End replacement structure of mechanical arm and mechanical arm

Abstract

The application provides a replacement structure of a mechanical arm end and a mechanical arm, and relates to the field of trabeculotomy knives. The application comprises a quick-change mechanism, wherein the quick-change mechanism comprises a male disc upper cover fixedly installed with an execution end of a mechanical arm; a male disc fixedly installed on one side of the male disc upper cover away from the execution end of the mechanical arm, two ends of the male disc are respectively provided with a circular groove and a square groove, and a stop block is integrally formed on the outer side of the circular groove; a circular loss-of-power type electromagnet suction disc and a circuit module are respectively fixedly installed on the inner sides of the circular groove and the square groove, and the two are electrically connected, and the circuit module controls whether the circular loss-of-power type electromagnet suction disc generates magnetism. Through the quick-change mechanism, controllable magnetic connection between the mechanical arm and the end effector is realized, so that the mechanical arm body is convenient to replace different end effectors, operation is convenient, replacement efficiency is improved, and work efficiency is improved.

Description

Technical Field

[0001] This invention relates to the field of replacement structures and robotic arms, specifically to a replacement structure for the end effector of a robotic arm and a robotic arm. Background Technology

[0002] During normal use, robotic arms often need to switch between different types of end effectors (such as grippers, suction heads, special tooling or other working parts) to meet different tasks, and are fixed to the end effector by bolts, manual disassembly and assembly or other non-quick-change connection structures.

[0003] Since the existing connection methods between robotic arms and end effectors mostly adopt bolt fixing, manual disassembly and assembly, or other non-quick-change connection structures, when the robotic arm needs to switch end effectors between multiple tasks, operators often need to manually disassemble and reinstall them, resulting in low replacement efficiency and reducing the ability to meet the needs of automated continuous operation. Therefore, it is necessary to improve them. Summary of the Invention

[0004] (a) Technical problems to be solved To address the shortcomings of existing technologies, this invention provides a replacement structure for the end effector of a robotic arm and a robotic arm in general, which solves the problem of low replacement efficiency when changing different end effectors of a robotic arm.

[0005] (II) Technical Solution To achieve the above objectives, the present invention provides the following technical solution: a replacement structure for the end effector of a robotic arm, comprising: a quick-change mechanism; the quick-change mechanism comprising: The top cover of the public disk is fixedly installed to the execution end of the robotic arm; The public disk is fixedly installed on the side of the public disk cover away from the execution end of the robotic arm. The public disk has a circular groove and a square groove respectively opened inside both ends. A stop block is integrally formed on the outside of the circular groove of the public disk. A circular de-energized electromagnet chuck and a circuit module are fixedly installed inside the circular groove and the square groove, respectively, and are electrically connected to each other. The circuit module controls whether the circular de-energized electromagnet chuck generates magnetism. The mother plate is fixedly installed on the mounting end of the end effector, and a groove that fits with the outer side of the stop block is opened on the side of the mother plate away from the end effector. A round nut plate is fixedly installed on the inner side of the end of the mother disc away from the end effector.

[0006] Preferably, the circular de-energized electromagnet chuck adopts a de-energized retention method, so that the circular de-energized electromagnet chuck can still attract the circular nut iron plate when the power is off.

[0007] Preferably, the edges of the stop and the slot are rounded to ensure auxiliary guidance and position correction during docking.

[0008] Preferably, the circuit module receives remote control commands via a network connection and controls the circular de-energized electromagnet chuck to be in a de-energized adsorption state or an energized release state according to the commands.

[0009] A second aspect of the present invention provides a robotic arm, which includes a robotic arm body and the aforementioned replacement structure, wherein the upper cover of the public disk is fixedly installed at the execution end of the robotic arm body by bolts.

[0010] (III) Beneficial Effects This invention provides a replacement structure for the end effector of a robotic arm and a robotic arm itself. It offers the following advantages: The quick-change mechanism enables a controllable magnetic connection between the robotic arm and the end effector, facilitating the replacement of different end effectors, improving operation efficiency, and increasing work efficiency. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of a replacement structure for the end effector of a robotic arm and a mating structure of the robotic arm proposed in this invention. Figure 2 This is a schematic diagram of a replacement structure for the end effector of a robotic arm proposed in this invention. Figure 3 This is an internal cross-sectional schematic diagram of a replacement structure for the end effector of a robotic arm proposed in this invention. Figure 4 The left view shows a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 5 This is a frontal view of a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 6 The right-hand view shows a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 7 This is a rear view of a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 8 The following diagram shows a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 9 The above diagram shows a replacement structure for the end effector of a robotic arm proposed in this invention; Figure 10 This is a schematic cross-sectional view of the replacement structure of the end effector of a robotic arm proposed in this invention. Figure 11 This is a schematic diagram of the mating relationship between the mother disc and the circular nut iron plate in the replacement structure of the end effector of a robotic arm proposed in this invention. Figure 12 This is a schematic diagram of the cooperation relationship between the stop and the public disk in the replacement structure of the end effector of a robotic arm proposed in this invention; Figure 13 This is a schematic diagram of the overall structure of the master disk of the replacement structure at the end of a robotic arm proposed in this invention.

[0012] The components include: 1. Robotic arm body; 2. Quick-change mechanism; 3. Male disc cover; 4. Circuit module; 5. Male disc; 6. Circular de-energized electromagnet chuck; 7. Circular nut plate; 8. Female disc; and 9. Stop block. Detailed Implementation

[0013] 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 of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0014] Example 1: like Figure 1-13 As shown, this embodiment of the invention provides a replacement structure for the end effector of a robotic arm, including: a quick-change mechanism 2; the quick-change mechanism 2 includes: The upper cover of the public disk 3 is fixedly installed with the execution end of the robotic arm; The public plate 5 is fixedly installed on the side of the public plate cover 3 away from the execution end of the robotic arm. The public plate 5 has a circular groove and a square groove respectively opened inside both ends. The public plate 5 has a stop block 9 integrally formed on the outside of the circular groove. The circular de-energized electromagnet chuck 6 and the circuit module 4 are fixedly installed inside the circular groove and the square groove respectively, and are electrically connected to each other. The circuit module 4 controls whether the circular de-energized electromagnet chuck 6 generates magnetism. The mother plate 8 is fixedly installed on the mounting end of the end effector, and the side of the mother plate 8 away from the end effector has a groove that fits with the outer side of the stop block 9; The round nut plate 7 is fixedly installed on the inner side of the end of the mother disc 8 away from the end effector.

[0015] In the above, the quick-change mechanism 2 enables a controllable magnetic connection between the robotic arm and the end effector, thereby facilitating the replacement of different end effectors by the robotic arm. The stop block 9 and the matching slot make contact, thereby limiting the end effector after installation and preventing the connection between the end effector and the quick-change mechanism 2 from rotating or shifting.

[0016] The circular de-energized electromagnet chuck 6 adopts a de-energized retention method, which allows the circular de-energized electromagnet chuck 6 to still attract the circular nut iron plate 7 when the power is off.

[0017] In the above, the circular de-energized electromagnet chuck 6 adopts a de-energized holding method to prevent the circular nut plate 7 from falling off when the power is off, thus improving safety.

[0018] The edges of the stop block 9 and the slot are rounded to ensure auxiliary guidance and position correction during docking.

[0019] In the above, the rounded corners make it easier to connect the stop block 9 with the slot.

[0020] Circuit module 4 receives remote control commands via network connection and controls the circular de-energized electromagnet chuck 6 to be in a de-energized adsorption state or an energized release state according to the commands.

[0021] In the above, the remote control command sends a signal to the circuit module 4, thereby controlling the circular de-energized electromagnet chuck 6 to attract or release.

[0022] The present invention also provides a robotic arm, which includes a robotic arm body 1 and a replacement structure, wherein the upper cover 3 of the public disk is fixedly installed at the execution end of the robotic arm body 1 by bolts.

[0023] In the above, the robotic arm body 1 will drive the upper cover 3 of the public disk to move, thereby completing the replacement in cooperation with each other.

[0024] Working principle: When in use, if the robotic arm body 1 needs to use the end effector, the robotic arm body 1 can drive the male disk cover 3 to move. Since the male disk cover 3 and the male disk 5 are fixedly installed, the male disk cover 3 will drive the male disk 5 to move as well. The male disk 5 will gradually approach the female disk 8 that is installed in conjunction with the end effector. When approaching, the robotic arm body 1 adjusts the position of the stop 9 on the male disk 5 to correspond with the groove on the surface of the female disk 8, and as it continues to approach, the stop 9 contacts the inside of the groove of the female disk 8. The cooperation between the stop 9 and the groove limits the end effector and prevents it from rotating or deviating. Next, the circuit module 4 can be remotely controlled to release an electrical signal to activate the circular de-energized electromagnet chuck 6 fixedly installed in the public disk 5. The circular de-energized electromagnet chuck 6 releases magnetic force to attract the circular nut plate 7. Since the circular nut plate 7 is installed with the public disk 5 through bolts, the circular nut plate 7 will drive the end effector to move through the public disk 5, so that the robotic arm body 1 can pick up and use the end effector to complete the operation. If replacement is required, the robotic arm body 1 will put the end effector back in its original position and gradually demagnetize the circular de-energized electromagnet 6 through the circuit module 4, thereby separating it from the circular nut plate 7. Then, the male plate 5 will pull the stop block 9 out of the slot of the female plate 8 and reinsert it into the slot of the end effector to be replaced. At the same time, the circular de-energized electromagnet 6 will re-attract the circular nut plate 7, thus completing the convenient replacement operation of the end effector of the robotic arm body 1. Because this device uses the existing power-off retention method, when the robotic arm body 1 or the control system is unexpectedly powered off, the circular power-off type electromagnet chuck 6 can still maintain its magnetic connection to the circular nut iron plate 7, thereby reducing the risk of the end effector accidentally falling off and improving the safety of use.

[0025] Example 2: The difference between this embodiment and Embodiment 1 is that, depending on the end effector load, installation space, and anti-rotation requirements, two or more sets of stop blocks 9 and slots can be configured to further improve the limiting stability.

[0026] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A replacement structure for the end effector of a robotic arm, characterized in that, include: Quick-change mechanism (2); The quick-change mechanism (2) includes: The upper cover (3) of the public disk is fixedly installed with the execution end of the robotic arm; The public plate (5) is fixedly installed on the side of the public plate cover (3) away from the execution end of the robotic arm. The public plate (5) has a circular groove and a square groove respectively inside both ends. The public plate (5) has a stop block (9) integrally formed on the outside of the circular groove. The circular de-energized electromagnet chuck (6) and the circuit module (4) are fixedly installed inside the circular groove and the square groove, respectively, and are electrically connected to each other. The circuit module (4) controls whether the circular de-energized electromagnet chuck (6) generates magnetism. The mother plate (8) is fixedly installed on the mounting end of the end effector, and the side of the mother plate (8) away from the end effector has a groove that matches the outside of the stop block (9); A circular nut plate (7) is fixedly installed on the inner side of the end of the mother disc (8) away from the end effector.

2. The replacement structure for the end effector of a robotic arm according to claim 1, characterized in that: The circular de-energized electromagnet chuck (6) adopts a de-energized retention method, so that the circular de-energized electromagnet chuck (6) can still attract the circular nut iron plate (7) when the power is off.

3. The replacement structure for the end effector of a robotic arm according to claim 1, characterized in that: The edges of the stop (9) and the slot are rounded to ensure auxiliary guidance and position correction when they are docked.

4. The replacement structure for the end effector of a robotic arm according to claim 1, characterized in that: The circuit module (4) receives remote control commands via network connection and controls the circular de-energized electromagnet chuck (6) to be in a de-energized adsorption state or an energized release state according to the commands.

5. A robotic arm, comprising a robotic arm body (1), characterized in that: It also includes a replacement structure according to any one of claims 1 to 4, wherein the upper cover (3) of the public disk is fixedly installed at the execution end of the robotic arm body (1) by bolts.

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