Mechanical arm with tail end assembly convenient to replace

Abstract

The invention relates to a mechanical arm with a tail end assembly convenient to replace, and belongs to the technical field of mechanical arms, the mechanical arm comprises a mechanical arm main body, one end of the mechanical arm main body is fixedly connected with a mounting seat, the mounting seat is in threaded connection with a connecting shaft, the outer side of the connecting shaft is sleeved with a connecting seat, and a plurality of sets of positioning devices and locking devices are mounted on the connecting seat in a circumferential array mode; the connecting seat is detachably connected with the connecting shaft through the positioning device and the locking device; the positioning device is fixedly connected with the connecting seat, and the locking device is slidably connected with the connecting seat; according to the mechanical arm with the tail end assembly convenient to replace, the positioning device and the locking device are arranged to be matched with the connecting shaft, rapid disassembly and replacement of the mechanical arm body can be achieved, and therefore different machining mechanisms can be conveniently assembled to meet different machining requirements, the replacement time is shortened, and the workpiece machining efficiency is improved.

Description

TECHNICAL FIELD

[0001] The application relates to a mechanical arm facilitating replacement of an end assembly and belongs to the technical field of mechanical arms. BACKGROUND

[0002] The mechanical arm is a programmable control mechanical device realized through electronic technology and mechanical structure, is usually composed of multiple joints, can perform various fine operations like human arms, and is widely applied to the fields of industry, medical treatment, military affairs and the like.

[0003] In the field of mechanical processing of industry, different processing mechanisms need to be adopted for processing due to different processing objects and processing processes, and due to structural limitations, one mechanical arm is generally adapted to one processing mechanism, and when different processing process tasks need to be performed, the fixed operation hand of the mechanical arm cannot adapt to different operation requirements, and therefore the whole mechanical arm needs to be replaced to complete the task, however, the process of replacing the mechanical arm is complex and time-consuming, leading to inconvenient use and seriously affecting processing efficiency. SUMMARY

[0004] According to the deficiencies in the prior art, the technical problem to be solved by the application is to provide a mechanical arm facilitating replacement of an end assembly, which does not need to be disassembled and replaced when different processing process tasks are performed, reduces replacement time, and thus improves workpiece processing efficiency.

[0005] The mechanical arm facilitating replacement of an end assembly comprises a mechanical arm body, one end of the mechanical arm body is fixedly connected with a mounting seat, the mounting seat is threadedly connected with a connecting shaft, the outer side of the connecting shaft is sleeved with a connecting seat, a plurality of sets of positioning devices and locking devices are circumferentially arranged on the connecting seat; the connecting seat is detachably connected with the connecting shaft through the positioning devices and the locking devices; the positioning devices are fixedly connected with the connecting seat, and the locking devices are slidingly connected with the connecting seat.

[0006] The locking device comprises a sliding plate, a plurality of moving rods are fixedly arranged on the sliding plate, a stop block is arranged on the moving rod, the moving rod is fixedly connected with a clamping plate through the stop block, a sleeve and a spring are sleeved on the moving rod, the moving rod is slidingly connected with the sleeve, the spring is located between the stop block and the sleeve, one end of the spring is fixedly connected with the sleeve, and the other end of the spring is fixedly connected with the stop block.

[0007] The connecting seat is uniformly provided with movable grooves A, the clamping plate slides in the movable grooves A, limit blocks are fixedly arranged in the movable grooves A, the moving rods penetrate through the limit blocks, and the limit blocks are fixedly connected with the sleeves.

[0008] Preferably, movable grooves B are further processed on the connecting seat, the sliding plate is in a T shape, the bottom of the sliding plate slides in the movable grooves B, and the movable grooves B are used for further limiting the locking device and guaranteeing the stability of movement of the locking device.

[0009] Preferably, the positioning device comprises a positioning rod, an elastic block is fixedly connected to the upper portion of the positioning rod, the elastic block can be bent and deformed, and the upper portion of the elastic block is fixedly connected to a positioning block.

[0010] Further, a mounting groove is further processed on the connecting seat, the positioning rod is fixed in the mounting groove, and the positioning rod is inclined at a certain angle relative to the central axis of the connecting seat, so that the positioning blocks are close to the center.

[0011] Preferably, a locking boss is arranged on the clamping plate, a locking groove matched with the locking boss is arranged on the connecting shaft, a positioning boss is arranged on the positioning block, and a positioning groove matched with the positioning boss is arranged on the connecting shaft.

[0012] Preferably, a central hole is arranged on the connecting seat, and the central hole is matched with the outer diameter of the connecting shaft.

[0013] Preferably, a plurality of rotating rods are arranged on the connecting seat in an array, the rotating rods are rotatably connected to the connecting seat through bearings, one end of each rotating rod is fixedly connected to a protruding block, and the positions of the protruding blocks correspond to the positions of the sliding plates.

[0014] Preferably, a tooth ring is further rotatably connected to the connecting seat, and a gear is fixedly connected to the rotating rod, and the gear is engaged with the tooth ring.

[0015] Preferably, a plurality of through holes are uniformly arranged on the mounting seat, a plurality of threaded holes are arranged on the connecting shaft in an array in the circumferential direction, the positions of the through holes are matched with the positions of the threaded holes, a bolt is screwed into the threaded hole of the connecting shaft through the through hole of the mounting seat, and the mounting seat and the connecting shaft are connected.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] The mechanical arm with the end assembly convenient to replace disclosed by the present application can be quickly disassembled and replaced by cooperating the positioning device and the locking device with the connecting shaft, so that different machining mechanisms can be assembled to cope with different machining requirements, the replacement time is shortened, and the machining efficiency of workpieces is improved. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 is a structural schematic diagram of the present application;

[0019] Figure 2 is a structural schematic diagram of the mounting seat and the connecting seat;

[0020] Figure 3 is an exploded view of the mounting seat and the connecting seat;

[0021] Figure 4 is a structural schematic diagram of the connecting seat, the positioning device and the locking device;

[0022] Figure 5 is Figure 4 is an enlarged view of the C area in the middle of the figure;

[0023] Figure 6 is a structural schematic view of the locking device;

[0024] Figure 7 is a structural schematic view of the positioning device.

[0025] In the figure: 1, mechanical arm body; 2, mounting seat; 21, through hole; 3, connecting seat; 31, movable groove B; 32, center hole; 33, gear ring; 34, movable groove A; 35, mounting groove; 36, rotating rod; 37, protruding block; 38, limiting block; 39, gear; 4, positioning device; 41, positioning rod; 42, elastic block; 43, positioning block; 44, positioning protrusion; 5, locking device; 51, sliding plate; 52, clamping plate; 521, locking protrusion; 53, moving rod; 531, stop block; 54, sleeve; 55, spring; 6, connecting shaft; 61, positioning groove; 62, locking groove; 7, bolt. DETAILED DESCRIPTION

[0026] The application will be further described below in conjunction with specific examples.

[0027] However, the description of the application is only an embodiment of structural and even functional description, and the scope of the application is not limited by the embodiment described in the text.

[0028] For example, a plurality of embodiments can have various modifications and various forms, and it should be understood that the scope of the application includes equivalents that can achieve the technical idea.

[0029] As Figures 1-7 shown, the embodiment is realized by the following technical scheme: including a mechanical arm body 1, one end of the mechanical arm body 1 is fixedly connected with a mounting seat 2, the mounting seat 2 is threadedly connected with a connecting shaft 6, the outer side of the connecting shaft 6 is sleeved with a connecting seat 3, a plurality of sets of positioning devices 4 and locking devices 5 are circumferentially arrayed and mounted on the connecting seat 3; the connecting seat 3 is detachably connected with the connecting shaft 6 through the positioning devices 4 and the locking devices 5; the positioning devices 4 are fixedly connected with the connecting seat 3, and the locking devices 5 are slidingly connected with the connecting seat 3;

[0030] The locking device 5 comprises a sliding plate 51, a plurality of moving rods 53 are fixed on the sliding plate 51, a stop block 531 is arranged on the moving rod 53, the moving rod 53 is fixedly connected with the clamping plate 52 through the stop block 531, a sleeve 54 and a spring 55 are arranged on the moving rod 53, the moving rod 53 is slidably connected with the sleeve 54, the spring 55 is located between the stop block 531 and the sleeve 54, one end of the spring 55 is fixedly connected with the sleeve 54, and the other end of the spring 55 is fixedly connected with the stop block 531; the connecting seat 3 is uniformly provided with a movable groove A34, the clamping plate 52 slides in the movable groove A34, a limiting block 38 is fixed in the movable groove A34, and the moving rod 53 penetrates through the limiting block 38; and the limiting block 38 is fixedly connected with the sleeve 54.

[0031] In the embodiment, the connecting seat 3 is further processed with a movable groove B31, the sliding plate 51 is T-shaped, and the bottom of the sliding plate 51 slides in the movable groove B31; the movable groove B31 is used for further limiting the locking device 5 and guaranteeing the stability of movement of the locking device 5.

[0032] The positioning device 4 comprises a positioning rod 41, an elastic block 42 is fixedly connected to the upper portion of the positioning rod 41, the elastic block 42 can be bent and deformed, and a positioning block 43 is fixedly connected to the upper portion of the elastic block 42; the connecting seat 3 is further processed with a mounting groove 35, and the positioning rod 41 is fixed in the mounting groove 35; and the positioning rod 41 is inclined at a certain angle relative to the central axis of the connecting seat 3, so that the positioning blocks 43 are close to the center.

[0033] The clamping plate 52 is provided with a locking boss 521, the connecting shaft 6 is provided with a locking groove 62 matched with the locking boss 521; the positioning block 43 is provided with a positioning boss 44, and the connecting shaft 6 is provided with a positioning groove 61 matched with the positioning boss 44.

[0034] The connecting seat 3 is provided with a central hole 32 matched with the outer diameter of the connecting shaft 6; a plurality of rotating rods 36 are arranged on the connecting seat 3 in an array, the rotating rods 36 are rotatably connected with the connecting seat 3 through bearings, one end of each rotating rod 36 is fixedly connected with a protruding block 37, and the positions of the protruding blocks 37 correspond to the positions of the sliding plates 51; the connecting seat 3 is further rotatably connected with a tooth ring 33, and the rotating rods 36 are fixedly connected with gears 39, the gears 39 are engaged with the tooth ring 33.

[0035] The mounting seat 2 is uniformly provided with a plurality of through holes 21, a plurality of threaded holes are arranged on the connecting shaft 6 in a circumferential direction, the positions of the through holes 21 are matched with the positions of the threaded holes, the threaded holes are screwed into the threaded holes of the connecting shaft 6 through the through holes 21 of the mounting seat 2, and the mounting seat 2 and the connecting shaft 6 are connected.

[0036] The use method of the application is as follows:

[0037] 1、First install the mechanical arm body 1, first rotate the gear ring 33, gear ring 33 drive gear 39 rotation, gear 39 through the rotating rod 36 drive protruding block 37 rotation, protruding block 37 extrude sliding plate 51, make sliding plate 51 along the activity groove B31 move outward; Further pull the moving rod 53, moving rod 53 drive clamping plate 52 move outward, while compression spring 55;

[0038] 2、The connecting shaft 6 is inserted into the center hole 32 of the connecting seat 3, because the positioning block 43 is close to the center axis of the connecting seat 3, during the insertion process, the outer wall of the connecting shaft 6 will extrude the bit block 43 to move outward, so that the elastic block 42 is elastically deformed, and is expanded outward;

[0039] 3、When the connecting shaft 6 is completely inserted into the connecting seat 3, the positioning groove 61 and the positioning boss 44 are coincided, under the action of the elastic block 42, the positioning boss 44 is embedded in the positioning groove 61, the preliminary positioning connection of the connecting shaft 6 and the connecting seat 3 is completed, and displacement is prevented in subsequent operation;

[0040] 4、Then reverse the gear ring 33, make the protruding block 37 rotate, so as to release the restriction of the protruding block 37 to the sliding plate 51, under the action of the spring 55, the sliding plate 51 moves to the center of the connecting seat 3, and drives the clamping plate 52, so that the locking boss 521 is embedded in the locking groove 62, and the locking is completed;

[0041] 5、When it is necessary to disassemble and replace the mechanical arm body 1, as shown in step 1, rotate the gear ring 33, so that the locking boss 521 is separated from the locking groove 62, and the locking is released, then the positioning block 43 is pried outward by hand, so that the positioning boss 44 is separated from the positioning groove 61, and the positioning is released, then the connecting shaft 6 is pulled out from the center hole 32, so that the quick replacement is realized.

Claims

1. A robotic arm with easily replaceable end effector components, characterized in that, The system includes a robotic arm body (1), one end of which is fixedly connected to a mounting base (2). The mounting base (2) is threadedly connected to a connecting shaft (6). A connecting seat (3) is sleeved on the outer side of the connecting shaft (6). Multiple positioning devices (4) and locking devices (5) are installed in a circumferential array on the connecting seat (3). The connecting seat (3) is detachably connected to the connecting shaft (6) through the positioning devices (4) and the locking devices (5). The positioning devices (4) are fixedly connected to the connecting seat (3), and the locking devices (5) are slidably connected to the connecting seat (3). The locking device (5) includes a sliding plate (51), on which a plurality of moving rods (53) are fixed. A stop block (531) is provided on the moving rod (53). The moving rod (53) is fixedly connected to the clamping plate (52) through the stop block (531). A sleeve (54) and a spring (55) are sleeved on the moving rod (53). The moving rod (53) and the sleeve (54) are slidably connected. The spring (55) is located between the stop block (531) and the sleeve (54). One end of the spring (55) is fixedly connected to the sleeve (54), and the other end of the spring (55) is fixedly connected to the stop block (531). The connecting seat (3) is evenly distributed with movable grooves A (34), the clamping plate (52) slides in the movable grooves A (34), the movable grooves A (34) are fixed with limit blocks (38), the moving rod (53) passes through the limit blocks (38), and the limit blocks (38) are fixedly connected to the sleeve (54).

2. The robotic arm with easily replaceable end effector components according to claim 1, characterized in that, The connecting seat (3) is also machined with a movable groove B (31), and the sliding plate (51) is T-shaped, with the bottom of the sliding plate (51) sliding in the movable groove B (31).

3. The robotic arm with easily replaceable end effector components according to claim 1, characterized in that, The positioning device (4) includes a positioning rod (41), an elastic block (42) is fixedly connected to the upper part of the positioning rod (41), and a positioning block (43) is fixedly connected to the upper part of the elastic block (42).

4. The robotic arm with easily replaceable end effector components according to claim 3, characterized in that, The connecting seat (3) is also machined with a mounting groove (35), and the positioning rod (41) is fixed in the mounting groove (35). The positioning rod (41) is inclined at a certain angle relative to the central axis of the connecting seat (3).

5. The robotic arm with easily replaceable end effector components according to claim 3, characterized in that, The clamping plate (52) is provided with a locking boss (521), and the connecting shaft (6) is provided with a locking groove (62) that matches the locking boss (521); the positioning block (43) is provided with a positioning boss (44), and the connecting shaft (6) is provided with a positioning groove (61) that matches the positioning boss (44).

6. The robotic arm with easily replaceable end effector components according to claim 5, characterized in that, The connecting seat (3) is provided with a central hole (32), which is adapted to the outer diameter of the connecting shaft (6).

7. The robotic arm with easily replaceable end effector components according to claim 1, characterized in that, Multiple rotating rods (36) are arranged in an array on the connecting seat (3). The rotating rods (36) are rotatably connected to the connecting seat (3) through bearings. One end of the rotating rod (36) is fixedly connected to a protrusion (37). The position of the protrusion (37) corresponds to the position of the sliding plate (51).

8. The robotic arm with easily replaceable end effector components according to claim 7, characterized in that, A gear ring (33) is rotatably connected to the connecting seat (3), and a gear (39) is fixedly connected to the rotating rod (36), with the gear (39) meshing with the gear ring (33).

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