A joint connecting mechanism of a modular reconfigurable industrial robot

Abstract

The application belongs to the technical field of industrial robots, and particularly relates to a joint connecting mechanism of a modular reconfigurable industrial robot. The joint connecting mechanism comprises a support, a connecting seat and a mechanical claw, and further comprises a connecting plate fixedly connected to the top of the connecting seat, and a mounting plate fixedly connected to the right side of the support and provided with a bolt. The bottom of the support and the connecting seat is provided with a quick connecting mechanism and a joint driving mechanism. The joint connecting mechanism is driven by an electric push rod to control the movement of a control frame, and the control frame drives a positioning frame to quickly press and lock the connecting seat through a belt and an auxiliary frame. The electric rod drives a movable sleeve to slide through a connecting rod and an L-shaped plate and be clamped with a hollow frame through hole to complete the modular installation of the mechanical claw. A motor drives an adjusting frame to rotate to realize the adjustment of the joint angle, so that the effects of modular quick connection and reconfigurable joint driving are achieved, and the joint connecting mechanism is convenient to use.

Description

Technical Field

[0001] This invention relates to the field of industrial robot technology, and in particular to a joint connection mechanism for a modular reconfigurable industrial robot. Background Technology

[0002] In existing technologies, industrial robots, as the core execution equipment on automated production lines, have joint connection mechanisms that are key components for realizing multi-degree-of-freedom motion. Modular and reconfigurable industrial robots can adapt to different tasks by replacing different end effectors. The quick replacement of end effectors and the reliability of joint connections directly affect the robot's working flexibility and production efficiency. The joint connection mechanism of the modular reconfigurable industrial robot enables rapid replacement of different actuators and multi-degree-of-freedom adjustment by mounting the end effector on the connector and utilizing quick-connect mechanism and joint drive mechanism.

[0003] However, the above technical solutions still have the following problems because the joint connection mechanism lacks a structure for quick connection locking and modular drive adjustment: Traditional industrial robots often use bolts to fix the end effector to the joint arm. Replacing the actuator requires removing multiple bolts, which is cumbersome and inefficient. In addition, traditional mechanisms lack quick-connect locking mechanisms. After the actuator is replaced, relying solely on bolt fastening can easily loosen when the robot moves at high speed, affecting operational accuracy. Furthermore, the installation of joint drives and end effectors lacks a modular linkage structure. Replacing different actuators requires adjusting the drive parameters separately, which affects production efficiency. Summary of the Invention

[0004] Based on the existing technical issues, traditional industrial robot joint connection mechanisms mostly use bolts to fix the end effector to the articulated arm. Replacing the actuator requires disassembling multiple bolts, which is cumbersome and inefficient. At the same time, traditional mechanisms lack quick-connect locking mechanisms. After the actuator is replaced, it is easy to loosen when the robot moves at high speed, affecting the operational accuracy, relying solely on bolt tightening. Furthermore, the installation of joint drives and end effectors lacks a modular linkage structure. Replacing different actuators requires adjusting the drive parameters separately, affecting production efficiency. To address these technical problems, this invention proposes a modular and reconfigurable joint connection mechanism for industrial robots.

[0005] This invention proposes a joint connection mechanism for a modular reconfigurable industrial robot, comprising a support, a connecting seat, and a mechanical gripper. The joint connection mechanism further includes: The connecting plate is fixedly connected to the top of the connecting seat; Mounting plate, which is fixedly connected to the right side of the bracket, and bolts are provided inside the mounting plate; The bottom of the bracket and connector is equipped with a quick-connect mechanism and a joint drive mechanism.

[0006] Preferably, the quick-connect mechanism includes an electric actuator, a control frame, two rotating columns, a belt, a positioning frame, and an auxiliary frame. The electric actuator is fixedly connected inside the bracket, the control frame is fixedly connected to the left end of the output end of the electric actuator, the two rotating columns are rotatably connected to the bottom of the bracket, the belt is sleeved on the outer wall of the two rotating columns, the positioning frame is slidably connected to the rear side of the bracket, and the positioning frame is in movable contact with the top of the connecting seat. The auxiliary frame is fixedly connected to the front side of the positioning frame, and the rear side of the auxiliary frame and the front side of the control frame are both fixedly connected to the outer wall of the belt.

[0007] Furthermore, when the quick-connect mechanism retracts to the right via the output end of the electric actuator, it pulls the control frame to move to the right along the inside of the bracket. The control frame drives the auxiliary frame to move to the left via a belt. The auxiliary frame drives the positioning frame to move to the left along the horizontal rail on the rear side of the bracket. The positioning frame contacts the top of the connecting seat and presses and locks the connecting seat. The movable connection between the connecting seat and the slot on the rear side of the bracket achieves initial positioning. When it is necessary to disassemble the connecting seat, the electric actuator reverses its operation and pushes the control frame to move to the left. The control frame drives the auxiliary frame and the positioning frame to move to the right via a belt, disengaging from the top of the connecting seat and releasing the lock.

[0008] Preferably, the joint drive mechanism includes an adjusting frame, a motor, a movable sleeve, an electric rod, two connecting rods, two L-shaped plates, and a hollow frame. The adjusting frame is rotatably connected to the bottom of the connecting seat. The motor is fixedly connected to the front side of the connecting seat, and the output shaft of the motor passes through the connecting seat and is fixedly connected to the front side of the adjusting frame. The movable sleeve is slidably fitted on the outer wall of the adjusting frame. The electric rod is fixedly connected to the front side of the adjusting frame, and the output end of the electric rod is fixedly connected to the bottom of the movable sleeve. The two connecting rods are symmetrically rotatably connected to the front side of the movable sleeve. The two L-shaped plates are symmetrically slidably connected to the top of the adjusting frame, and the front sides of the two L-shaped plates are rotatably connected to the bottom of the adjacent connecting rod. The mechanical claw is fixedly connected to the bottom of the hollow frame.

[0009] Furthermore, when the output end of the joint drive mechanism retracts downward through the electric rod, it pulls the movable sleeve to slide downward along the adjusting frame. The movable sleeve pushes two L-shaped plates to move back to back along the top of the adjusting frame through two connecting rods. The locking protrusions on the opposite side of the two L-shaped plates engage with the locking grooves in the through holes of the hollow frame to complete the installation and locking of the mechanical claw. When the output shaft of the motor rotates, it drives the adjusting frame to rotate around the bottom of the connecting seat. The adjusting frame drives the hollow frame and the mechanical claw to rotate synchronously through the movable sleeve and the L-shaped plates to achieve joint angle adjustment.

[0010] Preferably, the bracket has a slot on its rear side, the connecting seat is movably connected to the slot, the positioning frame has a guide block on its rear side, the bracket has a horizontal rail on its rear side, and the guide block is slidably connected to the horizontal rail.

[0011] Furthermore, the cross rail provides guiding constraints for the movement of the positioning frame, and the bracket is initially connected to the connecting seat via a slot.

[0012] Preferably, a guide rail is fixedly connected to the top of the bracket, a guide frame is fixedly connected inside the guide rail, and the bottom of the guide frame is fixedly connected to the top of the control frame. The belt is an annular synchronous belt, and the outer wall of the belt is fixedly connected to the front side of the control frame and the rear side of the auxiliary frame through connecting blocks.

[0013] Furthermore, when the control frame moves, the auxiliary frame moves in the opposite direction via a belt to achieve a linkage transmission.

[0014] Preferably, the hollow frame has two through holes, the two L-shaped plates are movably connected to the through holes of the hollow frame, the hollow frame and the adjustment frame are detachably connected, and the two L-shaped plates are provided with snap-fit ​​protrusions on the opposite sides, and the inner wall of the through hole is provided with snap-fit ​​grooves that are adapted to the snap-fit ​​protrusions.

[0015] Furthermore, the snap-fit ​​protrusions and snap-fit ​​grooves cooperate to form a stable snap-fit ​​connection.

[0016] Preferably, the upper end of the connecting rod is rotatably connected to the front side of the movable sleeve via a rotating shaft, and the lower end of the connecting rod is rotatably connected to the front side of the L-shaped plate via a rotating shaft.

[0017] Furthermore, the connecting rod converts the lifting motion of the movable sleeve into the horizontal movement of the L-shaped plate.

[0018] Preferably, a sliding gap is provided between the movable sleeve and the outer wall of the adjusting frame, as well as between the two L-shaped plates and the top of the adjusting frame.

[0019] Furthermore, the sliding clearance ensures smooth sliding of all moving parts.

[0020] The beneficial effects of this invention are: By setting up a linkage structure in the quick connection mechanism, including electric push rod, control frame, belt, two rotating columns, auxiliary frame and positioning frame, when the electric push rod drives the control frame to move horizontally, the belt drives the auxiliary frame and positioning frame to move in the opposite direction, so that the positioning frame makes active contact with the top of the connecting seat to complete the quick clamping and locking of the connecting seat. The movable connection between the connecting seat and the slot on the back of the bracket realizes the initial positioning of the connecting seat. The bottom of the guide frame is fixedly connected to the top of the control frame to make the movement of the control frame more stable. The whole connection process is simple to operate and does not require the use of tools. 2. By setting up a linkage structure between the electric rod, movable sleeve, two connecting rods, two L-shaped plates and hollow frame in the joint drive mechanism, when the electric rod drives the movable sleeve to slide along the adjustment frame, the two connecting rods drive the two L-shaped plates to move in opposite directions, so that the L-shaped plates and the through holes of the hollow frame are connected to complete the modular quick installation of the mechanical claw. The snap-fit ​​protrusions on the opposite side of the two L-shaped plates and the snap-fit ​​grooves on the inner wall of the through holes form a stable snap-fit ​​connection. Sliding gaps are provided between the movable sleeve and the outer wall of the adjustment frame and between the two L-shaped plates and the top of the adjustment frame to ensure smooth sliding of each moving part. 3. By setting up a structure in which the motor drives the adjustment frame to rotate and the hollow frame and the adjustment frame are detachably connected, the joint angle can be flexibly adjusted by driving the adjustment frame and the mechanical claw to rotate. The detachable connection between the hollow frame and the adjustment frame allows the mechanical claw to be replaced according to different operation requirements. It can be adapted to different end effectors through modular installation. 4. By setting a sliding fit structure between the rear guide block of the positioning frame and the rear horizontal rail of the bracket, the movement of the positioning frame is precisely guided, ensuring the accuracy and stability of the clamping and positioning of the connecting seat.

[0021] This invention uses an electric actuator to drive the control frame to move, which in turn drives the positioning frame via a belt and auxiliary frame to quickly press and lock the connecting seat. The electric actuator drives the movable sleeve to slide, which engages with the hollow frame through the connecting rod and L-shaped plate to complete the modular installation of the mechanical claw. The motor drives the adjustment frame to rotate, thereby adjusting the joint angle. This achieves the effect of modular quick connection and reconfigurable joint drive, making it convenient to use. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the joint connection mechanism of a modular reconfigurable industrial robot proposed in this invention. Figure 2 This is a three-dimensional structural diagram of the support, positioning frame, and auxiliary frame of the joint connection mechanism of a modular reconfigurable industrial robot proposed in this invention. Figure 3 This is a side view of the mounting plate and bolts of the joint connection mechanism of a modular reconfigurable industrial robot proposed in this invention. Figure 4 This is a schematic diagram of the top structure of the guide rail and guide frame of the joint connection mechanism of a modular reconfigurable industrial robot proposed in this invention. Figure 5 This is a schematic diagram of structure A of the joint connection mechanism of a modular reconfigurable industrial robot proposed in this invention.

[0023] In the diagram: 1. Bracket; 2. Connecting seat; 3. Connecting plate; 4. Electric actuator; 5. Control frame; 6. Guide rail; 7. Guide frame; 8. Rotating column; 9. Belt; 10. Positioning frame; 11. Auxiliary frame; 12. Adjusting frame; 13. Motor; 14. Movable sleeve; 15. Electric rod; 16. Connecting rod; 17. L-shaped plate; 18. Hollow frame; 19. Mechanical claw; 20. Mounting plate; 21. Bolt. Detailed Implementation

[0024] The present invention will be further explained below with reference to specific embodiments. Example

[0025] refer to Figure 1-5 This embodiment proposes a joint connection mechanism for a modular reconfigurable industrial robot, including a bracket 1, a connecting seat 2, and a mechanical gripper 19. The joint connection mechanism also includes: Connecting plate 3 is fixedly connected to the top of connecting base 2; Mounting plate 20 is fixedly connected to the right side of bracket 1, and bolts 21 are provided inside the mounting plate 20; The bottom of the bracket 1 and the connecting seat 2 is equipped with a quick connection mechanism and a joint drive mechanism.

[0026] The quick-connect mechanism includes an electric actuator 4, a control frame 5, two rotating columns 8, a belt 9, a positioning frame 10, and an auxiliary frame 11. The electric actuator 4 is fixedly connected inside the bracket 1. The control frame 5 is fixedly connected to the left end of the output end of the electric actuator 4. The two rotating columns 8 are rotatably connected to the bottom of the bracket 1. The belt 9 is sleeved on the outer wall of the two rotating columns 8. The positioning frame 10 is slidably connected to the rear side of the bracket 1. The positioning frame 10 is in movable contact with the top of the connecting seat 2. The auxiliary frame 11 is fixedly connected to the front side of the positioning frame 10. The rear side of the auxiliary frame 11 and the front side of the control frame 5 are both fixedly connected to the outer wall of the belt 9.

[0027] When the quick-connect mechanism retracts to the right through the output end of the electric push rod 4, it pulls the control frame 5 to move to the right along the inside of the bracket 1. The control frame 5 drives the auxiliary frame 11 to move to the left through the belt 9. The auxiliary frame 11 drives the positioning frame 10 to move to the left along the horizontal rail on the rear side of the bracket 1. The positioning frame 10 contacts the top of the connecting seat 2 and presses and locks the connecting seat 2. The movable connection between the connecting seat 2 and the slot on the rear side of the bracket 1 achieves initial positioning. When it is necessary to disassemble the connecting seat 2, the electric push rod 4 reverses its operation and pushes the control frame 5 to move to the left. The control frame 5 drives the auxiliary frame 11 and the positioning frame 10 to move to the right through the belt 9, disengaging from the top of the connecting seat 2 and releasing the lock.

[0028] The joint drive mechanism includes an adjustment frame 12, a motor 13, a movable sleeve 14, an electric rod 15, two connecting rods 16, two L-shaped plates 17, and a hollow frame 18. The adjustment frame 12 is rotatably connected to the bottom of the connecting seat 2. The motor 13 is fixedly connected to the front side of the connecting seat 2, and the output shaft of the motor 13 passes through the connecting seat 2 and is fixedly connected to the front side of the adjustment frame 12. The movable sleeve 14 is slidably fitted on the outer wall of the adjustment frame 12. The electric rod 15 is fixedly connected to the front side of the adjustment frame 12, and the output end of the electric rod 15 is fixedly connected to the bottom of the movable sleeve 14. The two connecting rods 16 are symmetrically rotatably connected to the front side of the movable sleeve 14. The two L-shaped plates 17 are symmetrically slidably connected to the top of the adjustment frame 12, and the front sides of the two L-shaped plates 17 are rotatably connected to the bottom of the adjacent connecting rods 16. The mechanical claw 19 is fixedly connected to the bottom of the hollow frame 18.

[0029] When the output end of the joint drive mechanism retracts downward through the electric rod 15, it pulls the movable sleeve 14 to slide downward along the adjusting frame 12. The movable sleeve 14 pushes the two L-shaped plates 17 to move back to back along the top of the adjusting frame 12 through the two connecting rods 16. The locking protrusions on the opposite side of the two L-shaped plates 17 engage with the locking grooves in the through holes of the hollow frame 18 to complete the installation and locking of the mechanical claw 19. When the output shaft of the motor 13 rotates, it drives the adjusting frame 12 to rotate around the bottom of the connecting seat 2. The adjusting frame 12 drives the hollow frame 18 and the mechanical claw 19 to rotate synchronously through the movable sleeve 14 and the L-shaped plates 17 to achieve joint angle adjustment.

[0030] To achieve the initial positioning effect between the connecting seat 2 and the bracket 1, the bracket 1 has a slot on its rear side. The connecting seat 2 is movably connected to the slot. The connecting seat 2 can be inserted into or removed from the slot to achieve modular replacement. The positioning frame 10 has a guide block on its rear side, and the bracket 1 has a horizontal rail on its rear side. The guide block is slidably connected to the horizontal rail. The horizontal rail provides guidance and constraint for the movement of the positioning frame 10. The bracket 1 is initially connected to the connecting seat 2 through the slot.

[0031] To achieve the guiding effect of guide rail 6 and guide frame 7, guide rail 6 is fixedly connected to the top of bracket 1, guide frame 7 is fixedly connected inside guide rail 6, and bottom of guide frame 7 is fixedly connected to top of control frame 5. Belt 9 is a ring synchronous belt. The outer wall of belt 9 is fixedly connected to the front side of control frame 5 and the rear side of auxiliary frame 11 through connecting blocks. When control frame 5 moves, belt 9 drives auxiliary frame 11 to move in the opposite direction to achieve linkage transmission.

[0032] To achieve the connection between the hollow frame 18 and the adjusting frame 12, the hollow frame 18 has two through holes. Two L-shaped plates 17 are movably connected to the through holes of the hollow frame 18. The hollow frame 18 and the adjusting frame 12 are detachably connected. Each of the two L-shaped plates 17 has a snap-fit ​​protrusion on the side away from each other. The inner wall of the through hole has a snap-fit ​​groove that matches the snap-fit ​​protrusion. The snap-fit ​​protrusion and the snap-fit ​​groove cooperate to form a stable snap-fit ​​connection.

[0033] In order to achieve the hinged effect between the connecting rod 16, the movable sleeve 14, and the L-shaped plate 17, the upper end of the connecting rod 16 is rotatably connected to the front side of the movable sleeve 14 through a rotating shaft, and the lower end of the connecting rod 16 is rotatably connected to the front side of the L-shaped plate 17 through a rotating shaft. The connecting rod 16 converts the lifting motion of the movable sleeve 14 into the horizontal movement of the L-shaped plate 17.

[0034] In order to achieve the sliding effect between the movable sleeve 14 and the L-shaped plate 17, sliding gaps are provided between the movable sleeve 14 and the outer wall of the adjusting frame 12, as well as between the two L-shaped plates 17 and the top of the adjusting frame 12. The sliding gaps ensure that the moving parts slide smoothly.

[0035] The working principle of this invention is as follows: In actual operation, the bracket 1 is first fixedly installed by attaching the mounting plate 20 to the workbench or robot base. The entire joint connection mechanism is then securely installed in the working position using the bolts 21 provided in the mounting plate 20, thus completing the fixation of the bracket 1. After the bracket 1 is fixed, the connecting seat 2, which is connected to the connecting plate 3, is aligned with the slot on the rear side of the bracket 1. The connecting seat 2 is pushed into the slot in the horizontal direction. The cross-sectional shape of the slot matches the cross-sectional shape of the connecting seat 2. When the connecting seat 2 is pushed into the slot, the inner wall of the slot guides and limits the outer wall of the connecting seat 2, enabling the connecting seat 2 to accurately enter the predetermined installation position, thus achieving the initial positioning of the connecting seat 2. After the connecting seat 2 is pushed into place, the top of the connecting seat 2 is located on the positioning frame 10. Below the moving path, preparations are made for subsequent clamping and locking. After the initial positioning of the connecting seat 2 is completed, the quick connection mechanism is activated to clamp and lock the connecting seat 2, controlling the electric push rod 4 to work. The cylinder of the electric push rod 4 is fixedly connected inside the bracket 1. When the output end of the electric push rod 4 retracts to the right, it pulls the control frame 5 to move to the right along the inside of the bracket 1. The bottom of the guide frame 7 is fixedly connected to the top of the control frame 5. When the control frame 5 moves, it drives the guide frame 7 to move synchronously. The guide frame 7 slides in the guide rail 6. The guide rail 6 guides and supports the movement of the control frame 5, ensuring the straightness and stability of the movement of the control frame 5. When the control frame 5 moves to the right, since the front side of the control frame 5 is fixedly connected to the outer wall of the belt 9 through the connecting block, the control frame 5 drives the belt 9 along the two rotating columns 8. The outer wall rotates circumferentially. Belt 9 is a ring-shaped synchronous belt. Power is transmitted between belt 9 and the outer wall of the rotating column 8 through toothed meshing. The rotation of belt 9 drives the auxiliary frame 11, which is fixedly connected to the other side of its outer wall via a connecting block, to move synchronously. Since belt 9 is arranged in a ring between the two rotating columns 8, when the control frame 5 moves to the right, belt 9 drives the auxiliary frame 11 to move to the left, achieving reverse linkage between the control frame 5 and the auxiliary frame 11. When the auxiliary frame 11 moves to the left, it drives the positioning frame 10, which is fixedly connected to it, to move synchronously to the left. The guide block on the rear side of the positioning frame 10 slides along the horizontal rail on the rear side of the bracket 1. The horizontal rail provides precise guidance and constraint for the movement of the positioning frame 10. When the positioning frame 10 moves to the left and is above the connecting seat 2, the bottom surface of the positioning frame 10 moves with the top surface of the connecting seat 2. Upon contact, the positioning frame 10 applies a downward clamping force to the connecting seat 2, pressing and locking the connecting seat 2 into the slot of the bracket 1. At this time, the connecting seat 2 is firmly fixed to the bracket 1 under the dual action of the initial positioning of the slot and the clamping and locking of the positioning frame 10, completing the modular quick connection of the connecting seat 2. When it is necessary to disassemble the connecting seat 2 for replacement or maintenance, the control electric push rod 4 works in reverse. The output end of the electric push rod 4 extends to the left, pushing the control frame 5 to move to the left. The control frame 5 drives the auxiliary frame 11 and the positioning frame 10 to move to the right through the belt 9. The positioning frame 10 disengages from the top of the connecting seat 2, releasing the clamping and locking. At this time, the connecting seat 2 can be pulled out from the slot to complete the quick disassembly of the connecting seat 2. After the connecting seat 2 is installed, the mechanical claw 19 is modularly installed.The hollow frame 18, connected to the mechanical claw 19, is inserted into the adjusting frame 12 from below or the side, aligning the two through holes of the hollow frame 18 with the positions of the two L-shaped plates 17. After the hollow frame 18 is inserted into place, the joint drive mechanism is activated to lock the hollow frame 18 in place, controlling the operation of the electric rod 15. The cylinder of the electric rod 15 is fixedly connected to the front side of the adjusting frame 12. When the output end of the electric rod 15 retracts downward, it pulls the movable sleeve 14 to slide downward along the outer wall of the adjusting frame 12. A sliding gap is provided between the movable sleeve 14 and the outer wall of the adjusting frame 12 to ensure that the movable sleeve 14 slides smoothly and moves stably along the outer wall of the adjusting frame 12. When the movable sleeve 14 slides downward, it pushes the two L-shaped plates 17 along the adjusting frame 12 via the two connecting rods 16. The tops move in opposite directions. Sliding gaps are provided between the two L-shaped plates 17 and the top of the adjusting frame 12 to ensure smooth and stable sliding of the L-shaped plates 17 along the top of the adjusting frame 12. The upper end of the connecting rod 16 is rotatably connected to the front side of the movable sleeve 14 via a rotating shaft, and the lower end of the connecting rod 16 is rotatably connected to the front side of the L-shaped plate 17 via a rotating shaft. When the movable sleeve 14 moves downwards, the connecting rod 16 rotates around the rotating shafts at both ends, converting the vertical downward movement of the movable sleeve 14 into the horizontal outward movement of the L-shaped plates 17. When the two L-shaped plates 17 move in opposite directions, the locking protrusions on the opposite side of the two L-shaped plates 17 gradually approach the locking grooves of the two through holes inside the hollow frame 18. When the L-shaped plates 17 are in position, the locking protrusions engage with the locking grooves, forming a stable locking connection. Next, the hollow frame 18 is internally supported and locked onto the adjusting frame 12 by two L-shaped plates 17. Since the mechanical claw 19 is fixedly connected to the bottom of the hollow frame 18, the mechanical claw 19 completes modular installation synchronously with the hollow frame 18. When it is necessary to replace the mechanical claw 19 with a different specification or function, the control electric rod 15 works in reverse. The output end of the electric rod 15 extends upward and pushes the movable sleeve 14 to slide upward along the adjusting frame 12. The movable sleeve 14 pulls the two L-shaped plates 17 to move towards each other along the top of the adjusting frame 12 through the two connecting rods 16. The locking protrusions of the two L-shaped plates 17 disengage from the locking groove in the through hole of the hollow frame 18, releasing the locking lock. The hollow frame 18 and the mechanical claw 19 are removed from the adjusting frame 12 as a whole. After replacing the new mechanical claw 19, the process is repeated. The installation steps are as described above. Through the detachable connection between the hollow frame 18 and the adjusting frame 12, and the locking mechanism of the L-shaped plate 17, modular replacement of different end effectors is achieved, adapting to different operational needs and embodying the modular and reconfigurable design concept. After the mechanical gripper 19 is installed, the control motor 13 operates. When the output shaft of the motor 13 rotates, it drives the adjusting frame 12 to rotate around the bottom of the connecting seat 2. The rotation of the adjusting frame 12, via the movable sleeve 14 and the two L-shaped plates 17, drives the hollow frame 18 to rotate synchronously. The hollow frame 18 then drives the mechanical gripper 19 to rotate around the axis of the adjusting frame 12, achieving flexible adjustment of the joint angle. This allows the mechanical gripper 19 to grasp and manipulate workpieces at different angles. The motor 13 controls the rotation angle and speed...The working position and posture of the robotic gripper 19 can be precisely adjusted to meet the needs of multi-degree-of-freedom robot movement. The entire joint connection mechanism, through the quick-connect locking of the connecting seat 2, the modular installation and replacement of the robotic gripper 19, and the joint angle adjustment driven by the motor 13, realizes the rapid assembly and flexible operation functions of a modular, reconfigurable industrial robot.

[0036] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A joint connection mechanism for a modular reconfigurable industrial robot, comprising a support (1), a connecting seat (2), and a mechanical gripper (19), characterized in that, The joint connection mechanism also includes: A connecting plate (3) is fixedly connected to the top of the connecting seat (2); Mounting plate (20), which is fixedly connected to the right side of bracket (1), and bolts (21) are provided inside the mounting plate (20); The bottom of the bracket (1) and the connecting seat (2) is provided with a quick connection mechanism and a joint drive mechanism.

2. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 1, characterized in that, The quick-connect mechanism includes an electric push rod (4), a control frame (5), two rotating columns (8), a belt (9), a positioning frame (10), and an auxiliary frame (11). The electric push rod (4) is fixedly connected inside the bracket (1). The control frame (5) is fixedly connected to the left end of the output end of the electric push rod (4). The two rotating columns (8) are rotatably connected to the bottom of the bracket (1). The belt (9) is sleeved on the outer wall of the two rotating columns (8). The positioning frame (10) is slidably connected to the rear side of the bracket (1). The positioning frame (10) is in movable contact with the top of the connecting seat (2). The auxiliary frame (11) is fixedly connected to the front side of the positioning frame (10). The rear side of the auxiliary frame (11) and the front side of the control frame (5) are both fixedly connected to the outer wall of the belt (9).

3. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 1, characterized in that, The joint drive mechanism includes an adjusting frame (12), a motor (13), a movable sleeve (14), an electric rod (15), two connecting rods (16), two L-shaped plates (17), and a hollow frame (18). The adjusting frame (12) is rotatably connected to the bottom of the connecting seat (2). The motor (13) is fixedly connected to the front side of the connecting seat (2), and the output shaft of the motor (13) passes through the connecting seat (2) and is fixedly connected to the front side of the adjusting frame (12). The movable sleeve (14) is slidably fitted on the adjusting frame (12). The outer wall of the electric rod (15) is fixedly connected to the front side of the adjusting frame (12), and the output end of the electric rod (15) is fixedly connected to the bottom of the movable sleeve (14). The two connecting rods (16) are symmetrically rotated and connected to the front side of the movable sleeve (14). The two L-shaped plates (17) are symmetrically slidably connected to the top of the adjusting frame (12), and the front side of the two L-shaped plates (17) is rotatably connected to the bottom of the adjacent connecting rod (16). The mechanical claw (19) is fixedly connected to the bottom of the hollow frame (18).

4. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 2, characterized in that, The bracket (1) has a slot on its rear side, the connecting seat (2) is movably connected to the slot, the positioning frame (10) has a guide block on its rear side, the bracket (1) has a horizontal rail on its rear side, and the guide block is slidably connected to the horizontal rail.

5. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 2, characterized in that, The top of the bracket (1) is fixedly connected to a guide rail (6), and a guide frame (7) is fixedly connected inside the guide rail (6). The bottom of the guide frame (7) is fixedly connected to the top of the control frame (5). The belt (9) is an annular synchronous belt. The outer wall of the belt (9) is fixedly connected to the front side of the control frame (5) and the rear side of the auxiliary frame (11) through connecting blocks.

6. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 3, characterized in that, The hollow frame (18) has two through holes. The two L-shaped plates (17) are movably connected to the through holes of the hollow frame (18). The hollow frame (18) and the adjusting frame (12) are detachably connected. The two L-shaped plates (17) are provided with snap-fit ​​protrusions on the side away from each other. The inner wall of the through hole is provided with snap-fit ​​grooves that are adapted to the snap-fit ​​protrusions.

7. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 3, characterized in that, The upper end of the connecting rod (16) is rotatably connected to the front side of the movable sleeve (14) via a rotating shaft, and the lower end of the connecting rod (16) is rotatably connected to the front side of the L-shaped plate (17) via a rotating shaft.

8. The joint connection mechanism of a modular reconfigurable industrial robot according to claim 3, characterized in that, Sliding gaps are provided between the outer walls of the movable sleeve (14) and the adjusting frame (12), as well as between the tops of the two L-shaped plates (17) and the adjusting frame (12).

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