Mechanical arm with clamp convenient to replace

Abstract

The invention discloses a mechanical arm with a clamp convenient to replace. The mechanical arm comprises a mechanical arm body, a clamp base and a U-shaped connecting base. A guide sliding rail is fixedly installed on the inner side of the front end of the U-shaped connecting base, a limiting sliding groove is formed in the rear end of the clamp base, limiting grooves are formed in the two sides of the upper end of the clamp base, contraction grooves are formed in the two sides of the top end in the U-shaped connecting base, and limiting blocks are movably connected to the inner walls of the lower ends of the contraction grooves in an attached mode. A connecting spring is fixedly installed at the upper end of the limiting block, a limiting sliding rod is fixedly installed in the middle of the upper end of the limiting block, a connecting pull rod is fixedly connected to the upper end of the limiting sliding rod, an electromagnetic adsorption disc is fixedly installed in the middle of the front end of a U-shaped connecting base in an embedded mode, and a magnetic adsorption block is fixedly installed in the middle of the rear end of the clamp base in an embedded mode. A guide sliding rail is fixedly installed on the inner side of the front end of the U-shaped connecting base, and a limiting sliding groove is formed in the rear end of the clamp base. According to the device, the clamp bodies of different models can be conveniently replaced in a power-assisted mode.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical arms, and in particular to a mechanical arm which is convenient for replacing clamps. Background Art

[0002] The robot arm is mainly composed of actuators, drive devices and control systems. The actuator is the main part of the robot arm, including the hand (or end effector), wrist, arm and base, which work together to achieve various complex movements. The drive device provides the energy and power required for the movement of the robot arm, such as motors, pneumatic or hydraulic devices. The control system is the "brain" of the robot arm, responsible for receiving instructions, processing information and controlling the precise movement of the robot arm. The main functions of the robot arm include:

[0003] High production efficiency: Robotic arms can perform highly repetitive and labor-intensive tasks, thereby reducing the physical burden on workers and improving production efficiency. They can complete a large number of tasks in a short period of time and are not affected by human factors such as fatigue and emotions. Ensure the quality of work: The movement accuracy and stability of the robotic arms are very high, which can ensure the consistent quality of each operation. This is especially important for industries that require high-precision processing or assembly. Improve working conditions: In some dangerous or harsh working environments, robotic arms can replace manual operations to protect the safety of workers. For example, in high-risk industries such as nuclear energy and chemical industry, robotic arms are widely used to handle dangerous goods such as radioactive materials and toxic chemicals. Enhance flexibility: Robotic arms can be programmed and debugged according to different job requirements, thereby realizing a variety of job functions. This makes robotic arms play an important role in flexible manufacturing systems and can adapt to rapidly changing market demands. Promote industrial upgrading: With the development of intelligent technology, robotic arms are gradually combining with technologies such as artificial intelligence and the Internet of Things to form more intelligent and efficient automated production lines. This will drive the manufacturing industry to a higher level and enhance the competitiveness of the entire industry.

[0004] In the field of modern industrial automation, robotic arms, as key equipment, play a vital role. They not only greatly improve production efficiency, but also significantly reduce labor costs, making the production process more flexible and efficient. However, with the diversification and complexity of production needs, traditional robotic arms have gradually revealed their limitations in responding to the need for rapid fixture replacement. The fixture replacement process of traditional robotic arms is often cumbersome and time-consuming. Due to the relatively complex connection design between the fixture and the main body of the robotic arm, the replacement of the fixture usually requires the participation of professionals and the use of specific tools. This not only increases the replacement cost, but also reduces the flexibility of the production line, making it impossible for the robotic arm to adapt quickly when faced with different production tasks. Summary of the invention

[0005] The purpose of the present invention is to provide a robot arm that is easy to replace the fixture, so as to solve the problem that the fixture replacement process of the traditional robot arm mentioned in the above background technology is often cumbersome and time-consuming. Since the connection design between the fixture and the robot arm body is relatively complex, the replacement of the fixture usually requires the participation of professionals and the use of specific tools. This not only increases the replacement cost, but also reduces the flexibility of the production line, making it impossible for the robot arm to quickly adapt to different production tasks.

[0006] To achieve the above-mentioned purpose, the present invention provides the following technical solution: comprising a mechanical arm body, a fixture base and a U-shaped connecting seat;

[0007] The guide rail is fixedly installed on the inner side of the front end of the U-shaped connecting seat, and a limited sliding groove is provided at the rear end of the clamp base. Limited grooves are provided on both sides of the upper end of the clamp base. Contraction grooves are provided on both sides of the top end of the U-shaped connecting seat, and the inner wall of the lower end of the contraction groove fits the movably connected limited block. A connecting spring is fixedly installed on the upper end of the limit block, and a limited sliding rod is fixedly installed on the middle part of the upper end of the limit block. The upper end of the limit sliding rod is fixedly connected to a connecting pull rod, and an electromagnetic adsorption disk is inlaid and fixedly installed in the middle part of the front end of the U-shaped connecting seat, and a magnetic adsorption block is inlaid and fixedly installed in the middle part of the rear end of the clamp base;

[0008] A power-assisting groove is provided at the lower end of the clamp base, a power-assisting rack is fixedly installed in the middle of the top of the power-assisting groove, a driving motor is embedded and fixedly installed at the bottom of the U-shaped connecting seat, a first synchronous wheel is fixedly installed on the transmission shaft part on the rear side of the driving motor, the outer end of the first synchronous wheel is connected to the second synchronous wheel through a synchronous belt transmission, a transmission shaft is fixedly installed in the middle of the second synchronous wheel, a gear cavity is provided in the middle of the lower end of the U-shaped connecting seat, and a power-assisting gear is fixedly installed on the outer curved surface of the front end of the transmission shaft.

[0009] Preferably, the U-shaped connecting seat is fixedly mounted on the front end of the robot arm body, and an internal thread mounting hole is opened at the front end of the clamp base, and there are several internal thread mounting holes, which are symmetrically distributed at the front end of the clamp base.

[0010] Preferably, there are two guide rails, which are symmetrically distributed on the upper and lower sides of the inner side of the front end of the U-shaped connecting seat, and the front end of the guide rail is movably connected to the inner wall of the limiting slide groove.

[0011] Preferably, a first positioning sensor is inlaid and fixedly installed on both sides of the front end of the U-shaped connecting seat, and there are two first positioning sensors, which are symmetrically distributed on both sides of the front end of the U-shaped connecting seat, and a second positioning sensor is inlaid and fixedly installed on both sides of the rear end of the clamp base, and the second positioning sensor and the first positioning sensor are on the same horizontal line, and positioning indicator lights are fixedly installed on both sides of the U-shaped connecting seat, and there are two positioning indicator lights, which are symmetrically distributed on both sides of the U-shaped connecting seat, and the positioning indicator lights are electrically connected to the first positioning sensor through wires.

[0012] Preferably, there are two limiting grooves, which are symmetrically distributed on both sides of the upper end of the clamp base, and the lower end of the limiting block is movably connected to the inner wall of the limiting groove.

[0013] Preferably, there are several connecting springs, which are symmetrically distributed in sequence at the upper ends of the limiting blocks, and the limiting sliding rod passes through and is movably connected to the middle of the limiting groove.

[0014] Preferably, the transmission shaft is rotatably connected to the middle of the gear cavity through a rotating shaft, the upper end of the power-assisting gear is meshed and connected with the power-assisting rack, and a control panel is fixedly installed on the top of the U-shaped connecting seat.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] When the force pulling the connecting rod is released, the elastic potential energy generated by the compression of the connecting spring will push the limit block to move linearly downward to the inner wall of the limit groove, so that the clamp base is limited by the limit block cooperating with the limit groove. When the clamp base remains limited at the inner side of the front end of the U-shaped connecting seat, the electromagnetic adsorption disk is turned on by control. When the electromagnetic adsorption disk is turned on, the magnetic block is electromagnetically adsorbed and fixed. When the magnetic block is electromagnetically adsorbed and fixed, the clamp base is driven to remain fixedly installed at the front end of the U-shaped connecting seat. At the same time, the second positioning sensor and the first positioning sensor are observed to maintain horizontal positioning through the positioning indicator light, so that it can be concluded whether the clamp base is installed in the positioning position, thereby facilitating the fixed installation of the clamp body at the front end of the mechanical arm body.

[0017] The present invention also controls to start the driving motor when the clamp base and the clamp body are heavy and difficult to push. When the driving motor is turned on, it will drive the first synchronous wheel to rotate. When the first synchronous wheel rotates, it will drive the second synchronous wheel to rotate through synchronous drive transmission. When the second synchronous wheel rotates, it will drive the transmission shaft to rotate. When the transmission shaft rotates, it will drive the power-assisting gear to rotate. When the power-assisting gear rotates, the force generated by the meshing connection between the power-assisting gear and the power-assisting rack drives the clamp base and the clamp body to move in a straight line left and right along the inner side of the front end of the U-shaped connecting seat for installation or disassembly, thereby facilitating the power-assisting replacement of clamp bodies of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The overall structure of a mechanical arm that is convenient for replacing a fixture according to the present invention is shown in FIG. Figure 1 ;

[0019] Figure 2 The overall structure of a mechanical arm that is convenient for replacing a fixture according to the present invention is shown in FIG. Figure 2 ;

[0020] Figure 3 A schematic cross-sectional view of a local structure of a mechanical arm for facilitating the replacement of a fixture according to the present invention Figure 1 ;

[0021] Figure 4 A schematic cross-sectional view of a local structure of a mechanical arm for facilitating the replacement of a fixture according to the present invention Figure 2 ;

[0022] Figure 5 A schematic cross-sectional view of a local structure of a mechanical arm for facilitating the replacement of a fixture according to the present invention Figure 3 .

[0023] In the figure: 1. Robot arm body; 2. Clamp base; 3. U-shaped connecting seat; 4. Internal thread mounting hole; 5. Guide rail; 6. Limit slide groove; 7. First positioning sensor; 8. Second positioning sensor; 9. Positioning indicator light; 10. Limit groove; 11. Contraction groove; 12. Limit block; 13. Connecting spring; 14. Limit slide bar; 15. Connecting pull rod; 16. Electromagnetic adsorption plate; 17. Magnetic block; 18. Power-assisting groove; 19. Power-assisting rack; 20. Driving motor; 21. First synchronous wheel; 22. Second synchronous wheel; 23. Transmission shaft; 24. Gear cavity; 25. Power-assisting gear; 26. Control panel. DETAILED DESCRIPTION

[0024] 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.

[0025] See also Figure 1-5 The present invention provides a technical solution: comprising a mechanical arm body 1, a fixture base 2 and a U-shaped connecting seat 3, wherein the U-shaped connecting seat 3 is fixedly installed at the front end of the mechanical arm body 1, and an internal thread mounting hole 4 is opened at the front end of the fixture base 2, and the number of the internal thread mounting holes 4 is several, and they are symmetrically distributed at the front end of the fixture base 2, so that the fixture body is installed to the front end of the fixture base 2 through the internal thread mounting holes 4 and the mounting bolts;

[0026] A guide rail 5 is fixedly installed on the inner side of the front end of the U-shaped connecting seat 3, and there are two guide rails 5, which are symmetrically distributed up and down on the inner side of the front end of the U-shaped connecting seat 3. A limited sliding groove 6 is provided at the rear end of the clamp base 2, and the front end of the guide sliding rail 5 is movably connected to the inner wall of the limited sliding groove 6, so that the clamp base 2 is horizontally and linearly guided by the guide sliding rail 5 and the limited sliding groove 6. First positioning sensors 7 are inlaid and fixedly installed on both sides of the front end of the U-shaped connecting seat 3, and there are two first positioning sensors 7, which are symmetrically distributed on both sides of the front end of the U-shaped connecting seat 3. Second positioning sensors 8 are inlaid and fixedly installed on both sides of the rear end of the clamp base 2, and the second positioning sensor 8 and the first positioning sensor 7 are on the same horizontal line. Positioning indicator lights 9 are fixedly installed on both side ends of the U-shaped connecting seat 3, and there are two positioning indicator lights 9, which are symmetrically distributed on both sides of the U-shaped connecting seat 3. The positioning indicator lights 9 are electrically connected to the first positioning sensor 7 through a wire, so that the second positioning sensor 8 and the first positioning sensor 7 are calibrated by the positioning indicator lights 9. The horizontal positioning indication is carried out. Limiting grooves 10 are provided on both sides of the upper end of the clamp base 2, and there are two limiting grooves 10, which are symmetrically distributed on both sides of the upper end of the clamp base 2. Contraction grooves 11 are provided on both sides of the top of the U-shaped connecting seat 3. The inner wall of the lower end of the contraction groove 11 fits and movably connects to the limiting block 12, and the lower end of the limiting block 12 fits and movably connects to the inner wall of the limiting groove 10, so that the clamp base 2 is limited by the limiting block 12 and the limiting groove 10. A connecting spring 13 is fixedly installed on the upper end of the limiting block 12. There are several connecting springs 13, which are symmetrically distributed in sequence at the upper ends of the limit blocks 12. A limit slide bar 14 is fixedly installed in the middle of the upper end of the limit block 12, and the limit slide bar 14 penetrates and fits movably connected to the middle of the limit groove 10. A connecting pull rod 15 is fixedly connected to the upper end of the limit slide bar 14. An electromagnetic adsorption disk 16 is inlaid and fixedly installed in the middle of the front end of the U-shaped connecting seat 3, and a magnetic block 17 is inlaid and fixedly installed in the middle of the rear end of the clamp base 2, so that the magnetic block 17 is electromagnetically adsorbed and fixed by the electromagnetic adsorption disk 16.

[0027] A power-assisting groove 18 is provided at the lower end of the clamp base 2, and a power-assisting rack 19 is fixedly installed in the middle of the top of the power-assisting groove 18. A driving motor 20 is inlaid and fixedly installed at the bottom of the U-shaped connecting seat 3. A first synchronous wheel 21 is fixedly installed on the transmission shaft part on the rear side of the driving motor 20. The outer end of the first synchronous wheel 21 is connected to the second synchronous wheel 22 through a synchronous belt transmission, and a transmission shaft 23 is fixedly installed in the middle of the second synchronous wheel 22. A gear cavity 24 is provided in the middle of the lower end of the U-shaped connecting seat 3, and the transmission shaft 23 is rotatably connected to the middle of the gear cavity 24 through a rotating shaft. A power-assisting gear 25 is fixedly installed on the outer curved surface of the front end of the transmission shaft 23, and the upper end of the power-assisting gear 25 is meshed with the power-assisting rack 19, and a control panel 26 is fixedly installed on the top of the U-shaped connecting seat 3.

[0028] In the invention, different types of clamp bodies are installed to the front end of the clamp base 2 through the internal threaded mounting holes 4 and the mounting bolts. After different types of clamps are installed to the front end of the clamp base 2, when the clamp body needs to be installed at the front end of the mechanical arm body 1, the clamp base 2 is pushed along the inner side of the front end of the U-shaped connecting seat 3. When the clamp base 2 is pushed along the inner side of the front end of the U-shaped connecting seat 3, the connecting rod 15 is pulled upward. When the connecting rod 15 is pulled upward, the limit block 12 is driven by the limit slide bar 14 to move straight upward along the inner wall of the contraction groove 11. When the limit block 12 moves straight upward, it will contract to the inner wall of the contraction groove 11 and push the compression connection spring 13. When the limit block 12 contracts to the inner wall of the contraction groove 11, the clamp base 2 will be completely pushed to the inner side of the front end of the U-shaped connecting seat 3. When the clamp base 2 is completely pushed to the inner side of the front end of the U-shaped connecting seat 3 , by releasing the force of pulling the connecting rod 15, when the force of pulling the connecting rod 15 is released, the elastic potential energy generated by the compression of the connecting spring 13 will push the limit block 12 to move linearly downward to the inner wall of the limit groove 10, so that the limit block 12 cooperates with the limit groove 10 to limit the clamp base 2. When the clamp base 2 remains limited at the inner side of the front end of the U-shaped connecting seat 3, the electromagnetic adsorption disk 16 is turned on by control. When the electromagnetic adsorption disk 16 is turned on, the magnetic block 17 will be electromagnetically adsorbed and fixed. When the magnetic block 17 is electromagnetically adsorbed and fixed, it will drive the clamp base 2 to remain fixedly installed at the front end of the U-shaped connecting seat 3. At the same time, the second positioning sensor 8 and the first positioning sensor 7 are observed through the positioning indicator light 9 to see whether they remain horizontally positioned, so that it can be concluded whether the clamp base 2 is installed in the positioning position, thereby facilitating the fixed installation of the clamp body at the front end of the mechanical arm body 1;

[0029] At the same time, when the clamp body needs to be disassembled and replaced, the electromagnetic adsorption disk 16 is closed by control. When the electromagnetic adsorption disk 16 is closed, the electromagnetic adsorption fixation of the clamp base 2 will be released. When the electromagnetic adsorption fixation of the clamp base 2 is released, the connecting rod 15 is pulled upward. When the connecting rod 15 is pulled upward, the limit block 12 cooperates with the limit groove 10 to limit the clamp base 2. When the limit of the clamp base 2 is released, the clamp base 2 and the clamp body can be disassembled by pushing the clamp base 2 and the clamp body outward. At the same time, when the clamp base 2 and the clamp body are heavy and difficult to push, the drive motor 20 is turned on by control. When the drive motor 20 is turned on, When the motor 20 is turned on, it will drive the first synchronous wheel 21 to rotate. When the first synchronous wheel 21 rotates, it will drive the second synchronous wheel 22 to rotate through synchronous drive transmission. When the second synchronous wheel 22 rotates, it will drive the transmission shaft 23 to rotate. When the transmission shaft 23 rotates, it will drive the power-assisting gear 25 to rotate. When the power-assisting gear 25 rotates, the force generated by the meshing connection between the power-assisting gear 25 and the power-assisting rack 19 will drive the clamp base 2 and the clamp body to move in a straight line left and right along the inner side of the front end of the U-shaped connecting seat 3 for installation or disassembly, thereby facilitating the power-assisting replacement of clamp bodies of different models.

[0030] 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.

[0031] 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 mechanical arm that is convenient for replacing a fixture, characterized in that: It comprises a mechanical arm body (1), a fixture base (2) and a U-shaped connecting seat (3); A guide rail (5) is fixedly installed on the inner side of the front end of the U-shaped connecting seat (3); a limiting slide groove (6) is provided at the rear end of the clamp base (2); limiting grooves (10) are provided on both sides of the upper end of the clamp base (2); shrinkage grooves (11) are provided on both sides of the top end of the U-shaped connecting seat (3); the inner wall of the lower end of the shrinkage groove (11) is fitted with a movably connected limiting block (12); a connecting spring (13) is fixedly installed on the upper end of the limiting block (12); a limiting slide rod (14) is fixedly installed in the middle of the upper end of the limiting block (12); a connecting pull rod (15) is fixedly connected to the upper end of the limiting slide rod (14); an electromagnetic adsorption plate (16) is inlaid and fixedly installed in the middle of the front end of the U-shaped connecting seat (3); and a magnetic adsorption block (17) is inlaid and fixedly installed in the middle of the rear end of the clamp base (2); The lower end of the clamp base (2) is provided with a power-assisting groove (18), and a power-assisting rack (19) is fixedly installed in the middle of the top of the power-assisting groove (18). The bottom of the U-shaped connecting seat (3) is embedded with a driving motor (20) and fixedly installed. The rear transmission shaft of the driving motor (20) is fixedly installed with a first synchronous wheel (21). The outer end of the first synchronous wheel (21) is connected to the second synchronous wheel (22) through a synchronous belt transmission. The middle of the second synchronous wheel (22) is fixedly installed with a transmission shaft (23). The middle of the lower end of the U-shaped connecting seat (3) is provided with a gear cavity (24), and the front end outer curved surface of the transmission shaft (23) is fixedly installed with a power-assisting gear (25).

2. A mechanical arm for facilitating the replacement of a fixture according to claim 1, characterized in that: The U-shaped connecting seat (3) is fixedly mounted on the front end of the mechanical arm body (1), and the front end of the clamp base (2) is provided with an internal thread mounting hole (4), and there are a plurality of internal thread mounting holes (4) which are symmetrically distributed at the front end of the clamp base (2).

3. A mechanical arm for facilitating the replacement of a fixture according to claim 2, characterized in that: There are two guide rails (5), which are symmetrically distributed up and down on the inner side of the front end of the U-shaped connecting seat (3). The front end of the guide rail (5) is movably connected to the inner wall of the limiting slide groove (6).

4. A mechanical arm for facilitating the replacement of a fixture according to claim 3, characterized in that: The front ends of the U-shaped connection seat (3) are inlaid with first positioning sensors (7), and there are two first positioning sensors (7), which are symmetrically distributed on the front ends of the U-shaped connection seat (3). The rear ends of the clamp base (2) are inlaid with second positioning sensors (8), and the second positioning sensors (8) and the first positioning sensors (7) are on the same horizontal line. The two ends of the U-shaped connection seat (3) are respectively fixedly installed with positioning indicator lights (9), and there are two first positioning indicator lights (9), which are symmetrically distributed on the two sides of the U-shaped connection seat (3). The positioning indicator lights (9) are electrically connected to the first positioning sensors (7) through wires.

5. A mechanical arm for facilitating the replacement of a fixture according to claim 4, characterized in that: There are two limit grooves (10), which are symmetrically distributed on both sides of the upper end of the clamp base (2), and the lower end of the limit block (12) is movably connected to the inner wall of the limit groove (10).

6. A mechanical arm for facilitating the replacement of a fixture according to claim 5, characterized in that: There are a plurality of connecting springs (13), which are symmetrically distributed in sequence at the upper ends of the limiting blocks (12), and the limiting sliding rod (14) penetrates and fits movably connected to the middle of the limiting groove (10).

7. A mechanical arm for facilitating the replacement of a fixture according to claim 6, characterized in that: The transmission shaft (23) is rotatably connected to the middle of the gear cavity (24) via a rotating shaft, the upper end of the power-assisting gear (25) is meshedly connected with the power-assisting rack (19), and a control panel (26) is fixedly mounted on the top of the U-shaped connecting seat (3).

Images