Robot wrist converter

Abstract

The invention relates to the technical field of manipulators, in particular to a robot wrist converter, which comprises a fixing assembly, a base and a support frame fixed on the base, and first clamping hooks distributed in the circumferential direction are arranged at one end, far away from the base, of the support frame; the connecting assembly comprises a ring cover and at least one tail end execution tool connector arranged on the end face of the ring cover, the ring cover is provided with a second clamping hook corresponding to the first clamping hook, and the connecting assembly can be detachably connected with the supporting frame through rotary clamping connection of the second clamping hook and the first clamping hook; the reset assembly comprises a spring and a clamping ring which are arranged on the outer side of the supporting frame in a sleeving mode, the two ends of the spring abut against the base and the clamping ring respectively, and one end of the clamping ring abuts against the ring cover in the axial direction; the influence of external force acting on the connecting assembly on the stability of the overall structure is reduced, the stability and precision of the wrist converter are improved, the replacement convenience of the connecting assembly is improved, and the flexibility and production efficiency of the wrist converter in production are improved.

Description

Technical Field

[0001] The invention patent relates to the field of robot technology, and in particular to a robot wrist converter. Background Art

[0002] The robot wrist joint converter, commonly known as a converter, is an important component in robotics. The converter usually consists of two parts: a base and a joint. The base is installed on the robot arm, and the joint is used to connect the end-effector. It is designed to achieve fast and automatic replacement between the robot arm (wrist) and the end effector. The purpose of this converter is to improve the flexibility and efficiency of industrial robots, so that robots can easily replace different end-effectors according to different task requirements.

[0003] The converter usually consists of two parts: the base and the connector. The base is installed on the robot arm, while the connector is used to connect the end-effector. With the popularization of robot applications, the requirements for the use scenarios of robot wrists are getting higher and higher, the weight of the end extracts is getting higher and higher, and the number of uses is increasing. After multiple uses, the existing converters will have different degrees of cracks in the connectors or bases, requiring the removal and replacement of mechanical and electrical components, which seriously affects production.

[0004] The Chinese patent document CN214238231U discloses an end-effector of a robot arm, comprising a base plate, a dynamically adjustable shell fixed on the base plate, and an arm rod slidably arranged in the dynamically adjustable shell, a surface movable sleeve is provided with an upper fastening ring sleeve, a lower fastening ring sleeve is fittedly installed on the bottom of the upper fastening ring sleeve, the upper fastening ring sleeve and the lower fastening ring sleeve are connected by bolts, a slide groove is provided on the top of both sides of the inner cavity of the dynamic adjustment shell, a limit block is movably installed in the inner cavity of the slide groove, a through hole is provided at the top and in the middle of the dynamic adjustment shell, the arm rod passes through the through hole and is movably connected to an external connecting plate, a wear-resistant gasket is provided between the through hole and the arm rod, the limit block is connected to both sides of the arm rod, and a spring is provided between the end of the arm rod and the bottom of the inner cavity of the dynamic adjustment shell. Through the setting of the spring, when the arm is operating, the spring will produce a small swing to improve the smoothness of the arm, and the limit block will move in the inner cavity of the slide slot to prevent the operation of the arm from being too rigid. Through the setting of the wear-resistant gasket, the friction of the arm can be reduced when the arm is moving, thereby increasing its service life. At the same time, it solves the problem that the current mechanical arm is too rigid in operation and cannot be flexibly operated, resulting in low smoothness during operation and reduced work efficiency.

[0005] However, the above - disclosed technical solutions have at least the following problems: 1. The arm rod is inserted through the through - hole at the top of the dynamic adjustment housing. Its cross - sectional area is much smaller than that of the housing and the bottom plate. When subjected to external forces, a relatively large moment will be generated, accelerating the wear of the sliding groove and the limiting block, resulting in a decrease in accuracy; 2. The spring is arranged between the end of the arm rod and the bottom of the inner cavity of the dynamic adjustment housing. The spring has no lateral limit. When the arm rod is stressed, it is prone to swing left and right, resulting in increased wear between the arm rod and the through - hole; 3. Its connection end, that is, the arm rod, is inconvenient to disassemble. The replacement of its connection end requires first opening the dynamic adjustment housing, that is, separating the upper fastening ring sleeve and the lower fastening ring sleeve. The upper fastening ring sleeve and the lower fastening ring sleeve are connected by screws and must be removed using special tools, seriously affecting the efficiency of replacing the connection end.

[0006] Contents of the Invention Patent

[0007] The purpose of this invention patent is to provide a robot wrist converter, improve the rationality of the buffer device setting, reduce the influence of the external force acting on the connection component on the overall structural stability, improve the stability and precision of the wrist converter, increase the convenience of replacing the connection component, and improve the flexibility and production efficiency of the wrist converter in production.

[0008] To solve the above - mentioned technical problems, an embodiment of this invention patent provides a technical solution as follows:

[0009] A robot wrist converter, comprising:

[0010] A fixed component, a connection component, and a reset component arranged coaxially;

[0011] The fixed component includes a base and a support frame fixed on the base. The end of the support frame away from the base is provided with circumferentially distributed first hooks;

[0012] The connection component includes a ring cover and at least one end - effector tool joint arranged on the end face of the ring cover. The ring cover is provided with second hooks corresponding to the first hooks. The connection component can be detachably connected to the support frame through the rotational clamping of the second hooks and the first hooks;

[0013] The reset component includes a spring and a snap ring sleeved outside the support frame. The two ends of the spring respectively abut against the base and the snap ring, and one end of the snap ring axially abuts against the ring cover;

[0014] When the connection component is subjected to an axial pressure, the spring is compressed and deformed to allow the ring cover and the snap ring to axially displace relative to the support frame to degrade the pressure.

[0015] Furthermore, the outer wall of the support frame is provided with a plurality of axially extending sliding grooves. One end of the ring cover facing the snap ring is provided with a radially inward - protruding slider. The slider is slidably matched with the sliding groove to limit the circumferential rotation of the snap ring.

[0016] Furthermore, the number of the sliding grooves and the sliding blocks is 3 - 6 and they are evenly distributed in the circumferential direction, and one end of the spring abuts against one end of the sliding block facing the base.

[0017] Furthermore, a first tooth part is provided at one end of the ring cover facing the snap ring, and a second tooth part is provided at the corresponding end of the snap ring. When the first catch and the second catch are engaged, the first tooth part and the second tooth part are engaged and connected.

[0018] Furthermore, the base is provided with an annular stepped groove, and the support frame is inserted and fixed in the groove.

[0019] Furthermore, through first fixing holes and second fixing holes are respectively provided at the connection between the support frame and the base, and the support frame and the base are fixedly connected by fasteners passing through the first fixing holes and the second fixing holes.

[0020] Furthermore, two connectors are provided on the end face of the ring cover and are symmetrically distributed on the same radial line.

[0021] Furthermore, the outer diameters of the base, the snap ring and the ring cover are equal, and a through hollow cavity is provided inside the three for wire routing.

[0022] A robot wrist converter provided by the present invention for invention patents, compared with the prior art, through the spring being sleeved between the support frame and the snap ring, and the two ends of the spring respectively abutting against the base and the snap ring, enables the spring to be effectively supported and limited laterally, and can only be compressed and deformed axially to relieve the axial impact force of the connection component, avoid damage to the ring cover and the support frame due to force, effectively reduce the damage to the wrist converter caused by the impact force when the end effector performs tasks, further improve the stability and precision of the wrist converter, and is beneficial to improving the service life of the wrist converter; through the rotation and engagement setting of the first hooks and the second hooks distributed circumferentially, not only can the connection component and the fixed component be quickly disassembled and installed without using tools, increasing the convenience of replacing the connection component, improving the flexibility and production efficiency of the wrist converter in production, but also the circumferential distribution of the force application points between the first hooks and the second hooks can reduce the influence of the external force acting on the connection component on the overall structural stability, being beneficial to the stability of the connection between the connection component and the fixed component, contributing to maintaining the stability and precision of the robot wrist converter, and increasing the service life of the wrist converter; through the setting that when the first hooks and the second hooks are engaged, the first tooth part and the second tooth part are engaged and connected, the connection component, the snap ring, and the fixed component form a circumferential fixed connection, increasing the overall stability of the wrist converter. The spring abutting between the snap ring and the base can not only buffer the axial impact force of the connection component, avoid damage to the ring cover and the support frame due to force, but also provide an axial misalignment space for the rotation and engagement of the first hooks and the second hooks, facilitating the quick and convenient disassembly of the connection component and the support frame, and improving the flexibility and production efficiency of the wrist converter in production. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not limit the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a proportional limitation.

[0024] Figure 1 It is a schematic exploded view of the robot wrist converter in an embodiment of the present invention for invention patents;

[0025] Figure 2 It is a schematic overall structure view of the robot wrist converter in an embodiment of the present invention for invention patents;

[0026] Figure 3 It is a schematic axially disassembled structure view of the robot wrist converter in an embodiment of the present invention for invention patents;

[0027] Figure 4 It is a schematic structure view of the snap ring in an embodiment of the present invention for invention patents;

[0028] Figure 5It is a schematic diagram of the spring structure in the embodiment of the present invention patent;

[0029] Figure 6 It is a schematic diagram of the exploded structure of the fixing component and the connecting component in the embodiment of the present invention patent.

[0030] Explanation of reference numerals: 10, fixing component; 11, support frame; 111, first hook; 112, chute; 113, first fixing hole; 12, base; 121, second fixing hole; 20, connecting component; 21, ring cover; 211, first tooth part; 212, second hook; 213, wire threading hole; 22, joint; 30, reset component; 31, spring; 32, snap ring; 321, second tooth part; 322, slider. Detailed implementation manners

[0031] To make the objectives, technical solutions and advantages of the present invention patent clearer, the following will elaborate on each implementation manner of the present invention patent with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each implementation manner of the present invention patent, many technical details are presented for the readers to better understand the present application. However, even without these technical details and various changes and modifications based on the following implementation manners, the technical solutions claimed in each claim of the present application can still be achieved.

[0032] Such as Figures 1-3As shown in the figure, an embodiment of the present invention relates to a robot wrist converter, which includes a fixed component 10, a connection component 20 and a reset component 30 arranged coaxially; the fixed component 10 includes a base 12 and a support frame 11 fixed on the base 12, and a circumferentially distributed first hook 111 is provided at one end of the support frame 11 away from the base 12; the connection component 20 includes a ring cover 21 and at least one end effector tool joint 22 provided on the end face of the ring cover 21, and a second hook 212 corresponding to the first hook 111 is provided on the ring cover 21. The connection component 20 can be detachably connected to the support frame 11 through the rotational engagement of the second hook 212 and the first hook 111; the reset component 30 includes a spring 31 sleeved outside the support frame 11 and a snap ring 32. The two ends of the spring 31 respectively abut against the base 12 and the snap ring 32, and one end of the snap ring 32 axially abuts against the ring cover 21; when the connection component 20 is subjected to an axial pressure, the spring 31 is compressed and deformed to allow the ring cover 21 and the snap ring 32 to axially displace relative to the support frame 11 to degrade the pressure. Through the rotational engagement setting of the circumferentially distributed first hook 111 and the second hook 212, not only can the connection component 20 and the fixed component 10 be quickly disassembled without using tools, which increases the convenience of replacing the connection component 20 and improves the flexibility and production efficiency of the wrist converter in production, but also the circumferential distribution of the force application points between the first hook 111 and the second hook 212 can reduce the influence of the external force acting on the connection component 20 on the overall structural stability, which is beneficial to the stability of the connection between the connection component 20 and the fixed component 10, helps to maintain the stability and precision of the robot wrist converter, and increases the service life of the wrist converter; through the spring 31 being sleeved between the support frame 11 and the snap ring 32, and the two ends of the spring 31 respectively abutting against the base 12 and the snap ring 32, the spring 31 is effectively supported and limited laterally and can only be compressed and deformed axially to relieve the axial impact force of the connection component 20. When the end effector performs a task, it applies pressure to the ring cover 21, drives the ring cover 21 and the snap ring 32 to compress the spring 31 and move towards the base 12. The elastic deformation of the spring 31 buffers the acting force received by the ring cover 21 and the support frame 11, degrades the impact force received by the ring cover 21 and the support frame 11, avoids the ring cover 21 and the support frame 11 from being damaged by the force, effectively reduces the damage of the impact force when the end effector performs a task to the wrist converter, further improves the stability and precision of the wrist converter, and is beneficial to improving the service life of the wrist converter.

[0033] In use, the connector 22 is connected to the end effector. When the end effector performs a task, it applies pressure to the ring cover 21, driving the ring cover 21 and the snap ring 32 to compress the spring 31 and move towards the base 12. The elastic deformation of the spring 31 buffers the acting force on the ring cover 21 and the support frame 11, degrades the impact force on the ring cover 21 and the support frame 11, avoids damage to the ring cover 21 and the support frame 11 due to force, extends the service life of the converter, and at the same time helps to maintain the stability and precision of the robot wrist converter.

[0034] As Figures 4-6 shown, in one embodiment, a robot wrist converter is involved, which includes a fixed component 10, a connection component 20 and a reset component 30 arranged coaxially; the fixed component 10 includes a base 12 and a support frame 11 fixed on the base 12; the connection component 20 includes a ring cover 21 and at least one end effector connector 22 arranged on the end face of the ring cover 21; the reset component 30 includes a spring 31 sleeved outside the support frame 11 and a snap ring 32, the snap ring 32 is axially slidably connected to the support frame 11, the outer wall of the support frame 11 is provided with a plurality of axially extending chutes 112, one end of the snap ring 32 facing the ring cover 21 is provided with a radially inwardly protruding slider 322, the slider 322 is slidably matched with the chute 112 to limit the circumferential rotation of the snap ring 32, the snap ring 32 is axially slidably connected through the sliding match between the slider 322 and the chute 112, the spring 31 is sleeved between the support frame 11 and the snap ring 32, one end of the spring 31 abuts against the base 12, and the other end abuts against one end of the slider 322 facing the base 12, restricting both ends of the spring 31 between the base 12 and the slider 322. Preferably, the number of the chutes 112 and the sliders 322 is 3 - 6 and they are circumferentially evenly distributed, that is, the chutes 112 are circumferentially evenly distributed on the outer wall of the support frame 11, and the sliders 322 are circumferentially evenly distributed on the end of the ring cover 21. When the ring cover 21 is subjected to the pressure of the end effector, the snap ring 32 is driven to slide relative to the support frame 11 through the conduction of force. When the slider 322 slides along the chute 112, the slider 322 squeezes the spring 31 to elastically deform, thereby degrading the impact force on the ring cover 21. At the same time, it allows the first catch 111 and the second catch 212 to axially disengage to avoid damage to the support frame 11 due to force. Under the rebound force of the spring 31, it ensures that the snap ring 32 and the ring cover 21 quickly return to their original positions. Through the setting of the spring 31, it helps to relieve the impact and vibration brought by the end effector when performing tasks, avoids damage to the ring cover 21 and the support frame 11 due to force. Through the sliding match between the circumferentially evenly distributed sliders 322 of the snap ring 32 and the chutes 112 of the support frame 11, the stability of the axial sliding of the snap ring 32 relative to the fixed component 10 is increased, and at the same time, it helps to maintain the overall stability and precision of the robot wrist converter and extends the service life of the converter.

[0035] In one embodiment, a robot wrist converter is provided, wherein the ring cover 21 is provided with a first tooth portion 211 at one end facing the snap ring 32, the end of the first tooth portion 211 is radially convex inward to form a first hook 111, and the corresponding end of the snap ring 32 is provided with a second tooth portion 321, wherein the slider 322 and the second tooth portion 321 are alternately arranged, and when the first hook 111 is engaged with the second hook 212, the first tooth portion 211 is engaged with the second tooth portion 321. The first tooth portion 211 is aligned with the top of the second tooth portion 321 and axially pressurized so that the snap ring 32 is axially displaced, so that the engaging surface of the first hook 111 drops below the engaging surface of the second hook 212, and the ring cover 21 is rotated so that the engaging surfaces of the first hook 111 and the second hook 212 are axially aligned to form an engaging connection, and at the same time, the top of the first tooth portion 211 falls between the two second tooth portions 321 to form an engaging connection, and under the action of the spring 31, the snap ring 32 is top-connected to the ring cover 21 to maintain the engaging of the first tooth portion 211 and the second tooth portion 321, preventing the ring cover 21 from rotating to maintain the stability of the converter; when the ring cover 21 needs to be separated from the support frame 11, the snap ring 32 is manually pressed down so that the second tooth portion 321 is disengaged from the first tooth portion 211, and the ring cover 21 is rotated so that the engaging surfaces of the first hook 111 and the second hook 212 are axially offset. The first tooth portion 211 is engaged with the second tooth portion 321, and the connecting component 20 and the fixing component 10 are rotatably connected through the first hook 111 and the second hook 212, so that the connecting component 20, the retaining ring 32, and the fixing component 10 form a circumferential fixed connection, which increases the overall stability of the wrist converter. The spring abutting between the retaining ring 32 and the base 12 can not only buffer the axial impact force of the connecting component 20 and avoid the damage of the ring cover 21 and the support frame 11 due to the force, but also provide an axial misalignment space for the rotational connection of the first hook 111 and the second hook 212, so as to facilitate the quick and convenient disassembly and installation of the connecting component 20 and the support frame 11, facilitate the maintenance and replacement of the connecting component 20, and also can meet the needs of quick replacement of different end-effector tools through the quick connection method of the connecting component 20 and the fixing component 10, thereby improving the flexibility and production efficiency of the wrist converter in production.

[0036] like Figure 1As shown, in one embodiment, a robot wrist converter includes a fixed component 10, a connection component 20, and a reset component 30 that are coaxially arranged; the fixed component 10 includes a base 12 and a support frame 11 fixed on the base 12; the base 12 is provided with an annular stepped groove, and the support frame 11 is inserted and fixed in the groove. Preferably, through holes 113 and 121 are respectively provided corresponding to the connection part between the support frame 11 and the base 12, and the support frame 11 and the base 12 are fixedly connected by a fastener passing through the through hole 113 and the through hole 121. In an exemplary example, a bolt is passed through the through hole 113 and the through hole 121 and cooperated with a nut to fix the base 12 and the support frame 11, preventing the support frame 11 from loosening and improving the overall stability of the converter.

[0037] In one embodiment, a robot wrist converter includes a fixed component 10, a connection component 20, and a reset component 30 that are coaxially arranged; the fixed component 10 includes a base 12 and a support frame 11 fixed on the base 12, the reset component 30 includes a spring 31 and a snap ring 32 sleeved outside the support frame 11, the connection component 20 includes a ring cover 21, and two connectors 22 symmetrically distributed on the same radial line are provided on the end face of the ring cover 21. The connectors 22 are used for connecting the end effector. Preferably, the outer diameters of the base 12, the snap ring 32, and the ring cover 21 are equal, forming a regular cylindrical surface. A through hollow cavity is provided inside the three for wire routing. The ring cover 21 is provided with a through wire hole 213, and the wire hole 213 communicates with the hollow cavity. The wire hole 213 is arranged between the two connectors 22. Through the arrangement of the hollow cavity and the wire hole 213, electrical connection between the robot arm and the end effector is realized to control the end effector.

[0038] The present invention provides a robot wrist converter. Through the rotational clamping arrangement of the first hooks and the second hooks distributed circumferentially, not only can the connection component and the fixed component be quickly disassembled and installed without using tools, which increases the convenience of replacing the connection component, improves the flexibility and production efficiency of the wrist converter in production, but also the circumferential distribution of the force application points between the first hooks and the second hooks can reduce the influence of the external force acting on the connection component on the overall structural stability, which is beneficial to the stability of the connection between the connection component and the fixed component, helps to maintain the stability and precision of the robot wrist converter, and increases the service life of the wrist converter; by sleeving the spring between the support frame and the snap ring, and the two ends of the spring respectively abutting against the base and the snap ring, the spring is effectively supported and limited laterally and can only be compressed axially to relieve the axial impact force of the connection component, avoid the force damage of the ring cover and the support frame, effectively reduce the damage of the impact force during the task execution of the end effector to the wrist converter, further improve the stability and precision of the wrist converter, and is beneficial to increasing the service life of the wrist converter.

[0039] Those of ordinary skill in the art can understand that the above embodiments are specific examples for implementing the present invention, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present invention.

Claims

1. A robot wrist converter, characterized in that, include: A fixing component (10), a connecting component (20) and a resetting component (30) arranged coaxially; The fixing assembly (10) comprises a base (12) and a support frame (11) fixed on the base (12); an end of the support frame (11) away from the base (12) is provided with a circumferentially distributed first hook (111); The connecting assembly (20) comprises a ring cover (21) and at least one end-actuating tool joint (22) arranged on the end surface of the ring cover (21); the ring cover (21) is provided with a second hook (212) corresponding to the first hook (111); the connecting assembly (20) can be detachably connected to the support frame (11) through the rotational engagement of the second hook (212) and the first hook (111); The reset assembly (30) comprises a spring (31) and a snap ring (32) sleeved on the outside of the support frame (11), two ends of the spring (31) respectively abut against the base (12) and the snap ring (32), and one end of the snap ring (32) axially abuts against the ring cover (21); When the connection assembly (20) is subjected to axial pressure, the spring (31) is compressed and deformed to allow the ring cover (21) and the clamping ring (32) to axially displace relative to the support frame (11) to reduce the pressure.

2. The robot wrist converter according to claim 1, wherein, The outer wall of the support frame (11) is provided with a plurality of axially extending sliding grooves (112), and one end of the ring cover (21) facing the snap ring (32) is provided with a radially inwardly convex sliding block (322), and the sliding block (322) is slidably matched with the sliding groove (112) to limit the circumferential rotation of the snap ring (32).

3. The robot wrist converter according to claim 2, characterized in that, The number of the slide grooves (112) and the sliders (322) are 3-6 and are evenly distributed along the circumferential direction. One end of the spring (31) abuts against one end of the slider (322) facing the base (12).

4. The robot wrist converter according to claim 1, characterized in that, The ring cover (21) is provided with a first tooth portion (211) at one end facing the snap ring (32), and the snap ring (32) is provided with a second tooth portion (321) at the corresponding end. When the first hook (111) is engaged with the second hook (212), the first tooth portion (211) and the second tooth portion (321) are engaged and connected.

5. The robot wrist converter according to claim 1, wherein The base (12) is provided with an annular stepped groove, and the support frame (11) is inserted and fixed in the groove.

6. The robot wrist converter according to claim 5, wherein A first fixing hole (113) and a second fixing hole (121) are respectively provided at the connection point between the support frame (11) and the base (12), and the support frame (11) and the base (12) are fixedly connected by fasteners penetrating the first fixing hole (113) and the second fixing hole (121).

7. The robot wrist converter according to claim 1, characterized in that, The end surface of the ring cover (21) is provided with two joints (22) symmetrically distributed on the same radial line.

8. The robot wrist converter according to any one of claims 1-7, characterized in that The base (12), the clamping ring (32) and the ring cover (21) have the same outer diameter, and a through hollow cavity is provided inside the three for wiring.

Images