Manipulator capable of quickly replacing tail end

Abstract

The mechanical arm comprises a connecting column, a power assembly, an auxiliary limiting mechanism, a clamping plate, a clamping block and a connecting groove, an arranged fixing plate extends into a connecting cavity, a driving part drives a driving rod to rotate, the driving rod rotates to drive a threaded rod to rotate through a connecting unit, and the threaded rod is connected with the power assembly. When the device grabs a workpiece after being installed, the power assembly drives the movable rod connected with the power assembly to rotate, the movable rod rotates to drive the installation block to slide in the sliding groove, the installation block drives the clamping plate to move in the opposite direction, the clamping block drives the clamping plate to move in the sliding groove, and the clamping plate drives the clamping plate to move in the opposite direction. After the clamping plates make contact with the workpiece, the elastic components are compressed to generate elastic force along with the installation blocks, the clamping plates clamp and fix the workpiece needing to be grabbed, and the installation blocks can drive the auxiliary limiting mechanisms to operate in the sliding process to further limit and fix the workpiece.

Description

Technical Field

[0001] The invention relates to a manipulator, in particular to a manipulator with a fast end replacement capability. Background Art

[0002] A robot arm is an automatic operating device that can imitate certain movements and functions of human hands and arms, and is used to grasp, move objects or operate tools according to a fixed procedure. Its characteristic is that it can be programmed to complete various expected tasks, and its structure and performance combine the advantages of both human and robotic machines.

[0003] When working, the robot needs to replace the end fixture or processing equipment according to different working methods. However, most robots nowadays have complex connection structures, which makes them extremely inconvenient to disassemble and replace, which greatly affects work efficiency and causes the device to have certain limitations when used. Therefore, a robot with a quick end replacement function needs to be designed to solve this problem. Summary of the Invention

[0004] The object of the present invention is to provide a robot arm with a quick end change function to solve the problems mentioned above.

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

[0006] The top end face of said sliding arm is fixedly provided with a toothed connecting strip which is cooperatively connected with said toothed connecting strip according to claim 1, wherein said toothed connecting strip is connected to said toothed connecting strip by a threaded connecting gear.

[0007] As a further solution of the present invention: the mounting assembly includes a fixing plate, which is fixedly connected to the connecting column, and a mounting groove is provided in a ring array on the side of the fixing plate away from the connecting column, a connecting groove is provided on the bottom wall of the mounting groove, and a connecting block is slidably installed in the connecting groove, a driving component is installed on the fixing plate, a driving rod is installed at the output end of the driving component, the driving rod extends into the connecting groove away from one end of the driving component, a threaded rod is rotatably installed on the side wall of the connecting groove, a connecting unit is installed at one end of the threaded rod away from the side wall of the connecting groove, the connecting unit is connected to the driving rod at one end away from the threaded rod, the threaded rod is connected to the connecting block by threads, a connecting rod is installed on one side of the connecting block, a card block is installed at one end of the connecting rod away from the connecting block, and a card slot for the card block to be connected is provided on the inner wall of the connecting cavity.

[0008] As a further solution of the present invention: the power assembly includes a power cavity, a power cavity is opened on the mounting plate, a driving member is opened in the power cavity, the driving member is installed in the power cavity, a driving shaft is installed at the output end of the driving member, a screw rod is installed at the end of the driving shaft away from the driving member, a threaded block is connected to the screw rod through a thread, a power rod is hinged on the side wall of the threaded block, and the power rod is hinged to the middle part of the movable rod at one end away from the threaded block.

[0009] As a further solution of the present invention: the auxiliary limiting mechanism includes a symmetrically arranged horizontal plate, which is symmetrically installed on the mounting block, and a limiting shaft is rotatably installed on one end of the horizontal plate away from the mounting block, and an auxiliary plate is installed on the limiting shaft, and an auxiliary groove is provided on the auxiliary plate, and a guide plate is symmetrically arranged on the driving plate, and a guide column is installed on one end of the guide plate away from the driving plate, and the guide column passes through the auxiliary groove at one end away from the guide plate, and the guide column slides in fit with the inner wall of the guide groove.

[0010] As a further solution of the present invention: an anti-slip rubber strip is installed at one end of the splint away from the push rod, and the anti-slip rubber strip is equidistantly arranged on one side of the splint.

[0011] As a further solution of the present invention: the driving component is a stepping motor.

[0012] As a further solution of the present invention: the number of the installation slots is five.

[0013] When the device is in use, one end of the connecting column is welded to the mechanical grasping device, and when the mounting plate is connected to the mechanical grasping device, the set fixing plate is extended into the connecting cavity. After the fixing plate is extended into the connecting cavity, the set driving component drives the driving rod connected thereto to rotate, and the rotation of the driving rod drives the threaded rod to rotate through the connecting unit. The rotation of the threaded rod drives the connecting block connected thereto to slide in the connecting groove under the action of the thread, and the sliding of the connecting block drives the clamping block on one side to move toward the side close to the clamping groove, so that the clamping blocks all extend into the clamping groove, realizing the connection between the mounting plate and the fixing plate, thereby realizing the detachable connection between the fixing plate and the mounting plate. When it needs to be disassembled, the driving component drives the driving rod to reverse, and the connecting block set in this process will move toward each other and drive the clamping block to disengage from the clamping groove, thereby realizing the disassembly of the fixing plate and the mounting plate. When the device is installed to grasp the workpiece, the set driving component drives the driving shaft to rotate, and the rotation of the driving shaft drives the clamping block connected thereto When the movable rod is driven by the movable rod, the movable rod is driven by the movable rod to move along the guide groove, and the movable rod is driven by the movable rod to move along the guide groove, so that the movable rod can move along the guide groove to move along the guide groove. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of a robot arm that can quickly replace the end.

[0015] Figure 2 This is a structural diagram from another angle of a robot with a quick end change function.

[0016] Figure 3 This is a schematic diagram of the structure of the installation components in a robot arm with a quick replacement end.

[0017] Figure 4 This is a schematic diagram of the structure of a fixed plate in a robot arm that can quickly replace the end.

[0018] Figure 5 This is a schematic diagram of the structure of a threaded rod in a robot with a quick end replacement function.

[0019] Figure 6This is a structural schematic diagram of another state of a robot installation component for rapid end replacement.

[0020] Figure 7 This is a schematic diagram of the structure of the installation block in a robot with a quick-change end.

[0021] Figure 8 This is a structural diagram of an auxiliary plate in a robot arm that can quickly replace the end.

[0022] Figure 9 A cross-sectional view of a mounting plate in a robot for rapid end-change.

[0023] In the figure: 1. Mounting plate; 2. Connecting cavity; 3. Card slot; 4. Power cavity; 5. Base; 6. Mounting block; 7. Movable rod; 8. Elastic component; 9. Guide groove; 10. Auxiliary plate; 11. Clamp; 12. Anti-slip rubber strip; 13. Horizontal plate; 14. Limiting shaft; 15. Auxiliary groove; 16. Guide plate; 17. Guide column; 18. Drive plate; 19. Drive shaft; 20. Screw; 21. Threaded block; 22. Power rod; 23. Connecting column; 24. Fixed plate; 25. Drive component; 26. Mounting groove; 27. Connecting groove; 28. Connecting unit; 29. ​​Threaded rod; 30. Card block; 32. Connecting block. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0025] See also Figures 1 to 9As an embodiment of the present invention, a manipulator for quickly changing the end includes a connecting column 23, a mounting assembly is installed at the bottom of the connecting column 23, the connecting column 23 is connected to the mounting disk 1 through the mounting assembly, and a connecting cavity 2 is provided on the mounting disk 1, and the mounting assembly includes a fixing plate 24, the fixing plate 24 is fixedly connected to the connecting column 23, and the fixing plate 24 is provided with a mounting groove 26 in a circular array on the side away from the connecting column 23, the number of the mounting grooves 26 is five, and a connecting groove 27 is provided on the bottom wall of the mounting groove 26, and a connecting groove 27 is slidably installed in the connecting groove 27. The connecting block 32 is provided with a driving component 25 mounted on the fixing plate 24. A driving rod is mounted on the output end of the driving component 25. The driving rod extends into the connecting groove 27 at one end away from the driving component 25. A threaded rod 29 is rotatably mounted on the side wall of the connecting groove 27. A connecting unit 28 is mounted at one end of the threaded rod 29 away from the side wall of the connecting groove 27. The connecting unit 28 is connected to the driving rod at one end away from the threaded rod 29. The threaded rod 29 is connected to the connecting block 32 by a threaded connection. A connecting rod is mounted on one side of the connecting block 32. A card block 30 is mounted at one end of the connecting rod away from the connecting block 32. A connecting cavity 2 is provided on the inner wall There is a card slot 3 for connecting the card block 30, the bottom of the mounting plate 1 is symmetrically installed with a base 5, a support rod is installed on the base 5, and the support rod is connected to the mounting plate 1 at one end away from the base 5. A slide groove is provided on the base 5, and a mounting block 6 is slidably installed in the slide groove. A guide groove 9 is provided on the side wall of the mounting block 6, and a guide block is slidably installed in the guide groove 9. A mounting movable rod 7 is provided at the bottom of the mounting plate 1, and one end of the movable rod 7 is hinged to the mounting plate 1, and the other end is hinged to the guide block. A driving cavity is provided on the guide block, and a driving plate 18 is slidably installed in the driving cavity. The driving plate 18 is A push rod is provided on the side, and the end of the push rod away from the driving plate 18 passes through the side wall of the driving cavity and is connected to a splint 11, and an anti-slip rubber strip 12 is installed on the end of the splint 11 away from the push rod. The anti-slip rubber strip 12 is equidistantly arranged on one side of the splint 11, and an elastic component 8 is provided on one side of the driving plate 18, and the end of the elastic component 8 away from the driving plate 18 is connected to the side wall of the driving cavity, and auxiliary limiting mechanisms are provided on both sides of the splint 11, and a power assembly is installed on the mounting disk 1, and the power assembly is connected to the movable rod 7 at one end away from the mounting disk 1, and the power assembly is used to drive the movable rod 7 to rotate.

[0026] When the fixing plate 24 is connected to the mounting plate 1, the fixing plate 24 is extended into the connecting cavity 2. After the fixing plate 24 is extended into the connecting cavity 2, the driving component 25 drives the driving rod connected thereto to rotate. The driving rod rotates and drives the threaded rod 29 to rotate through the connecting unit 28. The rotation of the threaded rod 29 drives the connecting block 32 connected thereto to slide in the connecting groove 27 under the action of the thread. The sliding of the connecting block 32 drives the clamping block 30 on one side to move toward the side close to the clamping groove 3, so that the clamping block 30 extends into the clamping groove 3, realizing the connection between the mounting plate 1 and the fixing plate 24, thereby realizing the detachable connection between the fixing plate 24 and the mounting plate 1. When it needs to be disassembled, the driving component 25 drives the driving rod to reverse. In this process, the connecting block 32 set will move toward each other and drive the clamping block 30 to disengage from the clamping groove 3. When the driving plate 18 slides in the driving cavity, it will drive the auxiliary limiting mechanism to operate, and the auxiliary limiting mechanism will further limit and fix the workpiece, thereby further improving the stability of the workpiece during grabbing and transportation.

[0027] Furthermore, the driving component 25 may be a stepping motor or a servo motor, etc., which will not be described in detail here.

[0028] Furthermore, the elastic component 8 may be a spring or an elastic steel sheet, etc., which will not be described in detail here.

[0029] Furthermore, the connecting unit 28 may be a bevel gear set or a combination of a worm and a worm wheel, which will not be described in detail here.

[0030] See also Figures 1 to 9 As an embodiment of the present invention, the power assembly includes a power cavity 4, a power cavity 4 is opened on the mounting plate 1, a driving member is opened in the power cavity 4, the driving member is installed in the power cavity 4, a driving shaft 19 is installed at the output end of the driving member, a screw rod 20 is installed at the end of the driving shaft 19 away from the driving member, a threaded block 21 is connected to the screw rod 20 through a thread, a power rod 22 is hinged on the side wall of the threaded block 21, and the power rod 22 is hinged to the middle part of the movable rod 7 at one end away from the threaded block 21.

[0031] In this embodiment, when grabbing the required workpiece, the provided driving member drives the driving shaft 19 to rotate, and the rotation of the driving shaft 19 drives the screw rod 20 connected thereto to rotate, and the rotation of the screw rod 20 drives the threaded block 21 to move, and the movement of the threaded block 21 drives the movable rod 7 to rotate through the power rod 22. The movable rod 7 drives the mounting block 6 at one end to slide in the slide groove during the rotation around the hinge point with the mounting plate 1, and the mounting block 6 drives the clamping plate 11 on one side to move toward each other. After the clamping plate 11 moves toward each other and contacts the workpiece to be grabbed, as the movable rod 7 drives the mounting block 6 to continue to move toward each other, the push rod provided at this time will drive one side drive plate 18 to compress the elastic component 8 on one side. The elastic component 8 is compressed to generate elastic force, and the generated elastic force can enable the clamping plate 11 to clamp and fix the workpiece to be grabbed, thereby ensuring the stability of the workpiece to be grabbed.

[0032] In this embodiment, the driving component is a stepping motor. The driving component may also be a servo motor, etc., which will not be described in detail here.

[0033] See also Figures 7 and 8 As an embodiment of the present invention, the auxiliary limiting mechanism includes a symmetrically arranged horizontal plate 13, which is symmetrically installed on the mounting block 6. The horizontal plate 13 is rotatably installed on the end away from the mounting block 6 with a limiting shaft 14, and the limiting shaft 14 is installed with an auxiliary plate 10. The auxiliary plate 10 is provided with an auxiliary groove 15, and the driving plate 18 is symmetrically provided with a guide plate 16. The guide plate 16 is installed with a guide column 17 on the end away from the driving plate 18. The guide column 17 passes through the auxiliary groove 15 at the end away from the guide plate 16, and the guide column 17 slides in contact with the inner wall of the guide groove 9.

[0034] In this embodiment, when the movable rod 7 pushes the mounting block 6 to slide toward each other during the rotation process, the installed mounting block 6 drives the clamping plate 11 on one side to move toward each other. After the clamping plate 11 moves toward each other and contacts the workpiece to be grasped, as the movable rod 7 drives the mounting block 6 to continue to move toward each other, the push rod set at this time will drive the driving plate 18 on one side to compress the elastic component 8 on one side. During the compression of the elastic component 8, the driving plate 18 will drive the guide column 17 at one end of the guide plate 16 to move. The guide column 17 slides in the auxiliary groove 15 so that the installed auxiliary plate 10 will rotate around the limit axis 14, and one end of the auxiliary plate 10 rotates toward the side close to the workpiece until the auxiliary plate 10 contacts the outer wall of the workpiece to further limit and clamp the outside of the workpiece, thereby further improving the stability of the workpiece.

[0035] The working principle of the present invention is as follows: when the device is in use, one end of the connecting column 23 is welded to the mechanical grasping device, and when the mounting plate 1 is connected to the mechanical grasping device, the fixed plate 24 is extended into the connecting cavity 2. After the fixed plate 24 is extended into the connecting cavity 2, the driving component 25 drives the driving rod connected thereto to rotate, and the driving rod rotates through the connecting unit 28 to drive the threaded rod 29 to rotate. The threaded rod 29 rotates and drives the connecting block 32 connected thereto to slide in the connecting groove 27 under the action of the thread, and the sliding of the connecting block 32 drives the clamping block 30 on one side. When the workpiece is removed, the driving member 25 drives the driving rod 24 to reverse, and the connecting block 32 provided in the process will move toward each other to drive the block 30 out of the slot 3, thereby realizing its removal, which is convenient and efficient. When the device grabs the workpiece after installation, the driving member drives the driving shaft 19 to rotate, and the driving shaft 19 rotates to drive the connected The screw rod 20 rotates, and the screw rod 20 rotates to drive the threaded block 21 to move. The threaded block 21 moves and drives the movable rod 7 to rotate through the power rod 22. The movable rod 7 drives the mounting block 6 at one end to slide in the slide groove during the rotation around the hinge point with the mounting plate 1. The mounting block 6 drives the clamping plates 11 on one side to move toward each other. After the clamping plates 11 move toward each other and contact the workpiece to be grasped, the movable rod 7 drives the mounting block 6 to continue to move toward each other. At this time, the push rod set will drive one side of the driving plate 18 to compress the elastic component 8 on one side, and the elastic component 8 is compressed to generate elasticity. The force generated can make the clamping plate 11 clamp and fix the workpiece to be grasped, thereby ensuring the stability of the workpiece to be grasped. During the compression of the elastic component 8, the driving plate 18 will drive the guide column 17 at one end of the guide plate 16 to move, and the guide column 17 slides in the auxiliary groove 15 so that the set auxiliary plate 10 will rotate around the limiting axis 14, and one end of the auxiliary plate 10 rotates toward the side close to the workpiece until the auxiliary plate 10 contacts the outer wall of the workpiece to further limit and clamp the outside of the workpiece, thereby further improving the stability of the workpiece.

[0036] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0037] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A robot for quickly changing the end, comprising a connecting column (23), characterized in that: The bottom of the connecting column (23) is provided with a mounting assembly, and the connecting column (23) is connected to the mounting plate (1) through the mounting assembly. The mounting plate (1) is provided with a connecting cavity (2). The bottom of the mounting plate (1) is symmetrically provided with a base (5), and a support rod is provided on the base (5). The support rod is connected to the mounting plate (1) at one end away from the base (5). The base (5) is provided with a slide groove, and a mounting block (6) is slidably installed in the slide groove. A guide groove (9) is provided on the side wall of the mounting block (6), and a guide block is slidably installed in the guide groove (9). A movable rod (7) is provided at the bottom of the mounting plate (1), and one end of the movable rod (7) is hinged to the mounting plate (1). (7) The other end is hinged to the guide block, and a driving cavity is provided on the guide block, and a driving plate (18) is slidably installed in the driving cavity. A push rod is provided on one side of the driving plate (18), and the end of the push rod away from the driving plate (18) passes through the side wall of the driving cavity and is connected to a clamping plate (11). An elastic component (8) is provided on one side of the driving plate (18), and the end of the elastic component (8) away from the driving plate (18) is connected to the side wall of the driving cavity. Auxiliary limiting mechanisms are provided on both sides of the clamping plate (11), and a power assembly is installed on the mounting plate (1), and the end of the power assembly away from the mounting plate (1) is connected to the movable rod (7), and the power assembly is used to drive the movable rod (7) to rotate.

2. A robot with a quick end change according to claim 1, characterized in that: The mounting assembly includes a fixing plate (24), the fixing plate (24) is fixedly connected to the connecting column (23), a mounting groove (26) is provided in a circular array on the side of the fixing plate (24) away from the connecting column (23), a connecting groove (27) is provided on the bottom wall of the mounting groove (26), a connecting block (32) is slidably installed in the connecting groove (27), a driving component (25) is installed on the fixing plate (24), a driving rod is installed at the output end of the driving component (25), and the driving rod extends to the connecting groove (27) at one end away from the driving component (25). 7), a threaded rod (29) is rotatably mounted on the side wall of the connecting groove (27), a connecting unit (28) is mounted on one end of the threaded rod (29) away from the side wall of the connecting groove (27), an end of the connecting unit (28) away from the threaded rod (29) is connected to the driving rod, the threaded rod (29) is connected to the connecting block (32) by a thread, a connecting rod is mounted on one side of the connecting block (32), a clamping block (30) is mounted on one end of the connecting rod away from the connecting block (32), and a clamping groove (3) for connecting the clamping block (30) is provided on the inner wall of the connecting cavity (2).

3. A robot with a quick end change according to claim 2, characterized in that: The power assembly includes a power cavity (4), a power cavity (4) is provided on the mounting plate (1), a driving member is provided in the power cavity (4), the driving member is installed in the power cavity (4), a driving shaft (19) is installed at the output end of the driving member, a screw rod (20) is installed at one end of the driving shaft (19) away from the driving member, a threaded block (21) is connected to the screw rod (20) through a thread, a power rod (22) is hinged on the side wall of the threaded block (21), and the end of the power rod (22) away from the threaded block (21) is hinged to the middle part of the movable rod (7).

4. A robot with a quick end change according to claim 3, characterized in that: The auxiliary limiting mechanism comprises a symmetrically arranged transverse plate (13), which is symmetrically mounted on the mounting block (6), and a limiting shaft (14) is rotatably mounted on one end of the transverse plate (13) away from the mounting block (6), and an auxiliary plate (10) is mounted on the limiting shaft (14), and an auxiliary groove (15) is provided on the auxiliary plate (10), and a guide plate (16) is symmetrically arranged on the driving plate (18), and a guide column (17) is mounted on one end of the guide plate (16) away from the driving plate (18), and the guide column (17) passes through the auxiliary groove (15) at one end away from the guide plate (16), and the guide column (17) is slidably fitted with the inner wall of the guide groove (9).

5. The robot with a quick end change according to claim 1, characterized in that: An anti-skid rubber strip (12) is installed at one end of the splint (11) away from the push rod, and the anti-skid rubber strip (12) is equidistantly arranged on one side of the splint (11).

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