Quick-change structure matched with feeding and discharging mechanical arm and method of quick-change structure

Abstract

The invention relates to the technical field of manipulator quick-change structures, in particular to a quick-change structure matched with a feeding and discharging manipulator and a method thereof.The quick-change structure comprises an upper arm connecting assembly, a lower arm connecting assembly and a connecting base arranged between the upper arm connecting assembly and the lower arm connecting assembly, and a mounting groove is formed in the middle of the connecting base; limiting parts are embedded in the two side walls of the mounting groove, a screw rod penetrates through the connecting base, and threads are arranged on the surface of the tail section of the screw rod. Through the design of the connecting base, the upper arm connecting assembly and the lower arm connecting assembly are prevented from being connected with bolts through too many mounting holes, mounting position deviation caused by too many mounting holes is prevented, the connection relation between the upper arm connecting assembly and the lower arm connecting assembly is separated through the mounting mode of the screw, and the mounting efficiency is improved. The influence on the upper arm connecting assembly when the lower arm connecting assembly is replaced is avoided, and the splicing type design of the connecting base facilitates follow-up maintenance or replacement of all parts.

Description

Technical Field

[0001] The present invention relates to the technical field of quick-change structures of manipulators, and particularly to a quick-change structure and method for use with loading and unloading manipulators. Background Art

[0002] A manipulator is an automatic operating device that can imitate certain action functions of human hands and arms, and is used to grasp, transport objects or operate tools according to a fixed program. Its characteristics are that it can complete various expected operations through programming, and it combines the respective advantages of humans and mechanical machines in terms of structure and performance.

[0003] When existing manipulators perform various operations, it is necessary to replace the bottom fixture to achieve the purpose of function conversion. Usually, when replacing the bottom fixture, due to the large number of mounting holes on the manipulator, it is easy to have position deviation during replacement, and it is also necessary to perform disassembly and replacement operations through cumbersome bolt connections, which greatly reduces the replacement efficiency. Summary of the Invention

[0004] In view of the deficiencies of the existing technology, the present invention provides the following technical solutions:

[0005] A quick-change structure for use with a loading and unloading manipulator, comprising:

[0006] An upper arm connection assembly and a lower arm connection assembly;

[0007] A connection seat disposed between the upper arm connection assembly and the lower arm connection assembly, an installation groove is formed in the middle of the connection seat, and limiting portions are embedded inside both side walls of the installation groove;

[0008] A screw rod passing through the connection seat, and a thread is provided on the surface of the end section of the screw rod;

[0009] A U-shaped plate one and a U-shaped plate two attached to the outer side wall of the connection seat, the U-shaped plate one and the U-shaped plate two are respectively disposed on both sides of the installation groove, the screw rod passes through the U-shaped plate one and the U-shaped plate two and is threadedly connected to the U-shaped plate two, and a limiting insertion block penetrating into the interior of the installation groove is fixed inside the bottom of the U-shaped plate two;

[0010] When the screw rod is loosened, the U-shaped plate two moves away from the installation groove to remove the lower arm connection assembly.

[0011] As an improvement of the above technical solution, circular through holes are symmetrically formed on both side surfaces of the installation groove, and the limiting portions are located inside the circular through holes.

[0012] As an improvement of the above technical solution, a first movable cavity is formed inside the connection seat, and the U-shaped plate one is movably disposed inside the first movable cavity.

[0013] As an improvement of the above technical solution, a side plate is fixedly arranged on the side of the connecting seat away from the first U-shaped plate, and forms a second movable cavity in combination with the connecting seat, and the second U-shaped plate is movably arranged inside the second movable cavity.

[0014] As an improvement of the above technical solution, circular limiting holes are symmetrically arranged on both sides of the upper arm connecting component, and a limiting through groove is arranged on the side surface of the lower arm connecting component.

[0015] As an improvement of the above technical solution, a circular jack one is arranged on one side surface of the connecting seat, and circular jacks two are symmetrically arranged on both side walls of the installation groove, and the circular jack one and the circular jack two are both at the same horizontal center of the circle.

[0016] As an improvement of the above technical solution, the rod head of the screw is an internal hexagon, the front section of the screw is thicker than the middle section and the end section, the front section of the screw is located in the circular jack one, and the end section of the screw is inserted into the circular jack two.

[0017] As an improvement of the above technical solution, the connecting seat is composed of an upper seat and a lower seat, the upper seat and the lower seat are overlapped and spliced, and are fixedly connected by fixing blocks on the side surfaces of the upper seat and the lower seat.

[0018] As an improvement of the above technical solution, the first movable cavity and the second movable cavity are not at the same level, and the first movable cavity is lower than the second movable cavity.

[0019] As an improvement of the above technical solution, the following steps are included:

[0020] S1: Align and insert the upper arm connecting component into the upper port of the installation groove, then insert the screw into the inside of the connecting seat through the circular jack one, so that the first U-shaped plate is sleeved on the middle section of the screw. Because the front section of the screw is thicker than the middle section, the first U-shaped plate is pushed by the screw and starts to translate in the first movable cavity;

[0021] S2: When the acute angle end of the first U-shaped plate is inserted behind the limiting part, the limiting part is pushed by the first U-shaped plate, protrudes into the installation groove at the circular through hole and inserts into the circular limiting hole to realize the installation and fixation of the upper arm connecting component and the connecting seat;

[0022] S3: After the upper arm connecting component is fixed, align and insert the lower arm connecting component into the lower port of the installation groove, the screw continues to be inserted, and is threadedly connected with the second U-shaped plate through the circular jack two;

[0023] S4: The continuous rotation of the screw drives the second U-shaped plate to start translational movement in the opposite direction, and then drives the limiting insert block to translate synchronously and insert into the limiting through groove to realize the installation and fixation of the upper arm connecting component and the connecting seat.

[0024] The beneficial effects of the present invention:

[0025] Through the design of the connecting seat, the upper arm connecting component and the lower arm connecting component are prevented from having excessive mounting holes and bolt connections, thus avoiding installation position deviation caused by excessive mounting holes. By means of the installation method of the screw rod, the connection relationship between the upper arm connecting component and the lower arm connecting component is separated, preventing the lower arm connecting component from affecting the upper arm connecting component during replacement. Moreover, the splicable design of the connecting seat also facilitates subsequent maintenance or replacement of each part. Brief Description of the Drawings

[0026] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0027] Figure 2 It is an exploded view of the overall structure of the present invention;

[0028] Figure 3 It is a sectional view of the connecting seat in the present invention;

[0029] Figure 4 It is a partial top plan view of the connecting seat in the present invention;

[0030] Figure 5 It is a schematic diagram of the connection relationship of the partial structure in the present invention;

[0031] Figure 6 It is a sectional view of the screw rod in the present invention;

[0032] Figure 7 It is a schematic diagram of the structure of U-shaped plate one in the present invention;

[0033] Figure 8 It is a schematic diagram of the structure of U-shaped plate two in the present invention.

[0034] Reference Numerals: 1, upper arm connecting component; 101, circular limiting hole; 2, lower arm connecting component; 201, limiting through groove; 3, connecting seat; 301, mounting groove; 302, limiting portion; 303, circular through hole; 304, first movable cavity; 305, side plate; 306, second movable cavity; 307, first circular insertion hole; 308, second circular insertion hole; 309, upper seat; 3010, lower seat; 4, screw rod; 5, U-shaped plate one; 6, U-shaped plate two; 601, limiting insertion block. Detailed Embodiments

[0035] The following specific examples illustrate the implementation manners of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0036] When existing manipulators perform various tasks, it is necessary to replace the bottom fixture to achieve the purpose of function conversion. Usually, when replacing the bottom fixture, due to the large number of mounting holes on the manipulator, it is easy to have position deviation during replacement, and cumbersome bolt connections are also required for disassembly and replacement operations, which greatly reduces the replacement efficiency.

[0037] To solve this problem, please refer to Figure 1-8 , a quick-change structure for the loading and unloading manipulator, including: an upper arm connection assembly 1 and a lower arm connection assembly 2;

[0038] A connection seat 3 is arranged between the upper arm connection assembly 1 and the lower arm connection assembly 2. An installation groove 301 is formed in the middle of the connection seat 3, and limiting parts 302 are embedded inside the two side walls of the installation groove 301;

[0039] A screw rod 4 passes through the connection seat 3, and a thread is provided on the surface of the end section of the screw rod 4;

[0040] A U-shaped plate one 5 and a U-shaped plate two 6 are attached to the outer side wall of the connection seat 3. The U-shaped plate one 5 and the U-shaped plate two 6 are respectively arranged on both sides of the installation groove 301. The screw rod 4 passes through the U-shaped plate one 5 and the U-shaped plate two 6 and is threadedly connected to the U-shaped plate two 6. A limiting insertion block 601 that penetrates into the interior of the installation groove 301 is fixed to the inner side of the bottom of the U-shaped plate two 6;

[0041] When the screw rod 4 is loosened, the U-shaped plate two 6 moves away from the installation groove 301 to remove the lower arm connection assembly 2.

[0042] When replacing, align the upper arm connecting component 1 and insert it into the upper port of the installation groove 301. Then insert the screw 4 into the inside of the connecting seat 3 through the circular jack 1 307, so that the first U-shaped plate 5 is sleeved on the middle section of the screw 4. Since the front section of the screw 4 is thicker than the middle section, the first U-shaped plate 5 is pushed by the screw 4 and starts to translate in the first moving cavity 304. When the acute angle end of the first U-shaped plate 5 is inserted behind the limiting part 302, the limiting part 302 is pushed by the first U-shaped plate 5 and protrudes into the installation groove 301 at the circular through hole 303 and is inserted into the circular limiting hole 101 to realize the fixed installation of the upper arm connecting component 1. After the upper arm connecting component 1 is fixed, align the lower arm connecting component 2 and insert it into the lower port of the installation groove 301. The screw 4 continues to be inserted and is threadedly connected to the second U-shaped plate 6 through the circular jack 2 308. The continuous rotation of the screw 4 drives the second U-shaped plate 6 to start moving towards each other, and then drives the limiting plug 601 to move synchronously and insert into the inside of the limiting through groove 201 to realize the fixed installation of the upper arm connecting component 1. Through the design of the connecting seat 3, the upper arm connecting component 1 and the lower arm connecting component 2 are prevented from being connected by excessive mounting holes and bolts, and the installation position deviation caused by excessive mounting holes is avoided. Through the installation method of the screw 4, the connection relationship between the upper arm connecting component 1 and the lower arm connecting component 2 is separated, and the lower arm connecting component 2 is prevented from affecting the upper arm connecting component 1 when being replaced.

[0043] In one embodiment, please refer to Figure 3-4 , on both side walls of the installation groove 301, circular through holes 303 are symmetrically opened, and the limiting part 302 is located inside the circular through holes 303.

[0044] When installing the upper arm connecting component 1, the circular through holes 303 and the first U-shaped plate 5 can play a role in restricting and fixing the limiting part 302, avoiding the dropping of the limiting part 302 and resulting in the detachment of the connecting seat 3 and the upper arm connecting component 1.

[0045] In one embodiment, please refer to Figure 3-4 , an inner cavity 304 is formed inside the connecting seat 3, and the first U-shaped plate 5 is movably arranged inside the inner cavity 304.

[0046] When installing the upper arm connecting component 1, the inner cavity 304 provides a movement space for the first U-shaped plate 5 and can also limit the first U-shaped plate 5 to avoid its position deviation affecting the installation work of the upper arm connecting component 1.

[0047] In one embodiment, please refer to Figure 3 , on one side of the connecting seat 3 away from the first U-shaped plate 5, a side plate 305 is fixedly arranged, and it forms an inner cavity 306 with the connecting seat 3. The second U-shaped plate 6 is movably arranged inside the inner cavity 306.

[0048] When installing the lower arm connection component 2, the movable cavity two 306 provides a movement space for the U-shaped plate two 6 and can also limit the U-shaped plate two 6 to prevent its position deviation from affecting the installation of the lower arm connection component 2.

[0049] In one embodiment, please refer to Figure 2 , circular limit holes 101 are symmetrically formed on both sides of the upper arm connection component 1, and a limit through slot 201 is formed on the side surface of the lower arm connection component 2.

[0050] During disassembly and assembly, the circular limit holes 101 cooperate with the limit portion 302 to fix the upper arm connection component 1, and the limit through slot 201 cooperates with the limit insertion block 601 of the U-shaped plate two 6 to fix the lower arm connection component 2.

[0051] In one embodiment, please refer to Figure 2-3 , a circular insertion hole one 307 is formed on one side surface of the connection seat 3, and circular insertion holes two 308 are symmetrically formed on both side walls of the installation groove 301. The circular insertion hole one 307 and the circular insertion holes two 308 are both at the same horizontal center.

[0052] During disassembly and replacement, the design of the same horizontal center of the circular insertion hole one 307 and the circular insertion holes two 308 enables the screw 4 to disassemble and replace the upper arm connection component 1 and the lower arm connection component 2 at the same time, improving the disassembly and replacement efficiency.

[0053] In one embodiment, please refer to Figure 5-8 , the rod head of the screw 4 is an internal hexagon. The front section of the screw 4 is thicker than the middle section and the end section. The front section of the screw 4 is located in the circular insertion hole one 307, and the end section of the screw 4 is inserted into the circular insertion hole two 308.

[0054] During disassembly and assembly, the installation method and operation method of the screw 4 can separate the connection relationship between the upper arm connection component 1 and the lower arm connection component 2, preventing the lower arm connection component 2 from affecting the upper arm connection component 1 during replacement. The design of different thicknesses at both ends of the screw 4 enables it to be applied to the control of the U-shaped plate one 5 and the U-shaped plate two 6 at the same time.

[0055] In one embodiment, please refer to Figure 1-3 , the connection seat 3 is composed of an upper seat 309 and a lower seat 3010. The upper seat 309 and the lower seat 3010 overlap and are fixedly connected by fixing blocks on the side surfaces of the upper seat 309 and the lower seat 3010.

[0056] When using the connecting seat 3, place the first U-shaped plate 5 and the second U-shaped plate 6 in the first movable cavity 304 and the second movable cavity 306 in sequence, and use bolts and fixing blocks to fix the upper seat 309 and the lower seat 3010, so that the connecting seat 3 can be used. Moreover, the detachable design of the connecting seat 3 also facilitates the subsequent maintenance or replacement of various parts inside it.

[0057] In one embodiment, please refer to Figure 3 , the first movable cavity 304 and the second movable cavity 306 are not on the same level, and the first movable cavity 304 is lower than the second movable cavity 306.

[0058] During disassembly and replacement, the up-and-down detachable design of the first movable cavity 304 and the second movable cavity 306, in cooperation with the screw rod 4, can separate the connection relationship between the upper arm connection assembly 1 and the lower arm connection assembly 2, avoiding the influence on the upper arm connection assembly 1 when the lower arm connection assembly 2 is replaced.

[0059] In one embodiment, please refer to Figure 1-8 , including the following steps:

[0060] S1: Align and insert the upper arm connection assembly 1 into the upper port of the installation groove 301, then insert the screw rod 4 into the connecting seat 3 through the first circular jack 307, so that the first U-shaped plate 5 is sleeved on the middle section of the screw rod 4. Since the front section of the screw rod 4 is thicker than the middle section, the first U-shaped plate 5 is pushed by the screw rod 4 to start translating in the first movable cavity 304;

[0061] S2: When the acute end of the first U-shaped plate 5 is inserted behind the limiting part 302, the limiting part 302 protrudes into the installation groove 301 at the circular through hole 303 and is inserted into the circular limiting hole 101 due to being pushed by the first U-shaped plate 5, realizing the installation and fixation of the upper arm connection assembly 1 and the connecting seat 3;

[0062] S3: After the upper arm connection assembly 1 is fixed, align and insert the lower arm connection assembly 2 into the lower port of the installation groove 301, and the screw rod 4 continues to be inserted and is threadedly connected to the second U-shaped plate 6 through the second circular jack 308;

[0063] S4: The continuous rotation of the screw rod 4 drives the second U-shaped plate 6 to start translating in the opposite direction, and then drives the limiting insert block 601 to translate synchronously and insert into the limiting through groove 201 to realize the installation and fixation of the upper arm connection assembly 1 and the connecting seat 3.

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Any person familiar with this technology can modify or change the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or changes completed by those with ordinary knowledge in the technical field without departing from the spirit and technical ideas disclosed by the present invention should still be covered by the claims of the present invention.

Claims

1. The quick-change structure matched with the loading and unloading manipulator is characterized by: include: An upper arm connecting assembly (1) and a lower arm connecting assembly (2); A connecting seat (3) is arranged between the upper arm connecting assembly (1) and the lower arm connecting assembly (2), wherein a mounting groove (301) is provided in the middle of the connecting seat (3), and a limiting portion (302) is embedded in the two side walls of the mounting groove (301); A screw rod (4) passing through the connecting seat (3), wherein the surface of the end section of the screw rod (4) is provided with threads; A U-shaped plate 1 (5) and a U-shaped plate 2 (6) are attached to the outer wall of the connecting seat (3), the U-shaped plate 1 (5) and the U-shaped plate 2 (6) are respectively arranged on both sides of the mounting groove (301), the screw rod (4) passes through the U-shaped plate 1 (5) and the U-shaped plate 2 (6), and is threadedly connected to the U-shaped plate 2 (6), and a limiting plug (601) that passes through the inside of the mounting groove (301) is fixed to the inner side of the bottom of the U-shaped plate 2 (6); When the screw rod (4) is loosened, the second U-shaped plate (6) moves away from the mounting groove (301) to remove the lower arm connection assembly (2).

2. The quick-change structure matched with the loading and unloading manipulator according to claim 1 is characterized in that: Circular through holes (303) are symmetrically formed on the two side walls of the installation groove (301), and the limiting portion (302) is located inside the circular through holes (303).

3. The quick-change structure matched with the loading and unloading manipulator according to claim 1 is characterized in that: The connection seat (3) is provided with an active cavity (304) inside, and the U-shaped plate (5) is movably arranged inside the active cavity (304).

4. The quick-change structure matched with the loading and unloading manipulator according to claim 3 is characterized in that: A side plate (305) is fixedly provided on a side of the connection seat (3) away from the U-shaped plate one (5), and is combined with the connection seat (3) to form a movable cavity two (306), and the U-shaped plate two (6) is movably arranged inside the movable cavity two (306).

5. The quick-change structure matched with the loading and unloading manipulator according to claim 1 is characterized in that: Circular limiting holes (101) are symmetrically provided on both sides of the upper arm connection component (1), and a limiting through groove (201) is provided on the side of the lower arm connection component (2).

6. The quick-change structure matched with the loading and unloading manipulator according to claim 1 is characterized in that: A circular plug hole 1 (307) is provided on one side surface of the connection seat (3), and circular plug holes 2 (308) are symmetrically provided on the two side walls of the installation groove (301), and the circular plug holes 1 (307) and the circular plug holes 2 (308) are both located at the same horizontal center.

7. The quick-change structure matched with the loading and unloading manipulator according to claim 6 is characterized in that: The head of the screw rod (4) is a hexagon socket, the front section of the screw rod (4) is thicker than the middle section and the end section, the front section of the screw rod (4) is located in the first circular plug hole (307), and the end section of the screw rod (4) is inserted into the second circular plug hole (308).

8. The quick-change structure matched with the loading and unloading manipulator according to claim 1 is characterized in that: The connecting seat (3) is composed of an upper seat (309) and a lower seat (3010); the upper seat (309) and the lower seat (3010) are overlapped and spliced, and are fixedly connected by fixing blocks on the sides of the upper seat (309) and the lower seat (3010).

9. The quick-change structure matched with the loading and unloading manipulator according to claim 4 is characterized in that: The active cavity one (304) and the active cavity two (306) are not at the same level, and the active cavity one (304) is lower than the active cavity two (306).

10. A method for replacing a quick-change structure matched with a loading and unloading manipulator, using the quick-change structure matched with a loading and unloading manipulator according to any one of claims 1 to 9, characterized in that: The replacement method of the quick-change structure matched with the loading and unloading manipulator comprises the following steps: S1: Align and insert the upper arm connection assembly (1) into the upper end of the installation slot (301), and then insert the screw rod (4) into the interior of the connection seat (3) through the circular insertion hole (307), so that the U-shaped plate (5) is sleeved on the middle section of the screw rod (4). Since the front section of the screw rod (4) is thicker than the middle section, the U-shaped plate (5) is pushed by the screw rod (4) to start translation in the movable cavity (304); S2: When the acute angle end of the U-shaped plate 1 (304) is inserted into the rear of the limiting portion (302), the limiting portion (302) is pushed by the U-shaped plate 1 (304), and a portion of the limiting portion (302) protrudes into the installation groove (301) at the circular through hole (303) and is inserted into the circular limiting hole (101) to achieve installation and fixation of the upper arm connection assembly (1) and the connection seat (3); S3: After the upper arm connection assembly (1) is fixed, the lower arm connection assembly (2) is aligned and inserted into the lower end of the installation groove (301), the screw rod (4) is continuously inserted, and is threadedly connected with the second U-shaped plate (6) through the second circular socket (308); S4: The continuous rotation of the screw rod (4) drives the U-shaped plate 2 (6) to start to translate in opposite directions, and then drives the limit plug (601) to translate synchronously and insert into the limit slot (201) to achieve the installation and fixation of the upper arm connecting assembly (1) and the connecting seat (3).

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