacing the fixture, it is necessary to disassemble the robot arm 1 of the manipulator and then install a suitable fixture. This process will consume a lot of time, thereby reducing the overall production efficiency. When working, the movement of the first clamping claw 23 in the first clamping mechanism 2 provides the necessary driving force, and this power is transmitted through the connecting mechanism 3, thereby driving the operation of the second clamping mechanism 4. This design realizes a fast and effective clamping function, while avoiding the tedious steps of disassembling the robot arm 1 part of the traditional clamp replacement, significantly reducing the time required for replacing the fixture, thereby greatly improving the production efficiency.

[0031] In a further embodiment, referring to Figure 3-Figure 7 The connecting mechanism 3 includes a connecting seat 31 and a locking assembly 32. The outer wall of the fixed plate 22 is also slidably connected to the connecting seat 31. The inner wall of the connecting seat 31 is fixedly connected to a stop block 36. Four groups of stop blocks 36 are provided and are located at the four corners of the connecting seat 31. The left end of the stop block 36 abuts against the right end of the fixed plate 22.

[0032] In this embodiment, by providing the abutment block 36, when the connecting seat 31 moves, the fixing plate 22 can be smoothly moved into the interior of the connecting seat 31 and achieve precise mutual abutment with the abutment block 36. At this time, combined with the synergistic effect of the locking assembly 32, it can ensure that the connecting seat 31 is firmly fixed on the fixing plate 22, thereby achieving the effect of quickly disassembling and assembling the connecting seat 31.

[0033] In a further embodiment, referring to Figure 5 The locking assembly 32 includes a mounting sleeve 321 and a stop block 323. The upper and lower ends of the front and rear sides of the connecting seat 31 are fixedly connected with the mounting sleeve 321. The inside of the mounting sleeve 321 is fixedly connected with a first spring 322. The adjacent ends of the upper and lower groups of first springs 322 are fixedly connected with a stop block 36. The stop block 36 is located inside the mounting sleeve 321 and is slidably connected thereto. The lower end of the stop block 36 passes through the connecting seat 31. The right end of the stop block 36 located inside the connecting seat 31 abuts against the left end of the fixing plate 22. The left end surface of the stop block 36 located inside the connecting seat 31 is provided with an inclined surface 324.

[0034] In this embodiment, when the connecting seat 31 moves to the left, the fixing plate 22 will pass through the block 323 and contact the stop block 36; during this process, the inclined surface 324 in the block 323 is pushed by the fixing plate 22, prompting the block 323 to move toward the inside of the mounting sleeve 321 and compressing the first spring 322. Once the fixing plate 22 completely passes through the block 323, the first spring 322 will push the block 323 to return to its original position due to deformation recovery, so that the block 323 is tightly against the fixing plate 22, thereby achieving the purpose of firmly fixing the connecting seat 31 on the fixing plate 22; this not only simplifies the fixing process, but also improves the convenience and efficiency of operation.

[0035] In a further embodiment, referring to Figure 6-Figure 7 A limiting rod 33 is fixedly connected inside the connecting seat 31. Two groups of limiting rods 33 are provided and are located on the upper and lower sides of the first clamping jaw 23. The front and rear side walls of the limiting rod 33 are slidably connected with sliders 341. A driving plate 34 is fixedly connected between the upper and lower sliders 341. The driving plate 34 is located between the two groups of first clamping jaws 23. A second spring 35 is fixedly connected between adjacent driving plates 34. An end face of the driving plate 34 away from the second spring 35 is in contact with the first clamping jaw 23.

[0036] In this embodiment, when the first clamping jaw 23 moves toward the center, it applies pressure to the driving plate 34, pushing the driving plate 34 to move toward the center position; in this process, the movement of the driving plate 34 squeezes the second spring 35, causing the second spring 35 to be compressed; when the driving plate 34 moves, it provides power for the subsequent clamping of the second clamping mechanism 4; after the clamping operation is completed, the first clamping jaw 23 releases the pressure by expanding the distance between them, at which time the second spring 35 returns to its original shape and pushes the driving plate 34 to expand to both sides, thereby providing power for releasing the clamping and realizing the automatic release function.

[0037] In a further embodiment, referring to Figure 8 The front and rear side walls of the limiting rod 33 are fixedly connected to the limiting sleeve 331 , and one end of the limiting sleeve 331 away from the inner wall of the connecting seat 31 abuts against the driving plate 34 .

[0038] In this embodiment, by installing a limiting sleeve 331 on the front and rear side walls of the limiting rod 33, we can effectively control the pushing distance of the second spring 35 when restoring the deformation, and prevent the driving plate 34 from moving excessively to both sides. Such a design can effectively avoid the conflict between the driving plate 34 and the fixing plate 22 when installing the connecting seat 31, thereby ensuring the smooth and safe operation of the machine.

[0039] In a further embodiment, referring to Figure 6-Figure 7 The second clamping mechanism 4 includes a cross bar 42 and a second clamping claw 44. The right ends of the front and rear sides of the connecting seat 31 are fixedly connected with the vertical bar 41, and the right ends of the upper and lower sides of the vertical bar 41 are fixedly connected with the cross bar 42. The front and rear sides of the cross bar 42 are provided with second clamping claws 44. The front and rear sides of the cross bar 42 are fixedly connected with right-angle rods 43. The end of the right-angle rod 43 away from the cross bar 42 is rotatably connected to the second clamping claw 44 through a bearing seat. The upper and lower groups of clamping claws are fixedly connected by a connecting rod 46. The front and rear groups of right-angle rods 43 are symmetrical to each other. The connecting rod 46 is located at the right end of the bearing seat. The side wall of the connecting rod 46 is rotatably connected with a connecting rod 45, and the end of the connecting rod 45 away from the connecting rod 46 is rotatably connected to the right end of the driving plate 34.

[0040] In this embodiment, by arranging the front and rear groups of right-angle rods 43 to be symmetrical and the connecting rod 46 at the right end of the bearing seat, it is achieved that the connecting rod 45 drives the second clamping jaw 44 to rotate when moving closer, so that the right ends of the second clamping jaws 44 on the front and rear sides can move closer to each other to achieve the clamping function; the specific operation is as follows: when the driving plate 34 moves toward the middle, it will drive the connecting rod 45 to move, and the movement of the connecting rod 45 causes the connecting rod 46 to rotate around the axis of the bearing seat, thereby driving the second clamping jaws 44 on the upper and lower sides of the connecting rod 46 to rotate, achieving the clamping effect; when the driving plate 34 recovers its deformation and moves under the action of the second spring 35, it drives the second clamping jaw 44 to rotate in the opposite direction through the connecting rod 45 and the connecting rod 46, thereby canceling the clamping of the material and achieving automatic release; this design not only improves the accuracy of clamping, but also ensures the smoothness and reliability of operation.

[0041] The working principle of the present invention is as follows: the connecting seat 31 is moved to the left, so that the first clamping claw 23 and the fixing plate 22 are moved to the inside of the connecting seat 31, and the first clamping claw 23 is moved to the front and rear sides of the driving plate 34, and the connecting seat 31 is continued to be moved. At this time, the upper and lower end surfaces of the fixing plate 22 will squeeze the inclined surface 324, and the inclined surface 324 in the stop block 323 is pushed by the fixing plate 22 to prompt the stop block 323 to move into the installation sleeve 321, and at the same time compress the first spring 322. Once the fixing plate 22 completely passes through the stop block 323, the right end of the fixing plate 22 contacts with the ground block, and the first spring 322 will push the stop block 323 to return to its original position due to deformation recovery, so that the stop block 323 is tightly against the fixing plate 22, thereby achieving the purpose of firmly fixing the connecting seat 31 on the fixing plate 22, solving the problem that the replacement of the fixture requires disassembling the mechanical arm 1 part of the manipulator, and then installing a suitable fixture. This process consumes a lot of time, thereby reducing the overall production efficiency.

[0042] When clamping large materials, it is only necessary to start the first clamping jaw 23 so that the first clamping jaw 23 moves toward the center and drives the driving plate 34 to move. At this time, the second spring 35 is squeezed, causing the second spring 35 to be compressed; when the driving plate 34 moves, it drives the connecting rod 45 to move, and the movement of the connecting rod 45 drives the connecting rod 46 to rotate around the axis of the bearing seat, thereby driving the second clamping jaw 44 to rotate to achieve the clamping effect; when the first clamping jaw 23 expands its spacing, the driving plate 34 recovers its deformation and moves under the action of the second spring 35, and at this time, the second clamping jaw 44 is driven to rotate in the opposite direction through the connecting rod 45 and the connecting rod 46, thereby canceling the clamping of the material and achieving automatic release; this design not only improves the accuracy of clamping, but also ensures the smoothness and reliability of operation.

[0043] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for facilitating the replacement of a fixture, comprising a manipulator arm (1), characterized in that: The right end of the mechanical arm (1) is provided with a first clamping mechanism (2), the right end of the first clamping mechanism (2) is provided with a connecting mechanism (3), and the right end of the connecting mechanism (3) is provided with a second clamping mechanism (4); The first clamping mechanism (2) comprises a connecting block (21) and a first clamping claw (23); the right end of the mechanical arm (1) is rotatably connected to the connecting block (21); the right end of the connecting block (21) is fixedly connected to a fixing plate (22); and the first clamping claw (23) is slidably connected to both the front and rear sides of the right end of the fixing plate (22).

2. A manipulator for facilitating the replacement of a fixture according to claim 1, characterized in that: The connecting mechanism (3) comprises a connecting seat (31) and a locking assembly (32); the outer wall of the fixing plate (22) is slidably connected to the connecting seat (31); the inner wall of the connecting seat (31) is fixedly connected to a stop block (36); four groups of the stop blocks (36) are provided and are located at the four corners of the connecting seat (31); the left end of the stop block (36) is in contact with the right end of the fixing plate (22).

3. A manipulator for facilitating the replacement of a fixture according to claim 2, characterized in that: The locking assembly (32) comprises a mounting sleeve (321) and a stopper (323); the mounting sleeves (321) are fixedly connected to the upper and lower ends of the front and rear sides of the connecting seat (31); a first spring (322) is fixedly connected inside the mounting sleeve (321); adjacent ends of the upper and lower groups of the first spring (322) are fixedly connected to a stopper (36); the stopper (36) is located inside the mounting sleeve (321) and is slidably connected thereto; the lower end of the stopper (36) passes through the connecting seat (31).

4. A manipulator for facilitating the replacement of a fixture according to claim 2, characterized in that: The right end of the abutment block (36) located inside the connection seat (31) abuts against the left end of the fixing plate (22), and a slope (324) is provided on the left end surface of the abutment block (36) located inside the connection seat (31).

5. The manipulator for facilitating the replacement of a fixture according to claim 2, characterized in that: A limiting rod (33) is fixedly connected inside the connecting seat (31), and two groups of the limiting rods (33) are provided and are located at the upper and lower sides of the first clamping jaw (23). The front and rear side walls of the limiting rod (33) are slidably connected with a slider (341), and a driving plate (34) is fixedly connected between the upper and lower sliders (341). The driving plate (34) is located between the two groups of first clamping jaws (23), and a second spring (35) is fixedly connected between adjacent driving plates (34), and an end surface of the driving plate (34) away from the second spring (35) is in contact with the first clamping jaw (23).

6. A manipulator for facilitating the replacement of a fixture according to claim 5, characterized in that: The front and rear side walls of the limiting rod (33) are both fixedly connected to the limiting sleeve (331), and one end of the limiting sleeve (331) away from the inner wall of the connecting seat (31) is in contact with the driving plate (34).

7. A manipulator for facilitating the replacement of a fixture according to claim 2, characterized in that: The second clamping mechanism (4) comprises a cross bar (42) and a second clamping claw (44); the right ends of the front and rear sides of the connecting seat (31) are fixedly connected to the vertical bar (41); the right ends of the upper and lower sides of the vertical bar (41) are fixedly connected to the cross bar (42); and the second clamping claw (44) is arranged on the front and rear sides of the cross bar (42).

8. A manipulator for facilitating the replacement of a fixture according to claim 7, characterized in that: The front and rear sides of the cross bar (42) are fixedly connected with right-angle rods (43); one end of the right-angle rod (43) away from the cross bar (42) is rotatably connected with a second clamping jaw (44) via a bearing seat; and the upper and lower groups of the clamping jaws are fixedly connected via a connecting rod (46).

9. A manipulator for facilitating the replacement of a fixture according to claim 8, characterized in that: The front and rear groups of right-angle rods (43) are symmetrical to each other, and the connecting rod (46) is located at the right end of the bearing seat.

10. The manipulator for facilitating the replacement of a fixture according to claim 8, characterized in that: The side wall of the connecting rod (46) is rotatably connected to a connecting rod (45), and one end of the connecting rod (45) away from the connecting rod (46) is rotatably connected to the right end of the driving plate (34).

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