An industrial robot

Abstract

The application 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; the upper end of the actuator connecting disc is provided with a connecting groove, and the peripheral wall of the connecting groove is outwardly provided with an annular groove; the quick-mounting seat comprises a connecting seat, a limiting seat, steel balls and a driving mechanism; the driving mechanism is arranged to periodically drive the limiting seat to rotate according to the working condition, so that the positions of the steel balls and the contact points between the steel balls and the annular groove are changed, the abrasion of the multiple steel balls is made consistent, the problem that stress concentration occurs in the corresponding positions of the partial steel balls and the annular groove under the partial load state, leading to local abrasion, is solved, in addition, the limiting seat is a split structure of the driving seat and the locking seat, and the two can relatively rotate, the problem that local abrasion occurs in the steel balls and the contact positions of the steel balls due to long-term high-frequency plugging and unplugging is solved, the service life is prolonged, the stability of the connection between the end actuator and the mechanical arm is improved, and the machining precision is ensured.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an industrial robot. BACKGROUND

[0002] Industrial robots have become the core equipment of modern intelligent manufacturing, which complete various work tasks through end effectors such as welding guns, clamping jaws, spraying heads, etc. In order to improve the work flexibility of the robot and reduce the downtime required for tool replacement, tool automatic quick-change devices have emerged and are widely used. At present, the mainstream tool quick-change device usually adopts a quick-mount structure based on a ball lock mechanism, which pushes a plurality of steel balls (or balls) in the locking seat to move radially by a driving mechanism, so that they are clamped into the annular groove on the tool disc, thereby realizing the connection and locking between the robot and the end effector; when operating in reverse, the steel balls retract to achieve separation.

[0003] However, in the actual use of industrial robots, the end effector is not always in the ideal vertical state. Under partial load working conditions, most of the load is borne by part of the steel balls, while the other steel balls bear less force. When in a partial load working condition for a long time, serious stress concentration will occur in the corresponding contact area between the few steel balls and the annular groove, resulting in local wear. Long-term high-frequency insertion and extraction will also cause local wear of the steel balls and the surface in contact with the steel balls, seriously shortening the service life of the industrial robot, and reducing the connection stability of the end effector and the mechanical arm, which will affect the processing accuracy of the industrial robot. SUMMARY

[0004] In view of the deficiencies of the prior art, the present application provides an industrial robot, which solves the problem of shortening the service life of the industrial robot caused by local wear of the steel balls and the surface in contact with the steel balls in the prior art, and improves the connection stability of the end effector and the mechanical arm.

[0005] The industrial robot of the present application adopts the following technical scheme, comprising a mechanical arm, a quick-mount seat and an effector connecting disc; the quick-mount seat is connected to the end of the mechanical arm; the effector connecting disc is clamped to the quick-mount seat; the upper end of the effector connecting disc is provided with a connecting groove, and the peripheral wall of the connecting groove is provided with an annular groove; the quick-mount seat comprises:

[0006] a connecting seat, the upper end of which is fixedly connected to the end of the mechanical arm; a connecting cylinder is fixedly connected to the lower end of the connecting seat, and a plurality of limiting holes are formed in the peripheral wall of the connecting cylinder; when the quick-mount seat and the effector connecting disc are docked, the limiting holes are opposite to the annular groove;

[0007] a limiting seat, which is movably connected to the connecting seat and located in the connecting cylinder; a plurality of limiting grooves are formed in the peripheral wall of the limiting seat, and the plurality of limiting grooves correspond to the plurality of limiting holes respectively; the limiting groove comprises a containing section and a guiding section; the guiding section is located below the containing section; the guiding section is inclinedly arranged;

[0008] Steel balls are arranged and installed in the plurality of 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 containing section; when the limiting seat moves upward relative to the connecting cylinder by a preset distance, the steel balls are partially located in the guide section and partially extend out of the limiting hole, so that when the quick-mounting seat and the actuator connecting disc are connected, the steel balls extending out of the limiting hole are clamped into the annular groove to achieve locking.

[0009] The driving mechanism is used to drive the limiting seat to rotate or move up and down.

[0010] Optionally, the limiting seat comprises a driving seat and a locking seat; the locking seat is rotatably installed below the driving seat; the containing section is arranged in the driving seat, and the guide section is arranged in the locking seat; the connecting groove is provided with a staggered structure for rotating the locking seat relative to the driving seat by a preset angle.

[0011] Optionally, the staggered structure comprises a sliding block and a guide groove; the sliding block is provided with a plurality of sliding blocks which are fixedly connected to the lower end of the locking seat along the circumferential direction of the locking seat; the guide groove is provided with a plurality of guide grooves which are connected end to end, and the number of the guide grooves is equal to the number of the sliding blocks; the sliding block is slidingly installed in the guide groove; the guide groove comprises a first sliding groove, a second sliding groove, a first guide groove and a second guide groove; the first sliding groove and the second sliding groove extend along the axial direction of the actuator connecting disc, the first sliding groove and the second sliding groove are staggered in the circumferential direction of the connecting groove, and the first sliding groove is located above the second sliding groove; the first guide groove and the second guide groove are both arranged obliquely, the upper end of the first guide groove is communicated with the lower end of the first sliding groove, and the lower end of the first guide groove is communicated with the upper part of the second sliding groove; the upper end of the second guide groove is communicated with the lower part of the first sliding groove in the adjacent guide groove, and the lower end of the second guide groove is communicated with the upper end of the second sliding 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.

[0012] Optionally, a positioning mechanism is arranged between the connecting seat and the actuator connecting disc for circumferential positioning and quick alignment.

[0013] Optionally, the positioning mechanism comprises a positioning hole and a positioning rod; the positioning hole and the positioning rod are both provided with a plurality of positioning holes and positioning rods which extend along the up-down direction; the plurality of positioning rods are evenly distributed along the circumferential direction and are fixedly connected to the connecting seat; the plurality of positioning holes are arranged in the actuator connecting disc; when the connecting seat is connected to the actuator connecting disc, the positioning rod is inserted into the positioning hole.

[0014] Optionally, at least one reset component is arranged on the actuator connecting disc, and the reset component comprises a reset spring and a reset plate; the reset plate is movably installed in the positioning hole along the up-down direction; the reset spring extends along the up-down direction and is arranged in the positioning hole; the lower end of the reset spring is fixedly connected to the actuator connecting disc, and the upper end of the reset spring is fixedly connected to the reset plate.

[0015] Optionally, a lubricating mechanism is arranged in the limiting seat, and the lubricating mechanism is used for injecting lubricating grease into the containing sections.

[0016] Optionally, the lubricating mechanism comprises an oil inlet, a main flow channel and a plurality of branch flow channels; the main flow channel is arranged in the limiting seat, the plurality of branch flow channels are arranged in the limiting seat in a circumferential direction and correspond to the plurality of containing sections respectively, one end of each branch flow channel is communicated with the main flow channel, and the other end is communicated with the containing section; and the oil inlet is arranged on the side wall of the upper part of the limiting seat and is communicated with the main flow channel.

[0017] Optionally, the driving mechanism comprises an axial driving assembly and a rotating driving assembly; the axial driving assembly comprises a moving disc, a first air pressure system, a second air pressure system and an axial spring; the connecting seat is hollow inside to define an installation cavity, and the moving disc is movably installed in the installation cavity; the limiting seat is rotatably connected to the moving disc; the moving disc divides the installation cavity into two sealed chambers, i.e., a first sealed chamber and a second sealed chamber; the first air pressure system is communicated with the first sealed chamber, and the second air pressure system is communicated with the second sealed chamber; the first air pressure system and the second air pressure system control the air pressure of the first sealed chamber and the second sealed chamber respectively; and the axial spring is arranged in the second sealed chamber.

[0018] Optionally, the rotating driving assembly comprises a driving motor and a transmission rod; the driving motor is installed in the connecting seat; the transmission rod extends vertically, and the limiting seat is slidably connected to the transmission rod; and the driving motor is used for driving the transmission rod to rotate.

[0019] The industrial robot of the application can drive the limiting seat to rotate by adding the driving mechanism, so as to change the position of the steel ball and the contact point between the steel ball and the annular groove, move the steel ball originally bearing the concentrated load and the abrasion to a position with smaller load, move the steel ball originally located at the position with smaller load to a position with larger load, make the abrasion of the plurality of steel balls consistent, solve the problem that stress concentration occurs in the corresponding position between the steel ball and the annular groove in the partial load state, causing local abrasion, prolong the service life, improve the stability of the connection between the end effector and the mechanical arm, and ensure the machining precision.

[0020] Further, the limiting seat is in an upper-lower split structure, the driving seat and the locking seat can rotate relative to each other, the locking seat is rotated by a preset angle relative to the driving seat when the driving seat rotates through the staggered structure, the matching contact surface between the guide section and the steel ball is changed, the problem of local abrasion of the guide section in the long-term high-frequency plugging and unplugging process due to repeated driving of the same batch of steel balls is solved, the service life is further prolonged, and the stability of the connection is improved.

[0021] Further, the oil filler is regularly filled with lubricating grease, the lubricating grease is transported to the steel ball in the containing groove through the main oil channel and the branch channel, the friction coefficient of the steel ball moving in the containing section and the guiding section is effectively reduced, the connection and separation actions of the quick mounting seat and the actuator connecting disc are more smooth, the driving energy consumption is reduced, the abrasion is reduced, and the service life of the parts is further prolonged. BRIEF DESCRIPTION OF DRAWINGS

[0022] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description only constitute some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0023] Figure 1 It is an overall structure schematic diagram of the industrial robot of the present application.

[0024] Figure 2 It is a sectional view of the industrial robot of the present application.

[0025] Figure 3 It is Figure 2 the enlarged view at W in the figure.

[0026] Figure 4 It is Figure 3 the enlarged view at X in the figure.

[0027] Figure 5 It is Figure 3 the enlarged view at Y in the figure.

[0028] Figure 6 It is a state schematic diagram of the locking process of the quick mounting seat and the actuator connecting disc in the industrial robot of the present application.

[0029] Figure 7 It is a state schematic diagram of the locking process of the quick mounting seat and the actuator connecting disc in the industrial robot of the present application.

[0030] Figure 8 It is a state schematic diagram of the adjustment process of the quick mounting seat and the actuator connecting disc in the industrial robot of the present application.

[0031] Figure 9 It is an exploded structure schematic diagram of the quick mounting seat and the actuator connecting disc in the industrial robot of the present application.

[0032] Figure 10 It is Figure 9 the enlarged view at Z in the figure.

[0033] In the figure:

[0034] 100, mechanical arm;

[0035] 200, quick mounting 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, containing section; 223, guiding section; 224, driving seat; 225, locking seat; 230, steel ball; 240, driving mechanism; 241, moving disc; 242, first pneumatic system; 243, second pneumatic system; 244, axial spring; 245, driving motor; 246, transmission rod; 250, positioning mechanism; 251, positioning hole; 252, positioning rod; 253, return spring; 254, return plate; 260, lubricating mechanism; 261, oil inlet; 262, main flow channel; 263, branch flow channel; 270, third pneumatic system;

[0036] 300, actuator connecting disc; 310, connecting groove; 311, annular groove; 320, staggered structure; 321, sliding block; 322, first sliding groove; 323, second sliding groove; 324, first guide groove; 325, second guide groove. DETAILED DESCRIPTION

[0037] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0038] As shown in Figures 1 to 10 The present application provides an industrial robot, which comprises a mechanical arm 100, a quick mounting seat 200 and an actuator connecting disc 300; the quick mounting seat 200 is connected to the end of the mechanical arm 100; the actuator connecting disc 300 is clamped to the quick mounting seat 200; the upper end of the actuator connecting disc 300 is provided with a connecting groove 310, and the peripheral wall of the connecting groove 310 is provided with an annular groove 311 outwardly; the quick mounting seat 200 comprises a connecting seat 210, a limiting seat 220, a steel ball 230 and a driving mechanism 240;

[0039] The upper end of the connecting seat 210 is fixedly connected to the end of the mechanical arm 100; the lower end of the connecting seat 210 is fixedly connected with a connecting cylinder 211, and a plurality of limiting holes 212 are formed in the peripheral wall of the connecting cylinder 211; when the quick mounting seat 200 and the actuator connecting disc 300 are butted, the limiting holes 212 are opposite to the annular groove 311;

[0040] The limiting seat 220 is movably connected to the connecting seat 210 and located in the connecting barrel 211; a plurality of limiting grooves 221 are formed in the circumferential wall of the limiting seat 220, and the plurality of limiting grooves 221 correspond to the plurality of limiting holes 212 respectively; the limiting groove 221 comprises an accommodating section 222 and a guide section 223; the guide section 223 is located below the accommodating section 222; the guide section 223 is arranged obliquely;

[0041] A plurality of steel balls 230 are arranged and mounted in the plurality of limiting grooves 221; when the limiting seat 220 moves upward relative to the connecting barrel 211, the guide section 223 drives the steel ball 230 to move radially outward; in the initial state, the steel ball 230 is located in the accommodating section 222; when the limiting seat 220 moves upward relative to the connecting barrel 211 by a preset distance, the steel ball 230 is partially located in the guide section 223 and partially extends out of the limiting hole 212, so that when the quick-mounting seat 200 and the actuator connecting disc 300 are connected, the steel ball 230 extending out of the limiting hole 212 is clamped into the annular groove 311 to achieve locking;

[0042] The driving mechanism 240 is used to drive the limiting seat 220 to rotate or move up and down.

[0043] The driving mechanism 240 is used to drive the limiting seat 220 to rotate or move up and down.

[0044] In further embodiments, as shown in Figure 3 、 Figure 4 、 Figure 5 The limiting seat 220 comprises a driving seat 224 and a locking seat 225; the locking seat 225 is rotatably installed below the driving seat 224; the accommodating section 222 is formed in the driving seat 224, and the guide section 223 is formed in the locking seat 225; the connecting groove 310 is provided with a staggered structure 320 for rotating the locking seat 225 relative to the driving seat 224 by a preset angle.

[0045] The dislocation structure 320 comprises sliders 321 and guide grooves; the sliders 321 are provided in plurality, the plurality of sliders 321 are fixedly connected to the lower end of the locking seat 225 in a circumferential distribution of the locking seat 225; the guide grooves are provided in plurality, the plurality of guide grooves are connected in head-to-tail, the number of the guide grooves is equal to the number of the sliders 321; the sliders 321 are slidingly installed in the guide grooves; the guide grooves comprise first sliding grooves 322, second sliding grooves 323, first guide grooves 324 and second guide grooves 325; the first sliding grooves 322 and the second sliding grooves 323 both extend along the axial direction of the actuator connecting disc 300, the first sliding grooves 322 and the second sliding grooves 323 are distributed in dislocation in the circumferential direction of the connecting groove 310, and the first sliding grooves 322 are located above the second sliding grooves 323, the first guide grooves 324 and the second guide grooves 325 are both provided in inclination, the upper end of the first guide groove 324 is communicated with the lower end of the first sliding groove 322, and the lower end of the first guide groove 324 is communicated with the upper portion of the second sliding groove 323; the upper end of the second guide groove 325 is communicated with the lower portion of the first sliding groove 322 in the adjacent guide groove, and the lower end of the second guide groove 325 is communicated with the upper end of the second sliding groove 323; the upper end of the first guide groove 324 is located below the upper end of the second guide groove 325; and the lower end of the first guide groove 324 is located below the lower end of the second guide groove 325.

[0046] The limiting seat 220 is of an upper-lower split structure, and the driving seat 224 and the locking seat 225 are relatively rotatable; through the dislocation structure 320, when the driving seat 224 rotates, the locking seat 225 is relatively rotated by a preset angle, the matching contact surface between the guide section 223 and the steel ball 230 is changed, the local wear problem of the guide section 223 caused by repeatedly driving the same batch of steel balls 230 in the long-term high-frequency plugging and unplugging process is solved, the service life is further prolonged, and the stability of the connection is improved.

[0047] In further embodiments, as shown in Figure 3 、 Figure 7 , the positioning mechanism 250 is arranged between the connecting seat 210 and the actuator connecting disc 300, for realizing circumferential positioning and rapid alignment.

[0048] The positioning mechanism 250 comprises positioning holes 251 and positioning rods 252; the positioning holes 251 and the positioning rods 252 are both provided in plurality, and extend along the up-down direction; the plurality of positioning rods 252 are fixedly connected to the connecting seat 210 in a circumferential distribution; the plurality of positioning holes 251 are correspondingly arranged in the actuator connecting disc 300; when the connecting seat 210 and the actuator connecting disc 300 are docked, the positioning rod 252 is inserted into the positioning hole 251.

[0049] In a further embodiment, at least one reset assembly is arranged on the actuator connecting plate 300, the reset assembly comprising a reset spring 253 and a reset plate 254; the reset plate 254 is movably installed in the positioning hole 251 in the up-down direction; the reset spring 253 extends in the up-down direction and is arranged 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.

[0050] In a further embodiment, as shown in Figure 7 The limiting seat 220 is provided with a lubricating mechanism 260 for injecting lubricating grease into the containing section 222.

[0051] The lubricating mechanism 260 comprises an oil inlet 261, a main flow channel 262 and a plurality of branch flow channels 263; the main flow channel 262 is arranged in the limiting seat 220, and the plurality of branch flow channels 263 are arranged in the limiting seat 220 in a circumferential direction and correspond to the plurality of containing sections 222, respectively; one end of each branch flow channel 263 is in communication with the main flow channel 262, and the other end is in communication with the containing section 222; the oil inlet 261 is arranged on the side wall of the upper part of the limiting seat 220 and is in communication with the main flow channel 262.

[0052] The present application periodically injects lubricating grease into the oil inlet 261 through the arrangement of the lubricating mechanism 260, and the lubricating grease is delivered to the steel balls 230 in the containing groove through the main oil channel and the branch flow channels 263, which effectively reduces the friction coefficient of the steel balls 230 moving in the containing section 222 and the guide section 223, makes the connection and separation of the quick-mounting seat 200 and the actuator connecting plate 300 more smooth, reduces the driving energy consumption, reduces the wear and tear, and further prolongs the service life of the parts.

[0053] In a further embodiment, as shown in Figure 6 , Figure 7 The driving mechanism 240 comprises an axial driving assembly and a rotating driving assembly; the axial driving assembly comprises a moving disc 241, a first air pressure system 242, a second air pressure system 243 and an axial spring 244; the connecting seat 210 is hollow inside to define an installation cavity, and the moving disc 241 is movably installed in the installation cavity in the up-down direction; the limiting seat 220 is rotationally connected to the moving disc 241; the moving disc 241 divides the installation cavity into two sealed chambers, i.e., a first sealed chamber 213 and a second sealed chamber 214, in the up-down direction; the first air pressure system 242 is in communication with the first sealed chamber 213, and the second air pressure system 243 is in communication with the second sealed chamber 214; the first air pressure system 242 and the second air pressure system 243 control the air pressure of the first sealed chamber 213 and the second sealed chamber 214, respectively; and the axial spring 244 is arranged in the second sealed chamber 214.

[0054] The rotating driving assembly comprises a driving motor 245 and a transmission rod 246; the driving motor 245 is installed on the connecting seat 210; the transmission rod 246 extends vertically and is connected to the transmission rod 246 in a sliding manner up and down the limiting seat 220; the driving motor 245 is used to drive the transmission rod 246 to rotate.

[0055] In a further embodiment, a third gas pressure system 270 is arranged in the connecting seat 210, which is used to introduce gas into the containing section 222, and when the steel balls 230, the limiting holes 212 and the annular grooves 311 are flush, the auxiliary steel balls 230 are moved in the radial direction, and part of the steel balls 230 are clamped into the annular grooves 311.

[0056] Working process:

[0057] The mechanical arm 100 drives the quick-mounting seat 200 to move towards the actuator connecting disc 300. The positioning rod 252 at the lower end of the connecting seat 210 is aligned with the positioning hole 251 on the actuator connecting disc 300, and the quick-mounting seat 200 is moved towards the actuator connecting disc 300. The positioning rod 252 is inserted into the positioning hole 251, the lower end of the positioning rod 252 abuts against the reset plate 254, and the reset plate 254 is pushed to move downwards, and the reset spring 253 is compressed to store force. The reset spring 253 and the reset plate 254 are arranged to provide buffering when the positioning rod 252 is inserted into the positioning hole 251, so as to reduce impact and wear. When the quick-mounting seat 200 moves a preset distance towards the actuator connecting disc 300, the limiting hole 212 is opposite to the annular groove 311, at this time, the lower end of the quick-mounting seat 200 abuts against the upper end of the actuator connecting disc 300, and the locking seat 225 is inserted into the connecting groove 310.

[0058] Thereafter, the first pneumatic system 242 and the second pneumatic system 243 are started to increase the air pressure of the first sealed cavity 213 and decrease the air pressure of the second sealed cavity 214, under the action of the pressure difference, the moving disc 241 moves downward to approach the actuator connecting disc 300; when the moving disc 241 moves downward, the driving seat 224 and the locking seat 225 are synchronously moved, in this process, the axial spring 244 is compressed to store force, the steel ball 230 rolls between the connecting cylinder 211 and the driving seat 224, the steel ball 230 is located in the containing section 222 under the action of inertia, when the driving seat 224 moves to the actuator connecting disc 300 by a preset distance, the height of the containing section 222 is flush with the height of the limiting hole 212, the first pneumatic system 242 and the second pneumatic system 243 are used to decrease the air pressure of the first sealed cavity 213 and increase the air pressure of the second sealed cavity 214, the moving disc 241 moves upward under the action of the air pressure difference, thereby driving the driving seat 224 and the locking seat 225 to synchronously move upward, in this process, the steel ball 230 contacts the guide section 223 under the action of gravity and inertia, the guide section 223 pushes the steel ball 230 to move upward while moving into the limiting hole 212, at this time, the third pneumatic system 270 can be used to introduce high-speed airflow into the steel ball 230 to assist the steel ball 230 to move into the limiting hole 212, after the locking seat 225 moves upward by a preset distance, the steel ball 230 passes through the limiting hole 212 and is clamped into the annular groove 311, thereby achieving locking, as shown in the state. Figure 7 Thereafter, the workpiece can be machined.

[0059] When it is needed to separate the quick-mounting seat 200 and the actuator connecting disc 300, the first pneumatic system 242 and the second pneumatic system 243 are used to drive the moving disc 241 to move downward, thereby driving the driving seat 224 and the locking seat 225 to move downward by a preset distance, the steel ball 230 is subjected to the force of the containing section 222, and the third pneumatic system 270 is used to decrease the air pressure of the containing section 222 to assist the steel ball 230 to separate from the limiting hole 212 and reach between the containing section 222 and the connecting cylinder 211, so that the mechanical arm 100 drives the quick-mounting seat 200 to move away from the actuator connecting disc 300, the reset spring 253 releases elastic force to push the reset plate 254 to move, thereby assisting the separation of the quick-mounting seat 200 and the actuator connecting disc 300; when the limiting hole 212 passes through the annular groove 311, the first pneumatic system 242 and the second pneumatic system 243 are used to drive the moving disc 241, the driving seat 224 and the locking seat 225 to move away from the actuator connecting disc 300, in this process, the axial spring 244 releases elastic force until the quick-mounting seat 200 returns to the initial state, when the quick-mounting seat 200 moves away from the actuator connecting disc 300 by a preset distance, the two are separated.

[0060] After being used for a period of time, the executor connecting disc 300 is moved by the mechanical arm 100 and the quick mounting seat 200, and is placed on the fixed plane; the moving disc 241 is moved downward by the first pneumatic system 242 and the second pneumatic system 243, and then the driving seat 224 and the locking seat 225 are moved downward, the steel ball 230 is subjected to the force of the containing section 222, and the air pressure of the containing section 222 is reduced by the third pneumatic system 270, so as to assist the steel ball 230 to separate from the limiting hole 212 and reach between the containing section 222 and the connecting cylinder 211, and the height is lower than that of the limiting hole 212, at this time, the moving disc 241 continues to move downward, and the driving seat 224 and the locking seat 225 are synchronously moved downward, and the sliding block 321 slides in the first sliding groove 322, the first guide groove 324 and the second sliding groove 323 in sequence, when the sliding block 321 is located in the first sliding groove 322, the driving seat 224 and the locking seat 225 are synchronously moved, when the sliding block 321 moves to the lower end of the first sliding groove 322, since the upper end of the first guide groove 324 is located below the upper end of the second guide groove 325, when the sliding block 321 continues to move downward, it can only enter the first guide groove 324 and slide along the first guide groove 324, at this time, the locking seat 225 rotates relative to the driving seat 224, when the sliding block 321 moves to the lower end of the first guide groove 324, the locking seat 225 continues to move downward, the sliding block 321 enters the second sliding groove 323 and slides along the second sliding groove 323, at this time, the locking seat 225 completes the first rotation relative to the driving seat 224.

[0061] At this time, the driving motor 245 is started, and the transmission rod 246 is rotated by a preset angle, the direction of rotation of the transmission rod 246 is opposite to that of the locking seat 225 relative to the driving seat 224, and the angle of rotation of the transmission rod 246 is the angle of the central angle of the projection of the adjacent two steel balls 230 on the horizontal plane, in the process of rotation of the transmission rod 246, the driving seat 224 is synchronously rotated, and then the next time the connection is made, the steel ball 230 is located in the adjacent limiting hole 212, the contact position of the steel ball 230 with the annular groove 311 is changed, and thus the load borne by the steel ball 230 in the subsequent work is changed.

[0062] In the process of rotating the transmission rod 246 by a preset angle, the driving motor 245 can drive the transmission rod 246 to reciprocate within a preset angle range, so as to avoid the situation that the steel ball 230 does not rotate due to the presence of lubricating grease in the containing section 222, after the position of the steel ball 230 is switched, the contact position of the steel ball 230 with the annular groove 311 is changed, and further local wear of the steel ball 230 is avoided.

[0063] Thereafter, the moving disc 241 is driven away from the actuator connecting disc 300 by the first air pressure system 242 and the second air pressure system 243, and when the moving disc 241 moves, the driving seat 224 and the locking seat 225 move synchronously, and in the process of moving of the locking seat 225, the sliding block 321 slides upward in the second sliding groove 323, and since the lower end of the second guide groove 325 is located above the lower end of the first guide groove 324, after the sliding block 321 moves to the upper end of the second sliding groove 323, it can only enter the second guide groove 325 and slide along the second guide groove 325, and when the sliding block 321 slides in the second guide groove 325, the locking seat 225 rotates relative to the driving seat 224; when the sliding block 321 reaches the upper end of the second guide groove 325, with the continuous upward movement of the locking seat 225, the sliding block 321 can only enter the first sliding groove 322 and slide upward in the first sliding groove 322. At this time, the angle of rotation of the locking seat 225 relative to the driving seat 224 is the angle of the center angle of the projection of the adjacent two steel balls 230 on the horizontal plane, that is, the guide section 223 cooperating with the containing section 222 is rotated to below the adjacent containing section 222, so as to change the cooperation relationship between the guide section 223 and the steel ball 230 in the next plug-in, so that the position of the contact between them is changed, further avoiding the local wear of the steel ball 230.

[0064] In the state that the quick mounting seat 200 and the actuator connecting disc 300 are docked, the lower surface of the quick mounting seat 200 abuts against the upper surface of the actuator connecting disc 300, and the limiting hole 212 and the annular groove 311 keep the state of being opposite. After the moving disc 241 moves away from the actuator connecting disc 300 by a predetermined distance, with the continuous upward movement of the moving disc 241, the containing section 222 pushes the steel ball 230 to move radially, and after passing through the limiting hole 212, it is clamped into the annular groove 311, and the locking is completed.

[0065] The above only describes the preferred embodiments of the present application and is not used to limit the present application, and any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An industrial robot, characterized in that, The utility model relates to a quick -mounting seat and executor connecting disc are connected to mechanical arm, and the executor connecting disc is clamped to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick -mounting seat, and the executor connecting disc is connected to the quick - ​ ​ ​ ​ ​ 2. An industrial robot according to claim 1, characterized in that ​ 3. An industrial robot according to claim 2, characterized in that ​ 4. An industrial robot according to claim 3, characterized in that The actuator connecting disc is provided with at least one reset assembly, the reset assembly comprising a reset spring and a reset plate; the reset plate is movably installed in the positioning hole in an up-down direction; the reset spring extends in the up-down direction and is arranged in the positioning hole, the lower end of the reset spring being fixedly connected to the actuator connecting disc, and the upper end of the reset spring being fixedly connected to the reset plate.

5. An industrial robot according to claim 1, characterized in that The limiting seat is provided with a lubricating mechanism for injecting lubricating grease into the containing sections.

6. An industrial robot according to claim 5, characterized in that The lubricating mechanism comprises an oil injection port, a main flow channel and a plurality of branch flow channels; the main flow channel is arranged in the limiting seat, and the plurality of branch flow channels are arranged in the limiting seat in a circumferential direction and correspond to the plurality of containing sections respectively, one end of each branch flow channel being in communication with the main flow channel and the other end being in communication with a containing section; the oil injection port is arranged in a side wall of the upper part of the limiting seat and is in communication with the main flow channel.

7. An industrial robot according to claim 1, characterized in that The driving mechanism comprises an axial driving assembly and a rotating driving assembly; the axial driving assembly comprises a moving disc, a first air pressure system, a second air pressure system and an axial spring; the connecting seat is hollow to define an installation cavity, and the moving disc is movably installed in the installation cavity in an up-down direction; the limiting seat is rotatably connected to the moving disc; the moving disc divides the installation cavity into two sealed chambers, i.e., a first sealed chamber and a second sealed chamber; the first air pressure system is in communication with the first sealed chamber, and the second air pressure system is in communication with the second sealed chamber; the first air pressure system and the second air pressure system control the air pressure of the first sealed chamber and the second sealed chamber respectively; and the axial spring is arranged in the second sealed chamber.

8. An industrial robot according to claim 7, characterized in that The rotating driving assembly comprises a driving motor and a transmission rod; the driving motor is installed in the connecting seat; the transmission rod extends vertically, and the limiting seat is slidably connected to the transmission rod in an up-down direction; and the driving motor is used to drive the transmission rod to rotate.

Images