Quick replacement device for robot unit gripper

Abstract

The invention relates to the technical field of mechanical grippers, and particularly discloses a robot unit gripper quick replacement device which comprises a base, a movable arm is rotatably mounted at the top of the base, a mounting assembly and a motor are arranged at the top of the movable arm, and the mounting assembly comprises a gripper mechanism, a clamping structure, a clamping structure and a fixing structure; the clamping jaw is accurately installed in the installation base in a sliding mode through the clamping base, preliminary positioning installation is completed through the clamping structure, so that the accuracy of the installation position is guaranteed, the installation base is rotated, the stable clamping state of the clamping base in the installation base is achieved by adjusting the position of the square opening of the limiting sleeve, and therefore the clamping jaw can be installed conveniently. Therefore, more reliable further installation of the clamping jaw on the movable arm is achieved, the stability of the whole installation structure is powerfully guaranteed, meanwhile, the clamping jaw can be detached from the clamping jaw more conveniently, and the purpose of rapid replacement is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of machine grippers, and in particular to a robot unit gripper quick replacement device. Background Art

[0002] With the booming development of artificial intelligence, the process of robots expanding from the industrial field to the commercial field is accelerating, and the market's expectations and requirements for robots and their mechanical grippers are also rising. As the key execution component at the end of industrial robots, the robot unit gripper undertakes the important responsibilities of grasping, carrying and manipulating various objects, and efficiently completes a variety of material handling tasks under the precise control of host computers such as PLC, industrial PC, single-chip microcomputer and motion controller.

[0003] In the actual application scenarios of industrial production, robots often need to flexibly switch different grippers according to different work tasks. The current traditional manual replacement method requires the robot to be carefully moved to a safe area first, and then the robot power source is shut down. According to the specific installation structure of the gripper, the bolts, nuts and other fasteners connecting the gripper to the end of the robot arm are laboriously loosened and removed with the help of tools such as wrenches. This process not only has complicated operating procedures, greatly slows down the replacement speed and reduces production efficiency, but also due to the lack of special disassembly auxiliary devices and stable support structures, it is easy to cause safety hazards during the disassembly process, posing a threat to the personal safety of operators.

[0004] Therefore, it is necessary to provide a robot unit gripper quick replacement device to solve the above problems. Summary of the invention

[0005] The main purpose of the present invention is to provide a robot unit gripper quick replacement device, which can effectively solve the problems in the background technology.

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

[0007] A robot unit gripper quick replacement device comprises a base, a movable arm is rotatably mounted on the top of the base, a mounting assembly and a motor are arranged on the top of the movable arm, and the mounting assembly comprises a gripper mechanism, a clamping structure, a clamping structure and a fixing structure;

[0008] The gripper mechanism comprises a mounting seat arranged at the top of the movable arm, an end of the mounting seat away from the movable arm is slidably connected to a fixed seat inside, and an end of the fixed seat away from the mounting seat is fixedly connected to a connecting seat;

[0009] The clamping structure includes a fixed shaft and a driving shaft rotatably connected to the inside of the movable arm, the driving shaft is fixedly connected to the mounting seat, the inside of the mounting seat is symmetrically rotatably connected to a limiting sleeve, a fixing rod is fixedly connected between the limiting sleeves, one end of the fixing seat close to the mounting seat is fixedly connected to a clamping seat, one end of the clamping seat away from the fixing seat is fixedly connected to a connecting block, one end of the connecting block away from the clamping seat is fixedly connected to a clamping block, the clamping block is slidably connected between the two limiting sleeves, the outer sides of the two limiting sleeves are provided with square openings, and the driving shaft is fixedly connected to the output shaft of the motor;

[0010] The clamping structure includes a movable block and a pre-tightening block which are slidably connected to the inside of the clamping seat. The bottom of the pre-tightening block is symmetrically fixedly connected to a limiting rod. The bottom of the limiting rod is fixedly connected to a spring, and the spring is fixedly connected to the movable block.

[0011] As a further improvement of the above scheme, the gripping mechanism also includes a movable seat slidably connected to the outside of the fixed seat, the outer side of the movable seat is evenly rotatably connected to the driving rod, the outer side of the connecting seat is evenly rotatably connected to the clamping claw, and the clamping claw is rotatably connected to the driving rod.

[0012] As a further improvement of the above solution, a mounting block is symmetrically fixedly connected to the outer side of the mounting seat, a hydraulic rod is fixedly installed inside the mounting block, and the telescopic ends of the hydraulic rod are fixedly connected to the movable seat.

[0013] As a further improvement of the above scheme, the fixing structure includes a movable block 2 which is slidably connected to the clamping seat and the inside of the fixing seat, the outer side of the movable block 2 is fixedly connected to a threaded rod, the inside of the connecting seat is rotatably connected to a threaded sleeve, and the threaded rod is threadedly connected to the inside of the threaded sleeve.

[0014] As a further improvement of the above scheme, the clamping structure also includes a fixed plate fixedly connected to the inside of the clamping seat, the inside of the fixed plate is rotatably connected with a screw rod, the top of the clamping structure is threadedly connected to movable block one, the bottom of the screw rod is fixedly connected with a gear, the inside of the movable block two is fixedly connected with a rack, and the gear and the rack are meshed with each other.

[0015] As a further improvement of the above solution, a second spring is fixedly connected between the movable block 2 and the clamping seat, and a circular groove is provided at one end of the movable block 2 away from the threaded rod.

[0016] As a further improvement of the above solution, an arc groove is provided on one side of the clamping seat close to the limiting sleeve, and the limiting sleeve is rotatably connected between the limiting sleeve and the mounting seat.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] The clamping claw is accurately installed inside the mounting seat in a sliding manner with the help of the clamping seat, and the initial positioning installation is completed using the clamping structure to ensure the accuracy of the installation position. The mounting seat is rotated, and the position of the square opening of the limit sleeve is adjusted to achieve a stable clamping state of the clamping seat in the mounting seat, thereby achieving a more reliable further installation of the clamping claw on the movable arm, which effectively ensures the stability of the overall mounting structure while allowing the clamping claw to be more conveniently removed from the top to achieve the purpose of quick replacement. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[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 internal structure of the installation assembly of the present invention;

[0022] Figure 3 It is a schematic cross-sectional structure diagram of the movable arm of the present invention;

[0023] Figure 4 It is a structural schematic diagram of the gripper mechanism of the present invention;

[0024] Figure 5 It is a schematic diagram of the internal structure of the fixing seat of the present invention;

[0025] Figure 6 It is a structural schematic diagram of the gripping mechanism and the clamping structure of the present invention;

[0026] Figure 7 It is a structural schematic diagram of the clamping structure and the clamping structure of the present invention;

[0027] Figure 8 For the present invention Figure 7 Schematic diagram of the structure at A in the middle.

[0028] In the figure: 1. base; 2. movable arm; 3. mounting assembly; 31. gripper mechanism; 311. mounting seat; 312. movable seat; 313. fixed seat; 314. connecting seat; 315. driving rod; 316. clamping claw; 32. clamping structure; 321. fixed shaft; 322. driving shaft; 323. clamping seat; 324. clamping block; 325. connecting block; 326. limiting sleeve; 327. fixing rod; 33. clamping structure; 331. movable block 1; 332. preload block; 333. screw rod; 334. gear; 335. fixing plate; 336. rack; 337. limiting rod; 338. spring 1; 34. fixing structure; 341. movable block 2; 342. spring 2; 343. threaded rod; 344. threaded sleeve; 35. mounting block; 36. hydraulic rod; 4. motor. 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] See also Figures 1 to 8 As shown, the present invention provides an embodiment:

[0031] A robot unit gripper quick replacement device comprises a base 1, a movable arm 2 is rotatably mounted on the top of the base 1, a mounting assembly 3 and a motor 4 are arranged on the top of the movable arm 2, and the mounting assembly 3 comprises a gripper mechanism 31, a clamping structure 32, a clamping structure 33 and a fixing structure 34;

[0032] The gripping mechanism 31 includes a mounting seat 311 disposed on the top of the movable arm 2, wherein one end of the mounting seat 311 away from the movable arm 2 is slidably connected to a fixing seat 313, and one end of the fixing seat 313 away from the mounting seat 311 is fixedly connected to a connecting seat 314;

[0033] The clamping structure 32 includes a fixed shaft 321 and a driving shaft 322 that are rotatably connected to the inside of the movable arm 2. The driving shaft 322 is fixedly connected to the mounting seat 311. The mounting seat 311 is symmetrically rotatably connected to a limiting sleeve 326. A fixing rod 327 is fixedly connected between the limiting sleeves 326. The end of the fixing seat 313 close to the mounting seat 311 is fixedly connected to a clamping seat 323. The end of the clamping seat 323 away from the fixing seat 313 is fixedly connected to a connecting block 325. The end of the connecting block 325 away from the clamping seat 323 is fixedly connected to a clamping block 324. The clamping block 324 is slidably connected between the two limiting sleeves 326. The outer sides of the two limiting sleeves 326 are provided with square openings. The driving shaft 322 is fixedly connected to the output shaft of the motor 4.

[0034] The clamping structure 33 includes a movable block 331 and a pre-tightening block 332 which are slidably connected to the inside of the clamping seat 323. The bottom of the pre-tightening block 332 is symmetrically fixedly connected to a limiting rod 337. The bottom of the limiting rod 337 is fixedly connected to a spring 338, and the spring 338 is fixedly connected to the movable block 331.

[0035] In practical application, the embodiment of the present invention is as follows: Figures 5 to 8 As shown, when the gripper is installed, the fixing seat 313 and the connecting seat 314 are first slid into the inside of the mounting seat 311 through the open end away from the movable arm 2. During this process, the clamping seat 323 enters the mounting seat 311, and the clamping block 324 on the clamping seat 323 slides along the channel between the limiting sleeves 326 until the clamping block 324 reaches the specified position of the limiting sleeve 326. At this time, due to the elastic force of the spring 1 338 at the bottom of the pre-tightening block 332, the movable block 1 331 is pushed up, and the movable block 1 331 forms a preliminary clamping connection with the corresponding structure inside the mounting seat 311, thereby ensuring the accuracy of the initial installation position of the gripper mechanism 31 in the mounting seat 311.

[0036] Then, if Figures 3 to 6 As shown, the motor 4 is started, and the driving shaft 322 of the motor 4 drives the mounting seat 311 to rotate around the fixed shaft 321. During the rotation of the mounting seat 311, due to the change in the square opening position of the limiting sleeve 326, the clamping block 324 is clamped into the square opening of the limiting sleeve 326 under the coordinated action of the spring 1 338 and the movable block 1 331, so that the clamping seat 323 is clamped in the mounting seat 311, thereby completing the further installation of the gripping mechanism 31 on the movable arm 2, ensuring the stability of the overall installation;

[0037] When the gripper needs to be replaced, the motor 4 is reversed, the mounting seat 311 rotates in the opposite direction, the position of the square opening of the limiting sleeve 326 is changed again, and the block 324 is disengaged from the square opening. Under the action of overcoming the elastic force of the spring 338, the gripper mechanism 31 can be removed from the mounting seat 311, thereby achieving the purpose of quickly replacing the gripper.

[0038] like Figures 2 to 4 As shown, the gripping mechanism 31 also includes a movable seat 312 slidably connected to the outside of the fixed seat 313, the outer side of the movable seat 312 is evenly rotatably connected to the driving rod 315, the outer side of the connecting seat 314 is evenly rotatably connected to the clamping claw 316, the clamping claw 316 and the driving rod 315 are rotatably connected, the outer side of the mounting seat 311 is symmetrically fixedly connected to the mounting block 35, the inside of the mounting block 35 is fixedly installed with a hydraulic rod 36, and the telescopic ends of the hydraulic rod 36 are fixedly connected to the movable seat 312.

[0039] In actual application of the embodiment of the present invention, after the robot receives the grasping instruction, the hydraulic rod 36 is started, and its telescopic end pushes the movable seat 312 to slide linearly along the outer side of the fixed seat 313. Since the movable seat 312 and the clamping claw 316 are rotationally connected through the driving rod 315, as the movable seat 312 slides, the driving rod 315 will rotate around the connection point between it and the movable seat 312, thereby driving the clamping claw 316 to make corresponding rotational movement around the connection point between it and the connecting seat 314. Under the linkage action of the driving rod 315, multiple clamping claws 316 realize synchronous opening and closing actions, thereby realizing stable grasping.

[0040] like Figure 5 and Figure 6 As shown, the fixed structure 34 includes a movable block 341 that is slidably connected to the inside of the clamping seat 323 and the fixed seat 313, the outer side of the movable block 341 is fixedly connected with a threaded rod 343, the inside of the connecting seat 314 is rotatably connected with a threaded sleeve 344, the threaded rod 343 is threadedly connected to the inside of the threaded sleeve 344, a spring 342 is fixedly connected between the movable block 341 and the clamping seat 323, and a circular groove is provided at one end of the movable block 341 away from the threaded rod 343.

[0041] When the embodiment of the present invention is actually used, the threaded sleeve 344 is rotated. Due to the threaded connection relationship between the threaded rod 343 and the threaded sleeve 344, the threaded rod 343 will generate linear displacement under the rotation drive of the threaded sleeve 344, and the movable block 2 341 fixedly connected to the threaded rod 343 slides inside the clamping seat 323 and the fixed seat 313. During this process, the spring 2 342 is stretched or compressed, and the elastic force generated by it reacts to the movable block 2 341, thereby assisting in adjusting the movement stability of the movable block 2 341.

[0042] like Figure 7 and Figure 8 As shown, the clamping structure 33 also includes a fixed plate 335 fixedly connected to the inside of the clamping seat 323, the inside of the fixed plate 335 is rotatably connected with a screw rod 333, the top of the clamping structure 33 is threadedly connected to the movable block 1 331, the bottom of the screw rod 333 is fixedly connected with a gear 334, the inside of the movable block 2 341 is fixedly connected with a rack 336, and the gear 334 and the rack 336 are meshed with each other.

[0043] When the embodiment of the present invention is applied in practice, when the movable block 2 341 is displaced driven by the threaded sleeve 344 and the threaded rod 343, the rack 336 fixedly connected inside the movable block 2 341 meshes with the gear 334 at the bottom of the screw rod 333, and the movement of the rack 336 drives the gear 334 to rotate. The rotation of the gear 334 then drives the screw rod 333 to rotate synchronously in the fixed plate 335, and the movable block 1 331 threadedly connected to the top of the screw rod 333 moves vertically along the inside of the clamping seat 323 under the rotation of the screw rod 333, thereby fixing the position of the preload block 332 and ensuring the stability of the installation.

[0044] like Figure 7 As shown, an arc groove is formed on one side of the clamping seat 323 close to the limiting sleeve 326 , and the limiting sleeve 326 is rotatably connected between the limiting sleeve 326 and the mounting seat 311 .

[0045] When the embodiment of the present invention is actually used, the arc groove can ensure the tightness of the fit between the clamping seat 323 and the limiting sleeve 326 , and ensure the stability of the rotation of the limiting sleeve 326 between the limiting sleeve 326 and the mounting seat 311 .

[0046] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0047] 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 robot unit gripper quick replacement device, comprising a base (1), a movable arm (2) rotatably mounted on the top of the base (1), characterized in that: A mounting assembly (3) and a motor (4) are provided on the top of the movable arm (2); the mounting assembly (3) comprises a gripping mechanism (31), a clamping structure (32), a clamping structure (33) and a fixing structure (34); The gripping mechanism (31) comprises a mounting seat (311) arranged on the top of the movable arm (2); an end of the mounting seat (311) away from the movable arm (2) is slidably connected to a fixing seat (313) inside, and an end of the fixing seat (313) away from the mounting seat (311) is fixedly connected to a connecting seat (314); The clamping structure (32) comprises a fixed shaft (321) and a driving shaft (322) which are rotatably connected to the inside of the movable arm (2); the driving shaft (322) is fixedly connected to the mounting seat (311); a limiting sleeve (326) is symmetrically rotatably connected inside the mounting seat (311); a fixing rod (327) is fixedly connected between the limiting sleeves (326); an end of the fixing seat (313) close to the mounting seat (311) is fixedly connected to a clamping seat (323); an end of the clamping seat (323) away from the fixing seat (313) is fixedly connected to a connecting block (325); an end of the connecting block (325) away from the clamping seat (323) is fixedly connected to a clamping block (324); the clamping block (324) is slidably connected to the two limiting sleeves (326); square openings are provided on the outer sides of the two limiting sleeves (326); and the driving shaft (322) is fixedly connected to the output shaft of the motor (4); The clamping structure (33) comprises a movable block (331) and a pre-tightening block (332) which are slidably connected to the inside of the clamping seat (323); the bottom of the pre-tightening block (332) is symmetrically fixedly connected to a limiting rod (337); the bottom of the limiting rod (337) is fixedly connected to a spring (338); and the spring (338) is fixedly connected to the movable block (331).

2. A robot unit gripper quick replacement device according to claim 1, characterized in that: The gripping mechanism (31) further comprises a movable seat (312) slidably connected to the outside of the fixed seat (313); the outside of the movable seat (312) is evenly rotatably connected to a driving rod (315); the outside of the connecting seat (314) is evenly rotatably connected to a clamping claw (316); the clamping claw (316) is rotatably connected to the driving rod (315).

3. A robot unit gripper quick replacement device according to claim 2, characterized in that: The outer side of the mounting seat (311) is symmetrically fixedly connected with a mounting block (35), the interior of the mounting block (35) is fixedly installed with a hydraulic rod (36), and the telescopic ends of the hydraulic rod (36) are fixedly connected to the movable seat (312).

4. A robot unit gripper quick replacement device according to claim 2, characterized in that: The fixing structure (34) comprises a movable block 2 (341) slidably connected to the inside of the clamping seat (323) and the fixing seat (313); a threaded rod (343) is fixedly connected to the outside of the movable block 2 (341); a threaded sleeve (344) is rotatably connected to the inside of the connecting seat (314); and the threaded rod (343) is threadedly connected to the inside of the threaded sleeve (344).

5. A robot unit gripper quick replacement device according to claim 4, characterized in that: The clamping structure (33) also includes a fixed plate (335) fixedly connected to the inside of the clamping seat (323); a screw rod (333) is rotatably connected to the inside of the fixed plate (335); the top of the clamping structure (33) is threadedly connected to the movable block 1 (331); the bottom of the screw rod (333) is fixedly connected to a gear (334); the inside of the movable block 2 (341) is fixedly connected to a rack (336); the gear (334) and the rack (336) are meshed with each other.

6. A robot unit gripper quick replacement device according to claim 4, characterized in that: A second spring (342) is fixedly connected between the second movable block (341) and the clamping seat (323), and a circular groove is provided at one end of the second movable block (341) away from the threaded rod (343).

7. The robot unit gripper quick replacement device according to claim 3, characterized in that: An arc-shaped groove is provided on one side of the clamping seat (323) close to the limiting sleeve (326), and the limiting sleeve (326) is rotatably connected between the limiting sleeve (326) and the mounting seat (311).

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