Industrial robot

Abstract

The invention relates to the technical field of robots, in particular to an industrial robot which comprises a mechanical arm, a quick mounting seat and an actuator connecting disc. A connecting groove is formed in the upper end of the actuator connecting disc, and an annular groove is outwards formed in the peripheral wall of the connecting groove; the quick mounting seat comprises a connecting seat, a limiting seat, a steel ball and a driving mechanism; by arranging the driving mechanism, the limiting seat is driven to rotate regularly or according to working conditions, so that the positions of the steel balls and the contact points of the steel balls and the annular groove are changed, abrasion of the multiple steel balls tends to be consistent, and the problem of local abrasion caused by stress concentration generated at the corresponding positions of part of the steel balls and the annular groove in the unbalance loading state is solved; the limiting seat is of a split structure of the driving seat and the locking seat, and the driving seat and the locking seat can rotate relatively, so that the problem that the steel balls and the contact positions of the steel balls are locally abraded due to long-term high-frequency pulling and inserting is solved, the service life is prolonged, the stability of connection between the end effector and the mechanical arm is improved, and the machining precision is guaranteed.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to an industrial robot. Background Technology

[0002] Industrial robots have become core equipment in modern intelligent manufacturing, performing various tasks through end effectors such as welding torches, grippers, and spray nozzles. To improve the flexibility of robot operations and reduce downtime required for tool changes, automatic tool changers have emerged and are widely used. Currently, mainstream tool changers typically employ a quick-release structure based on a ball-lock mechanism. This mechanism uses a drive mechanism to push multiple steel balls (or rolling balls) within the locking seat radially, causing them to engage in annular grooves on the tool disc, thus connecting and locking the robot to the end effector. In the reverse operation, the steel balls retract, achieving separation.

[0003] However, in actual use, the end effector of an industrial robot is not always in an ideal vertical position. Under unbalanced loading conditions, some steel balls bear the majority of the load, while other steel balls bear less force. When under unbalanced loading conditions for a long time, severe stress concentration will occur in the corresponding contact area between a few steel balls and the annular groove, resulting in local wear. In addition, long-term high-frequency insertion and removal will also cause local wear on the steel balls and the surfaces in contact with them, which will severely shorten the service life. Furthermore, the connection stability between the end effector and the robotic arm will be reduced, which will affect the machining accuracy of the industrial robot. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention proposes an industrial robot that solves the problem of shortened lifespan caused by localized wear on steel balls and surfaces in contact with them, and improves the stability of the connection between the end effector and the robotic arm.

[0005] An industrial robot of the present invention adopts the following technical solution, including a robotic arm, a quick-release base, and an actuator connecting plate; the quick-release base is connected to the end of the robotic arm; the actuator connecting plate is snapped into the quick-release base; a connecting groove is formed at the upper end of the actuator connecting plate, and an annular groove is formed outward on the peripheral wall of the connecting groove; the quick-release base includes: The upper end of the connecting seat is fixedly connected to the end of the robotic arm; the lower end of the connecting seat is fixedly connected to the connecting cylinder, and multiple limiting holes are opened on the peripheral wall of the connecting cylinder; when the quick-release seat and the actuator connecting plate are docked, the limiting holes are aligned with the annular groove. The limiting seat is connected to the connecting seat in a way that allows it to move up and down and rotate around itself, and is located inside the connecting cylinder; the peripheral wall of the limiting seat is provided with multiple limiting grooves, each of which corresponds to a multiple limiting hole; the limiting groove includes a receiving section and a guiding section; the guiding section is located below the receiving section; the guiding section is inclined. Multiple steel balls are provided and installed in multiple limiting grooves. When the limiting seat moves upward relative to the connecting cylinder, the guide section causes the steel balls to move radially outward. In the initial state, the steel balls are located in the receiving section. When the limiting seat moves upward relative to the connecting cylinder by a preset distance, part of the steel balls are located in the guide section and part of them extend out of the limiting hole. When the quick-release seat and the actuator connecting plate are docked, the steel balls extending out of the limiting hole are locked into the annular groove. The drive mechanism is used to drive the limit seat to rotate or move up and down.

[0006] Optionally, the limiting seat includes a driving seat and a locking seat; the locking seat is rotatably mounted below the driving seat; the receiving section is opened in the driving seat, and the guiding section is opened in the locking seat; a misalignment structure is provided in the connecting groove to allow the locking seat to rotate relative to the driving seat by a preset angle.

[0007] Optionally, the misaligned structure includes sliders and guide grooves; multiple sliders are provided, and the multiple sliders are evenly distributed and fixedly connected to the lower end of the locking seat along the circumference of the locking seat; multiple guide grooves are provided, and the multiple guide grooves are connected end to end, and the number of guide grooves is equal to the number of sliders; the sliders are slidably installed in the guide grooves; the guide grooves include a first slide groove, a second slide groove, a first guide groove, and a second guide groove; the first slide groove and the second slide groove both extend axially along the actuator connecting plate, the first slide groove and the second slide groove are misaligned in the circumference of the connecting groove, and the first slide groove is located above the second slide groove, the first guide groove and the second guide groove are both inclined, the upper end of the first guide groove is connected to the lower end of the first slide groove, and the lower end of the first guide groove is connected to the upper part of the second slide groove; the upper end of the second guide groove is connected to the lower part of the first slide groove in the adjacent guide groove, and the lower end of the second guide groove is connected to the upper end of the second slide groove; the upper end of the first guide groove is located below the upper end of the second guide groove; the lower end of the first guide groove is located below the lower end of the second guide groove.

[0008] Optionally, a positioning mechanism is provided between the connecting seat and the actuator connecting plate to achieve circumferential positioning and rapid alignment.

[0009] Optionally, the positioning mechanism includes positioning holes and positioning rods; multiple positioning holes and positioning rods are provided, and both positioning holes and positioning rods extend in the vertical direction; multiple positioning rods are evenly distributed in the circumferential direction and fixedly connected to the connecting seat; multiple positioning holes are correspondingly opened on the actuator connecting plate; when the connecting seat and the actuator connecting plate are docked, the positioning rods are inserted into the positioning holes.

[0010] Optionally, the actuator connecting plate is provided with at least one reset component, which includes a reset spring and a reset plate; the reset plate is movably mounted in the positioning hole; the reset spring extends in the vertical direction and is disposed in the positioning hole, with the lower end of the reset spring fixedly connected to the actuator connecting plate and the upper end of the reset spring fixedly connected to the reset plate.

[0011] Optionally, a lubrication mechanism is provided inside the limiting seat, which is used to inject grease into the receiving section.

[0012] Optionally, the lubrication mechanism includes an oil inlet, a main flow channel, and multiple branch flow channels; the main flow channel is located on the limiting seat, and the multiple branch flow channels are distributed circumferentially on the limiting seat, each corresponding to a multiple receiving section; one end of each branch flow channel is connected to the main flow channel, and the other end is connected to the receiving section; the oil inlet is located on the side wall of the upper part of the limiting seat and is connected to the main flow channel.

[0013] Optionally, the drive mechanism includes an axial drive assembly and a rotary drive assembly; the axial drive assembly includes a movable disk, a first pneumatic system, a second pneumatic system, and an axial spring; the connecting seat is hollow inside, defining an installation cavity, and the movable disk is mounted vertically within the installation cavity; a limiting seat is rotatably connected to the movable disk; the movable disk divides the installation cavity into upper and lower sealed chambers, designated as the first sealed chamber and the second sealed chamber, respectively; the first pneumatic system communicates with the first sealed chamber, and the second pneumatic system communicates with the second sealed chamber; the first pneumatic system and the second pneumatic system control the air pressure of the first sealed chamber and the second sealed chamber, respectively; the axial spring is disposed within the second sealed chamber.

[0014] Optionally, the rotation drive assembly includes a drive motor and a transmission rod; the drive motor is mounted on a connecting seat; the transmission rod extends vertically, and a limiting seat is slidably connected to the transmission rod; the drive motor is used to drive the transmission rod to rotate.

[0015] The beneficial effects of this invention are as follows: An industrial robot of this invention, by adding a drive mechanism, can actively drive the limit seat to rotate, thereby changing the position of the steel balls and the contact point between the steel balls and the annular groove. Under eccentric loading conditions, the steel balls that originally bore concentrated loads and were worn are moved to positions with less load, and the steel balls that were originally located in positions with less loads are moved to positions with greater loads. This makes the wear of multiple steel balls tend to be uniform, solving the problem of stress concentration at the corresponding positions of some steel balls and the annular groove under eccentric loading conditions, which leads to local wear, extending service life, improving the stability of the connection between the end effector and the robotic arm, and ensuring processing accuracy.

[0016] Furthermore, the limiting seat has an upper and lower split structure, and the driving seat and locking seat can rotate relative to each other. Through the misalignment structure, when the driving seat rotates, the locking seat rotates relative to the driving seat by a preset angle, changing the contact surface between the guide section and the steel ball. This solves the problem of local wear in the local area of ​​the guide section caused by repeatedly driving the same batch of steel balls during long-term, high-frequency insertion and removal, further extending the service life and improving the stability of the connection.

[0017] Furthermore, lubricating grease is periodically added to the oil inlet. The lubricating grease is delivered to the steel balls in the receiving groove through the main oil passage and the branch passage, which effectively reduces the friction coefficient of the steel balls moving in the receiving section and the guide section, making the connection and separation of the quick-release seat and the actuator connecting plate smoother, reducing drive energy consumption, reducing wear, and further extending the service life of the parts. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of an industrial robot according to the present invention; Figure 2 This is a cross-sectional view of an industrial robot according to the present invention; Figure 3 for Figure 2 Enlarged view at point W; Figure 4 for Figure 3 Enlarged view at point X; Figure 5 for Figure 3 Enlarged view at point Y; Figure 6 This is a schematic diagram illustrating the state of the quick-release base and actuator connection plate locking process in an industrial robot according to the present invention; Figure 7 This is a schematic diagram of the state when the quick-release base and the actuator connection plate are locked in an industrial robot according to the present invention; Figure 8 This is a schematic diagram illustrating the state of the quick-release base and actuator connection plate in an industrial robot during the adjustment process according to the present invention. Figure 9 This is an exploded structural diagram of the quick-release base and actuator connection plate in an industrial robot according to the present invention; Figure 10 for Figure 9 Enlarged view of the Z-axis.

[0020] In the picture: 100. Robotic arm; 200. Quick-release seat; 210. Connecting seat; 211. Connecting cylinder; 212. Limiting hole; 213. First sealing cavity; 214. Second sealing cavity; 220. Limiting seat; 221. Limiting groove; 222. Receiving section; 223. Guide section; 224. Drive seat; 225. Locking seat; 230. Steel ball; 240. Drive mechanism; 241. Moving disk; 242. First air pressure system; 243. Second air pressure system; 244. Axial spring; 245. Drive motor; 246. Transmission rod; 250. Positioning mechanism; 251. Positioning hole; 252. Positioning rod; 253. Return spring; 254. Return plate; 260. Lubrication mechanism; 261. Oil inlet; 262. Main flow channel; 263. Diverter channel; 270. Third air pressure system; 300, Actuator connecting plate; 310, Connecting groove; 311, Annular groove; 320, Misaligned structure; 321, Slider; 322, First slide groove; 323, Second slide groove; 324, First guide groove; 325, Second guide groove. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] like Figures 1 to 10 As shown, the industrial robot provided by the present invention includes a robotic arm 100, a quick-release base 200, and an actuator connecting plate 300; the quick-release base 200 is connected to the end of the robotic arm 100; the actuator connecting plate 300 is snapped into the quick-release base 200; a connecting groove 310 is provided at the upper end of the actuator connecting plate 300, and an annular groove 311 is provided outwardly on the peripheral wall of the connecting groove 310; the quick-release base 200 includes a connecting seat 210, a limiting seat 220, a steel ball 230, and a drive mechanism 240; The upper end of the connecting seat 210 is fixedly connected to the end of the robotic arm 100; the lower end of the connecting seat 210 is fixedly connected to the connecting cylinder 211, and multiple limiting holes 212 are provided on the peripheral wall of the connecting cylinder 211; when the quick-release seat 200 and the actuator connecting plate 300 are docked, the limiting holes 212 are aligned with the annular groove 311. The limiting seat 220 is connected to the connecting seat 210 in a way that allows it to move up and down and rotate around itself, and is located inside the connecting cylinder 211; the peripheral wall of the limiting seat 220 is provided with a plurality of limiting grooves 221, and the plurality of limiting grooves 221 correspond to a plurality of limiting holes 212 respectively; the limiting groove 221 includes a receiving section 222 and a guiding section 223; the guiding section 223 is located below the receiving section 222; the guiding section 223 is inclined. Multiple steel balls 230 are provided and installed in multiple limiting grooves 221 respectively. When the limiting seat 220 moves upward relative to the connecting cylinder 211, the guide section 223 causes the steel balls 230 to move radially outward. In the initial state, the steel balls 230 are located in the receiving section 222. When the limiting seat 220 moves upward relative to the connecting cylinder 211 by a preset distance, part of the steel balls 230 are located in the guide section 223 and part of them extend out of the limiting hole 212. Thus, when the quick-release seat 200 and the actuator connecting plate 300 are docked, the steel balls 230 extending out of the limiting hole 212 are locked into the annular groove 311. The drive mechanism 240 is used to drive the limit seat 220 to rotate or move up and down.

[0023] This invention adds a driving mechanism 240, which can actively drive the limiting seat 220 to rotate, thereby changing the position of the steel ball 230 and the contact point between the steel ball 230 and the annular groove 311. Under eccentric load conditions, the steel ball 230 that was originally bearing the concentrated load and was worn is moved to a position with a smaller load, and the steel ball 230 that was originally located in a position with a smaller load is moved to a position with a larger load. This makes the wear of multiple steel balls 230 more uniform, solving the problem of stress concentration and local wear caused by some steel balls 230 and the corresponding position of the annular groove 311 under eccentric load conditions, extending service life, improving the stability of the connection between the end effector and the robotic arm 100, and ensuring processing accuracy.

[0024] In a further embodiment, such as Figure 3 , Figure 4 , Figure 5 The limiting seat 220 shown includes a drive seat 224 and a locking seat 225; the locking seat 225 is rotatably mounted below the drive seat 224; the receiving section 222 is opened in the drive seat 224, and the guiding section 223 is opened in the locking seat 225; a misalignment structure 320 is provided in the connecting groove 310 to allow the locking seat 225 to rotate relative to the drive seat 224 by a preset angle.

[0025] The misalignment structure 320 includes sliders 321 and guide grooves; multiple sliders 321 are provided, and the multiple sliders 321 are evenly distributed and fixedly connected to the lower end of the locking seat 225 along the circumference of the locking seat 225; multiple guide grooves are provided, and the multiple guide grooves are connected end to end, and the number of guide grooves is equal to the number of sliders 321; the sliders 321 are slidably mounted on the guide grooves; the guide grooves include a first sliding groove 322, a second sliding groove 323, a first guide groove 324, and a second guide groove 325; the first sliding groove 322 and the second sliding groove 323 both extend along the axial direction of the actuator connecting plate 300, and the first sliding groove 322 and the second sliding groove 323 are connected in the connecting groove 325. The 10 are staggered in the circumferential direction, and the first slide groove 322 is located above the second slide groove 323. The first guide groove 324 and the second guide groove 325 are both inclined. The upper end of the first guide groove 324 is connected to the lower end of the first slide groove 322, and the lower end of the first guide groove 324 is connected to the upper part of the second slide groove 323. The upper end of the second guide groove 325 is connected to the lower part of the first slide groove 322 in the adjacent guide groove, and the lower end of the second guide groove 325 is connected to the upper end of the second slide groove 323. The upper end of the first guide groove 324 is located below the upper end of the second guide groove 325. The lower end of the first guide groove 324 is located below the lower end of the second guide groove 325.

[0026] The limiting seat 220 has a split upper and lower structure, and the drive seat 224 and the locking seat 225 can rotate relative to each other. Through the misalignment structure 320, when the drive seat 224 rotates, the locking seat 225 rotates relative to the drive seat 224 by a preset angle, which changes the mating contact surface between the guide section 223 and the steel ball 230. This solves the problem of local wear caused by repeated driving of the same batch of steel balls 230 in a local area of ​​the guide section 223 during long-term high-frequency insertion and removal, further extending the service life and improving the stability of the connection.

[0027] In a further embodiment, such as Figure 3 , Figure 7 As shown, a positioning mechanism 250 is provided between the connecting seat 210 and the actuator connecting plate 300 to achieve circumferential positioning and rapid alignment.

[0028] The positioning mechanism 250 includes positioning holes 251 and positioning rods 252; multiple positioning holes 251 and positioning rods 252 are provided, and both positioning holes 251 and positioning rods 252 extend in the vertical direction; multiple positioning rods 252 are evenly distributed in the circumferential direction and are fixedly connected to the connecting seat 210; multiple positioning holes 251 are correspondingly opened in the actuator connecting plate 300; when the connecting seat 210 and the actuator connecting plate 300 are docked, the positioning rods 252 are inserted into the positioning holes 251.

[0029] In a further embodiment, at least one reset component is provided on the actuator connecting plate 300. The reset component includes a reset spring 253 and a reset plate 254. The reset plate 254 is movably mounted in the positioning hole 251. The reset spring 253 extends in the vertical direction and is disposed in the positioning hole 251. The lower end of the reset spring 253 is fixedly connected to the actuator connecting plate 300, and the upper end of the reset spring 253 is fixedly connected to the reset plate 254.

[0030] In a further embodiment, such as Figure 7 As shown, a lubrication mechanism 260 is provided inside the limiting seat 220, which is used to inject grease into the receiving section 222.

[0031] The lubrication mechanism 260 includes an oil inlet 261, a main channel 262, and multiple branch channels 263. The main channel 262 is located in the limiting seat 220, and the multiple branch channels 263 are distributed circumferentially in the limiting seat 220, each corresponding to a multiple receiving section 222. One end of each branch channel 263 is connected to the main channel 262, and the other end is connected to the receiving section 222. The oil inlet 261 is located on the side wall of the upper part of the limiting seat 220 and is connected to the main channel 262.

[0032] This invention incorporates a lubrication mechanism 260 to periodically add grease to the oil inlet 261. The grease is then transported through the main oil passage and the branch passage 263 to the steel balls 230 in the receiving groove, effectively reducing the coefficient of friction of the steel balls 230 as they move within the receiving section 222 and the guide section 223. This makes the connection and separation of the quick-release seat 200 and the actuator connecting plate 300 smoother, reduces drive energy consumption, and minimizes wear, further extending the lifespan of the parts.

[0033] In a further embodiment, such as Figure 6 , Figure 7 As shown; the drive mechanism 240 includes an axial drive assembly and a rotation drive assembly; the axial drive assembly includes a movable disk 241, a first pneumatic system 242, a second pneumatic system 243, and an axial spring 244; the connecting seat 210 is hollow inside, defining an installation cavity, and the movable disk 241 is installed in the installation cavity in a vertically movable manner; the limiting seat 220 is rotatably connected to the movable disk 241; the movable disk 241 divides the installation cavity into two sealed chambers, designated as the first sealed chamber 213 and the second sealed chamber 214, respectively; the first pneumatic system 242 is connected to the first sealed chamber 213, and the second pneumatic system 243 is connected to the second sealed chamber 214; the first pneumatic system 242 and the second pneumatic system 243 control the air pressure of the first sealed chamber 213 and the second sealed chamber 214, respectively; the axial spring 244 is disposed in the second sealed chamber 214.

[0034] The rotation drive assembly includes a drive motor 245 and a transmission rod 246; the drive motor 245 is mounted on the connecting seat 210; the transmission rod 246 extends vertically, and the limiting seat 220 is slidably connected to the transmission rod 246; the drive motor 245 is used to drive the transmission rod 246 to rotate.

[0035] In a further embodiment, a third air pressure system 270 is provided in the connecting seat 210. The third air pressure system 270 is used to introduce gas into the receiving section 222. When the steel ball 230, the limiting hole 212 and the annular groove 311 are flush, the steel ball 230 is assisted to move radially, causing part of the steel ball 230 to pass through the limiting hole 212 and be stuck in the annular groove 311.

[0036] Work process: The robotic arm 100 moves the quick-release base 200 toward the actuator connecting plate 300. The positioning rod 252 at the lower end of the connecting base 210 aligns with the positioning hole 251 on the actuator connecting plate 300, and the quick-release base 200 moves toward the actuator connecting plate 300. The positioning rod 252 inserts into the positioning hole 251, and its lower end abuts against the reset plate 254, pushing the reset plate 254 downwards. The reset spring 253 is compressed and stores force. The reset spring 253 and the reset plate 254 provide cushioning when the positioning rod 252 inserts into the positioning hole 251, reducing impact and wear. When the quick-release base 200 moves a preset distance toward the actuator connecting plate 300, the limiting hole 212 aligns with the annular groove 311. At this time, the lower end of the quick-release base 200 abuts against the upper end of the actuator connecting plate 300, and the locking seat 225 inserts into the connecting groove 310.

[0037] Subsequently, the first air pressure system 242 and the second air pressure system 243 are activated, increasing the air pressure in the first sealing chamber 213 and decreasing the air pressure in the second sealing chamber 214. Under the action of the pressure difference, the moving disk 241 moves downward, approaching the actuator connecting disk 300. When the moving disk 241 moves downward, it drives the drive seat 224 and the locking seat 225 to move synchronously. During this process, the axial spring 244 is compressed and stores force, and the steel ball 230 rolls between the connecting cylinder 211 and the drive seat 224. Under the action of inertia, the steel ball 230 is located in the receiving section 222. When the drive seat 224 moves a preset distance toward the actuator connecting disk 300, the height of the receiving section 222 is flush with the height of the limiting hole 212. Through the first air pressure system 242, the pressure difference is reduced. 42 and the second air pressure system 243 reduce the air pressure in the first sealing chamber 213 and increase the air pressure in the second sealing chamber 214. The moving disc 241 moves upward under the pressure difference, thereby driving the drive seat 224 and the locking seat 225 to move upward synchronously. During this process, the steel ball 230, under the action of gravity and inertia, contacts the guide section 223. The guide section 223 pushes the steel ball 230 upward while simultaneously moving it into the limiting hole 212. At this time, a high-speed airflow can be introduced into the steel ball 230 through the third air pressure system 270 to assist the steel ball 230 in moving into the limiting hole 212. After the locking seat 225 moves upward a preset distance, the steel ball 230 passes through the limiting hole 212 and is locked into the annular groove 311, thus achieving locking. Figure 7 The workpiece can then be processed, as shown in the diagram.

[0038] When it is necessary to separate the quick-release base 200 from the actuator connecting plate 300, the first pneumatic system 242 and the second pneumatic system 243 cause the moving plate 241 to move downward, thereby driving the drive seat 224 and the locking seat 225 to move downward a preset distance. The steel ball 230 is subjected to the force of the receiving section 222, and the air pressure of the receiving section 222 is reduced by the third pneumatic system 270, which helps the steel ball 230 to disengage from the limiting hole 212 and reach between the receiving section 222 and the connecting cylinder 211, so that the robotic arm 100 can move the quick-release base 200 away from the actuator connecting plate 300. The return spring 253 releases its elastic force, pushing the return plate 254 to move, assisting in the separation of the quick-release seat 200 from the actuator connecting plate 300. When the limiting hole 212 passes the annular groove 311, the first air pressure system 242 and the second air pressure system 243 can drive the moving plate 241, the drive seat 224, and the locking seat 225 away from the actuator connecting plate 300. During this process, the axial spring 244 releases its elastic force until the quick-release seat 200 returns to its initial state. When the quick-release seat 200 moves away from the actuator connecting plate 300 by a preset distance, the two separate.

[0039] After a period of use, the actuator connecting plate 300 is moved by the robotic arm 100 and the quick-release seat 200, placing it on a fixed plane. The first pneumatic system 242 and the second pneumatic system 243 cause the moving plate 241 to move downwards, which in turn causes the drive seat 224 and the locking seat 225 to move downwards. The steel ball 230 is subjected to the force of the receiving section 222, and the air pressure in the receiving section 222 is reduced by the third pneumatic system 270, assisting the steel ball 230 to disengage from the limiting hole 212 and reach between the receiving section 222 and the connecting cylinder 211, with a height lower than the limiting hole 212. At this time, the moving plate 241 continues to move downwards, causing the drive seat 224 and the locking seat 225 to move downwards synchronously. The slider 321 moves sequentially through the first slide groove 3. 22. The slider 321 slides in the first guide groove 324 and the second slide groove 323. When the slider 321 is in the first slide groove 322, the drive seat 224 and the locking seat 225 move synchronously. When the slider 321 moves to the lower end of the first slide groove 322, since the upper end of the first guide groove 324 is below the upper end of the second guide groove 325, the slider 321 can only enter the first guide groove 324 and slide along the first guide groove 324 when it continues to move downward. At this time, the locking seat 225 rotates relative to the drive seat 224. When the slider 321 moves to the lower end of the first guide groove 324, the locking seat 225 continues to move downward, and the slider 321 enters the second slide groove 323 and slides along the second slide groove 323. At this time, the locking seat 225 completes the first rotation relative to the drive seat 224.

[0040] At this time, the drive motor 245 is started, which drives the transmission rod 246 to rotate at a preset angle. The direction of rotation of the transmission rod 246 is opposite to the direction of rotation of the locking seat 225 relative to the drive seat 224, and the angle of rotation of the transmission rod 246 is the angle of the central angle of the projection of two adjacent steel balls 230 on the horizontal plane. During the rotation of the transmission rod 246, the drive seat 224 is driven to rotate synchronously, so that the steel ball 230 is located in the adjacent limiting hole 212 during the next connection, changing the contact position between the steel ball 230 and the annular groove 311, thereby changing the load on the steel ball 230 during subsequent work.

[0041] During the rotation of the transmission rod 246 at a preset angle, the drive motor 245 can drive the transmission rod 246 to reciprocate within the preset angle range, thereby preventing the steel ball 230 from not rotating due to the presence of grease in the receiving section 222. After the steel ball 230 changes position, the contact position between the steel ball 230 and the annular groove 311 changes, further preventing localized wear of the steel ball 230.

[0042] Subsequently, the first air pressure system 242 and the second air pressure system 243 drive the moving disk 241 away from the actuator connecting disk 300. When the moving disk 241 moves, the drive seat 224 and the locking seat 225 move synchronously. During the movement of the locking seat 225, the slider 321 slides upward in the second slide groove 323. Since the lower end of the second guide groove 325 is located above the lower end of the first guide groove 324, after the slider 321 moves to the upper end of the second slide groove 323, it can only enter the second guide groove 325 and slide along the second guide groove 325. When the slider 321 slides in the second guide groove 325, the locking seat 225 rotates relative to the drive seat 224. When the slider 321 reaches the upper end of the second guide groove 325, as the locking seat 225 continues to move upward, the slider 321 can only enter the first slide groove 322 and slide upward in the first slide groove 322. At this time, the locking seat 225 rotates relative to the drive seat 224 at an angle equal to the angle of the central angle of the projection of two adjacent steel balls 230 on the horizontal plane. That is, the guide section 223, which cooperates with the receiving section 222, rotates to the lower part of the adjacent receiving section 222, thereby changing the cooperation relationship between the guide section 223 and the steel ball 230 during the next insertion and removal, changing the contact position between the two, and further avoiding local wear of the steel ball 230.

[0043] With the quick-release base 200 and actuator connecting plate 300 fully connected, the lower surface of the quick-release base 200 abuts against the upper surface of the actuator connecting plate 300, and the limiting hole 212 and the annular groove 311 remain aligned. After the moving plate 241 moves away from the actuator connecting plate 300 by a preset distance, as the moving plate 241 continues to move upward, the receiving section 222 pushes the steel ball 230 to move radially, passing through the limiting hole 212 and locking into the annular groove 311, thus completing the locking process.

[0044] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. An industrial robot, characterized in that, It includes a robotic arm, a quick-release base, and an actuator connecting plate; the quick-release base is connected to the end of the robotic arm; the actuator connecting plate is snapped into the quick-release base; the upper end of the actuator connecting plate has a connecting groove, and the peripheral wall of the connecting groove has an annular groove extending outward; the quick-release base includes: The upper end of the connecting seat is fixedly connected to the end of the robotic arm; the lower end of the connecting seat is fixedly connected to the connecting cylinder, and multiple limiting holes are opened on the peripheral wall of the connecting cylinder; when the quick-release seat and the actuator connecting plate are docked, the limiting holes are aligned with the annular groove. The limiting seat is connected to the connecting seat in a way that allows it to move up and down and rotate around itself, and is located inside the connecting cylinder; the peripheral wall of the limiting seat is provided with multiple limiting grooves, each of which corresponds to a multiple limiting hole; the limiting groove includes a receiving section and a guiding section; the guiding section is located below the receiving section; the guiding section is inclined. Multiple steel balls are provided and installed in multiple limiting grooves. When the limiting seat moves upward relative to the connecting cylinder, the guide section causes the steel balls to move radially outward. In the initial state, the steel balls are located in the receiving section. When the limiting seat moves upward relative to the connecting cylinder by a preset distance, part of the steel balls are located in the guide section and part of them extend out of the limiting hole. When the quick-release seat and the actuator connecting plate are docked, the steel balls extending out of the limiting hole are locked into the annular groove. The drive mechanism is used to drive the limit seat to rotate or move up and down.

2. An industrial robot according to claim 1, characterized in that, The limiting seat includes a drive seat and a locking seat; the locking seat is rotatably mounted below the drive seat; the receiving section is opened in the drive seat, and the guiding section is opened in the locking seat; a misalignment structure is provided in the connecting groove to allow the locking seat to rotate relative to the drive seat by a preset angle.

3. An industrial robot according to claim 2, characterized in that, The misaligned structure includes sliders and guide grooves. Multiple sliders are evenly distributed and fixedly connected to the lower end of the locking seat along its circumference. Multiple guide grooves are connected end-to-end, with the number of guide grooves equal to the number of sliders. The sliders are slidably mounted in the guide grooves. Each guide groove includes a first slide groove, a second slide groove, a first guide groove, and a second guide groove. Both the first and second slide grooves extend axially along the actuator connecting plate. The first and second slide grooves are misaligned circumferentially in the connecting groove, with the first slide groove located above the second slide groove. Both the first and second guide grooves are inclined. The upper end of the first guide groove communicates with the lower end of the first slide groove, and the lower end of the first guide groove communicates with the upper part of the second slide groove. The upper end of the second guide groove communicates with the lower part of the first slide groove in the adjacent guide groove, and the lower end of the second guide groove communicates with the upper end of the second slide groove. The upper end of the first guide groove is located below the upper end of the second guide groove, and the lower end of the first guide groove is located below the lower end of the second guide groove.

4. An industrial robot according to claim 1, characterized in that, A positioning mechanism is provided between the connecting seat and the actuator connecting plate to achieve circumferential positioning and rapid alignment.

5. An industrial robot according to claim 4, characterized in that, The positioning mechanism includes positioning holes and positioning rods; multiple positioning holes and positioning rods are provided, and both positioning holes and positioning rods extend in the vertical direction; multiple positioning rods are evenly distributed in the circumferential direction and are fixedly connected to the connecting seat; multiple positioning holes are correspondingly opened on the actuator connecting plate; when the connecting seat and the actuator connecting plate are docked, the positioning rods are inserted into the positioning holes.

6. An industrial robot according to claim 5, characterized in that, The actuator connecting plate is provided with at least one reset component, which includes a reset spring and a reset plate; the reset plate is movably mounted in the positioning hole; the reset spring extends in the vertical direction and is disposed in the positioning hole, with the lower end of the reset spring fixedly connected to the actuator connecting plate and the upper end of the reset spring fixedly connected to the reset plate.

7. An industrial robot according to claim 1, characterized in that, The limiting seat is equipped with a lubrication mechanism, which is used to inject grease into the receiving section.

8. An industrial robot according to claim 7, characterized in that, The lubrication mechanism includes an oil inlet, a main flow channel, and multiple branch flow channels. The main flow channel is located on the limiting seat, and the multiple branch flow channels are distributed circumferentially on the limiting seat, each corresponding to a multiple receiving section. One end of each branch flow channel is connected to the main flow channel, and the other end is connected to the receiving section. The oil inlet is located on the side wall of the upper part of the limiting seat and is connected to the main flow channel.

9. An industrial robot according to claim 1, characterized in that, The drive mechanism includes an axial drive assembly and a rotary drive assembly; the axial drive assembly includes a movable disk, a first pneumatic system, a second pneumatic system, and an axial spring; the connecting seat is hollow inside, defining an installation cavity, and the movable disk is mounted vertically within the installation cavity; a limiting seat is rotatably connected to the movable disk; the movable disk divides the installation cavity into two sealed chambers, designated as the first sealed chamber and the second sealed chamber, respectively; the first pneumatic system communicates with the first sealed chamber, and the second pneumatic system communicates with the second sealed chamber; the first pneumatic system and the second pneumatic system control the air pressure of the first sealed chamber and the second sealed chamber, respectively; the axial spring is disposed within the second sealed chamber.

10. An industrial robot according to claim 9, characterized in that, The rotation drive assembly includes a drive motor and a transmission rod; the drive motor is mounted on a connecting seat; the transmission rod extends vertically, and a limiting seat is slidably connected to the transmission rod; the drive motor is used to drive the transmission rod to rotate.

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