Connecting shaft mechanism for expanding manipulator

Abstract

The utility model discloses a connecting shaft mechanism for manipulator expansion, which relates to the technical field of industrial robots and comprises a mechanical arm connecting seat, a driving part is arranged on one side of the mechanical arm connecting seat, a rotating seat is arranged on the other side of the mechanical arm connecting seat, and a connecting seat is arranged on the side surface of the rotating seat. A connecting assembly is arranged outside the connecting base, and a clamping assembly is arranged on the side, away from the connecting base, of the connecting assembly. The clamping assembly and the connecting base are connected through the connecting assembly, the connecting base and the connecting block are connected through the reducing sleeve, the protruding block is clamped in the mounting frame, positioning is conducted through the positioning bolt, and therefore mounting of the connecting base is achieved. And an L-shaped limiting inserting plate is driven by an arranged moving block to move along a lead screw, limiting of a connecting block is achieved in the moving process, the clamping assembly is conveniently and rapidly disassembled and replaced in the follow-up process, and the use convenience of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of industrial robots, in particular to a connecting shaft mechanism for robot arm expansion. Background Art

[0002] The robot arm is often assembled on a mobile body to perform tasks such as handling and processing. The third servo B-axis mechanism is the fourth-axis mechanism of the robot arm. It is mainly used in situations where the injection molding machine robot needs to take the product from the dynamic mold and perform secondary actions on the static mold surface inside the mold. For example, the embedding of inserts in the injection molding machine required a double-arm structure robot to complete it in the past. Now the single-arm structure can replace the double-arm structure, which greatly saves the cost of the robot.

[0003] The existing mobile robot function expansion mechanical arm does not have a special connection mechanism, so the assembly and disassembly process is difficult, and frequent assembly and disassembly are easy to cause damage to the device. Therefore, it is necessary to provide a connecting shaft mechanism for the expansion of the manipulator to solve the problem. Utility Model Content

[0004] The main purpose of the utility model is to provide a connecting shaft mechanism for robot arm expansion, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A connecting shaft mechanism for manipulator expansion comprises a manipulator connecting seat, a driving member is arranged on one side of the manipulator connecting seat, a rotating seat is arranged on the other side of the manipulator connecting seat, a connecting seat is arranged on the side of the rotating seat, a connecting component is arranged outside the connecting seat, and a clamping component is arranged on the side of the connecting component away from the connecting seat;

[0007] The clamping assembly includes a connecting plate, a pneumatic telescopic rod is provided on one side of the connecting plate, a connecting block is provided on the other side of the connecting plate, a suction plate is provided at one end of the pneumatic telescopic rod, and a cylinder is provided in the middle of the side of the connecting plate;

[0008] The connecting component includes an adapter sleeve, a docking groove is provided in the middle of one side of the adapter sleeve, and a plug-in groove is provided in the middle of the other side of the adapter sleeve, a slide groove is provided inside the docking groove, and a limiting groove is provided at one end of the slide groove, an installation frame is provided on the side of the adapter sleeve close to the plug-in groove, and a partition is provided inside the installation frame, a motor is provided on one side of the partition, and a screw rod is provided on the other side of the partition, a moving block is provided on the outer wall of the screw rod, and an L-shaped limiting plug plate is provided on the side of the moving block.

[0009] Preferably, the adapter sleeve is arranged on the outside of the connecting seat, and a protrusion is fixedly connected to the outer wall of the connecting seat, and there are two protrusions, which are symmetrically distributed at one end of the connecting seat close to the adapter sleeve, and the connecting seat is inserted into the docking groove in the middle of the adapter sleeve.

[0010] Preferably, there are two slide grooves, which are symmetrically distributed on the inner walls on both sides of the adapter sleeve, and the slide grooves are connected to the docking grooves, the slide grooves are slidably connected to the protrusions, and the slide grooves are connected to the limiting grooves, the limiting grooves are located at one end of the slide grooves close to the plug-in grooves, and the limiting grooves and the slide grooves are arranged correspondingly, and the outer wall of the adapter sleeve is connected with a positioning bolt through a thread, and the positioning bolts pass through the adapter sleeve and contact the outer wall of the connecting seat.

[0011] Preferably, the middle of the side of the adapter sleeve close to the plug-in slot is connected to the mounting frame by bolts, and there are two mounting frames, which are symmetrically distributed on both sides of the plug-in slot. A partition is installed inside the mounting frame by bolts, and the partition is located inside the side of the mounting frame away from the plug-in slot, and the side of the partition away from the plug-in slot is connected to the motor by bolts.

[0012] Preferably, the output end of the motor is transmission-connected with a screw rod, and the end of the screw rod close to the motor is connected to the middle of the partition through a bearing, and the end of the screw rod away from the motor is connected to the middle of the inner wall of the mounting frame through a bearing, and the outer sleeve of the screw rod is connected with a moving block, and the moving block is fixedly connected to an L-shaped limit plate, and there are two L-shaped limit plates, which are symmetrically distributed on the outer walls on both sides of the moving block.

[0013] Preferably, one end of the L-shaped limit plug plate away from the moving block passes through the installation frame and is connected to the inside of the plug-in slot, a connecting block is inserted into the inside of the plug-in slot, and a limiting slot is provided on the outer wall of the connecting block, and one end of the L-shaped limit plug plate away from the moving block is inserted into the inside of the limiting slot, a positioning plate is fixedly connected in the middle of the inner wall of the installation frame, and the positioning plate and the L-shaped limit plug plate are arranged correspondingly.

[0014] Preferably, the connecting plate is fixedly connected to the connecting block, and the connecting block is located in the middle of one side of the connecting plate, the side of the connecting plate away from the connecting block is connected to the pneumatic telescopic rod by bolts, and there are two pneumatic telescopic rods, which are symmetrically distributed on both sides of the connecting plate, the connecting plate is connected to the cylinder by bolts, and the cylinder is located between the two pneumatic telescopic rods, the cylinder is connected to the two pneumatic telescopic rods by connecting pipes respectively, and the end of the pneumatic telescopic rod away from the connecting plate is fixedly connected to the adsorption plate

[0015] Compared with the prior art, the utility model has the following beneficial effects:

[0016] In the utility model, the connection between the clamping assembly and the connecting seat is realized by the provided connecting assembly, the connecting seat and the connecting block are respectively connected by the provided adapter sleeve, the provided protrusion is clamped in the interior of the installation frame, and then positioned by the provided positioning bolt, so as to realize the installation of the connecting seat, and the provided moving block drives the L-shaped limiting plug plate to move along the screw rod, and the connection block is limited during the movement. The operation is simple, and the subsequent quick disassembly and replacement of the clamping assembly is convenient, thereby improving the convenience of use of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the utility model device;

[0018] Figure 2 It is a schematic diagram of the structure of the device of the utility model;

[0019] Figure 3 This utility model Figure 2 The enlarged structural diagram at A in the middle;

[0020] Figure 4 It is a structural schematic diagram of the connection assembly of the utility model;

[0021] Figure 5 This utility model Figure 4 Schematic diagram of the enlarged structure at point B.

[0022] In the figure: 1. Robot arm connecting seat; 2. Driving part; 3. Rotating seat; 4. Connecting seat; 5. Clamping assembly; 6. Connecting plate; 7. Cylinder; 8. Pneumatic telescopic rod; 9. Adsorption plate; 10. Connecting block; 11. Connecting assembly; 12. Adapter sleeve; 13. Docking groove; 14. Bump; 15. Slide groove; 16. Limiting groove; 17. Positioning bolt; 18. Plug-in groove; 19. Mounting frame; 20. Partition; 21. Motor; 22. Screw; 23. Moving block; 24. L-shaped limiting plug plate; 25. Positioning plate; 26. Limiting slot. DETAILED DESCRIPTION

[0023] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0024] See also Figure 1-Figure 5 As shown, a connecting shaft mechanism for manipulator expansion includes a manipulator connecting seat 1, a driving member 2 is arranged on one side of the manipulator connecting seat 1, and a rotating seat 3 is arranged on the other side of the manipulator connecting seat 1, a connecting seat 4 is arranged on the side of the rotating seat 3, and a connecting component 11 is arranged outside the connecting seat 4, and a clamping component 5 is arranged on the side of the connecting component 11 away from the connecting seat 4;

[0025] See also Figure 1 , Figure 2 As shown, the clamping assembly 5 includes a connecting plate 6, a pneumatic telescopic rod 8 is provided on one side of the connecting plate 6, and a connecting block 10 is provided on the other side of the connecting plate 6, an adsorption disk 9 is provided at one end of the pneumatic telescopic rod 8, a cylinder 7 is provided in the middle of the side of the connecting plate 6, the connecting plate 6 is fixedly connected to the connecting block 10, and the connecting block 10 is located in the middle of one side of the connecting plate 6, the side of the connecting plate 6 away from the connecting block 10 is connected to the pneumatic telescopic rod 8 by bolts, and there are two pneumatic telescopic rods 8, which are symmetrically distributed on both sides of the connecting plate 6, the connecting plate 6 is connected to the cylinder 7 by bolts, and the cylinder 7 is located between the two pneumatic telescopic rods 8, the cylinder 7 is connected to the two pneumatic telescopic rods 8 by connecting pipes, and the end of the pneumatic telescopic rod 8 away from the connecting plate 6 is fixedly connected with the adsorption disk 9;

[0026] See also Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5As shown, the connection component 11 includes an adapter sleeve 12, a docking groove 13 is provided in the middle of one side of the adapter sleeve 12, and a plug-in groove 18 is provided in the middle of the other side of the adapter sleeve 12, a slide groove 15 is provided inside the docking groove 13, and a limiting groove 16 is provided at one end of the slide groove 15, a mounting frame 19 is provided on the side of the adapter sleeve 12 close to the plug-in groove 18, and a partition 20 is provided inside the mounting frame 19, a motor 21 is provided on one side of the partition 20, and a screw rod 22 is provided on the other side of the partition 20, a moving block 23 is provided on the outer wall of the screw rod 22, and an L-shaped limiting plug plate 24 is provided on the side of the moving block 23, the adapter sleeve 12 is sleeved on the outside of the connecting seat 4, and a protrusion 14 is fixedly connected to the outer wall of the connecting seat 4, and the protrusion 14 has two, They are symmetrically distributed at one end of the connecting seat 4 close to the adapter sleeve 12, and the connecting seat 4 is plugged into the docking groove 13 in the middle of the adapter sleeve 12. There are two slide grooves 15, which are symmetrically distributed on the inner walls on both sides of the adapter sleeve 12, and the slide groove 15 and the docking groove 13 are connected to each other. The slide groove 15 is slidably connected to the protrusion 14, and the slide groove 15 is connected to the limiting groove 16. The limiting groove 16 is located at one end of the slide groove 15 close to the plug-in groove 18, and the limiting groove 16 is correspondingly arranged to the slide groove 15. A positioning bolt 17 is threadedly connected to the outer wall of the adapter sleeve 12, and the positioning bolt 17 penetrates the adapter sleeve 12 and contacts the outer wall of the connecting seat 4. The middle of one side of the adapter sleeve 12 close to the plug-in groove 18 is connected to the installation frame 19 by bolts, and the installation frame 19 has two , symmetrically distributed on both sides of the plug-in slot 18, a partition 20 is installed inside the mounting frame 19 by bolts, and the partition 20 is located inside the side of the mounting frame 19 away from the plug-in slot 18, the side of the partition 20 away from the plug-in slot 18 is connected to the motor 21 by bolts, the output end of the motor 21 is transmission-connected with a screw rod 22, and the end of the screw rod 22 close to the motor 21 is connected to the middle of the partition 20 through a bearing, and the end of the screw rod 22 away from the motor 21 is connected to the middle of the inner wall of the mounting frame 19 through a bearing, the outer sleeve of the screw rod 22 is connected with a moving block 23, the moving block 23 is fixedly connected to the L-shaped limit plug plate 24, and there are two L-shaped limit plug plates 24, which are symmetrically distributed on the outer walls of both sides of the moving block 23, and the L-shaped limit plug plates 2 The end away from the moving block 23 passes through the installation frame 19 and is connected to the inside of the plug-in slot 18. The connection block 10 is plugged into the plug-in slot 18, and a limiting slot 26 is provided on the outer wall of the connection block 10. The end of the L-shaped limiting plug plate 24 away from the moving block 23 is plugged into the inside of the limiting slot 26. A positioning plate 25 is fixedly connected to the middle of the inner wall of the installation frame 19, and the positioning plate 25 is correspondingly arranged with the L-shaped limiting plug plate 24. The connection between the clamping component 5 and the connecting seat 4 is realized by the provided connecting component 11. The connecting seat 4 and the connecting block 10 are respectively connected by the provided adapter sleeve 12. The provided protrusion 14 is clamped in the inside of the installation frame 19, and then positioned by the provided positioning bolt 17, so as to realize the installation of the connecting seat 4.The L-shaped limit plate 24 is driven by the movable block 23 to move along the screw rod 22, and the connection block 10 is limited during the movement. The operation is simple, and the subsequent rapid disassembly and replacement of the clamping assembly 5 is convenient, thereby improving the convenience of the device.

[0027] It should be noted that the utility model is a connecting shaft mechanism for manipulator expansion. When in use, the manipulator arm connecting seat 1 is connected to the manipulator by bolts, and then the docking groove 13 on one side of the adapter sleeve 12 is clamped on the outside of the connecting seat 4, so that the slide groove 15 on the inner wall of the docking groove 13 is aligned with the protrusion 14 on the outer wall of the connecting seat 4, and the adapter sleeve 12 is pushed to make the protrusion 14 slide inside the slide groove 15 until it is aligned with the limiting groove 16, and the adapter sleeve 12 is rotated to make the protrusion 14 slide along the limiting groove 16, thereby realizing the first limit of the protrusion 14, and the positioning bolt 17 is threaded through the side wall of the adapter sleeve 12 to contact the connecting seat 4, thereby realizing a stable connection between the connecting seat 4 and the adapter sleeve 12, and then the connecting block 10 on the side of the connecting plate 6 is plugged into the plug-in groove 18 on the side of the adapter sleeve 12 away from the connecting seat 4, and the motor 21 arranged inside the mounting frame 19 drives the screw rod 22 to rotate, so that the moving block 23 The L-shaped limit plug plate 24 is driven to move along the screw rod 22 to the direction of the plug-in slot 18, so that the ends of the two L-shaped limit plug plates 24 away from the moving block 23 pass through the mounting frame 19 and are connected to the inside of the plug-in slot 18, so that the L-shaped limit plug plate 24 is plugged into the limiting slot 26 on the outer wall of the connecting block 10, thereby realizing the stable limiting of the connecting block 10, with a simple structure. At the same time, a rotating seat 3 is installed on the side of the connecting seat 4, and the rotating seat 3 is transmission-connected with the output end of the driving member 2. When the clamping assembly 5 is installed on the side of the connecting seat 4 through the adapter sleeve 12, the rotating seat 3 is driven by the set driving member 2 to rotate, so that the connecting seat 4 drives the clamping assembly 5 to rotate with the rotating seat 3, and a cylinder 7 and a pneumatic telescopic rod 8 are arranged on the side of the connecting plate 6, and the cylinder 7 and the pneumatic telescopic rod 8 are connected by a connecting pipe. The pneumatic telescopic rod 8 is controlled by the set cylinder 7 to be extended and retracted, so that the adsorption disk 9 can realize the adsorption of the product, which is convenient for the delivery of the product.

[0028] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A connecting shaft mechanism for robot arm expansion, comprising a robot arm connecting seat (1), characterized in that: A driving member (2) is provided on one side of the robot arm connecting seat (1), and a rotating seat (3) is provided on the other side of the robot arm connecting seat (1); a connecting seat (4) is provided on the side of the rotating seat (3), and a connecting component (11) is provided on the outside of the connecting seat (4); a clamping component (5) is provided on the side of the connecting component (11) away from the connecting seat (4); The clamping assembly (5) comprises a connecting plate (6), a pneumatic telescopic rod (8) is provided on one side of the connecting plate (6), a connecting block (10) is provided on the other side of the connecting plate (6), a suction plate (9) is provided at one end of the pneumatic telescopic rod (8), and a cylinder (7) is provided in the middle of the side surface of the connecting plate (6); The connection assembly (11) comprises an adapter sleeve (12), a docking groove (13) is provided in the middle of one side of the adapter sleeve (12), and a plug-in groove (18) is provided in the middle of the other side of the adapter sleeve (12), a slide groove (15) is provided inside the docking groove (13), and a limiting groove (16) is provided at one end of the slide groove (15), a mounting frame (19) is provided on a side of the adapter sleeve (12) close to the plug-in groove (18), and a partition (20) is provided inside the mounting frame (19), a motor (21) is provided on one side of the partition (20), and a screw rod (22) is provided on the other side of the partition (20), a moving block (23) is provided on the outer wall of the screw rod (22), and an L-shaped limiting plug plate (24) is provided on the side of the moving block (23).

2. The connecting shaft mechanism for manipulator expansion according to claim 1, characterized in that: The adapter sleeve (12) is sleeved on the outside of the connecting seat (4), and a protrusion (14) is fixedly connected to the outer wall of the connecting seat (4). There are two protrusions (14), which are symmetrically distributed at one end of the connecting seat (4) close to the adapter sleeve (12), and the connecting seat (4) is inserted into the docking groove (13) in the middle of the adapter sleeve (12).

3. The connecting shaft mechanism for manipulator expansion according to claim 1, characterized in that: There are two slide grooves (15), which are symmetrically distributed on the inner walls of both sides of the adapter sleeve (12), and the slide grooves (15) are connected to the docking groove (13). The slide grooves (15) are slidably connected to the protrusions (14), and the slide grooves (15) are connected to the limiting grooves (16). The limiting grooves (16) are located at one end of the slide grooves (15) close to the plug-in grooves (18), and the limiting grooves (16) are arranged corresponding to the slide grooves (15). The outer wall of the adapter sleeve (12) is connected with a positioning bolt (17) through a thread, and the positioning bolts (17) penetrate the adapter sleeve (12) and contact the outer wall of the connecting seat (4).

4. The connecting shaft mechanism for manipulator expansion according to claim 3 is characterized in that: The middle of a side of the adapter sleeve (12) close to the plug slot (18) is connected to the mounting frame (19) by bolts, and there are two mounting frames (19), which are symmetrically distributed on both sides of the plug slot (18). A partition (20) is installed inside the mounting frame (19) by bolts, and the partition (20) is located inside the side of the mounting frame (19) away from the plug slot (18), and the side of the partition (20) away from the plug slot (18) is connected to the motor (21) by bolts.

5. The connecting shaft mechanism for manipulator expansion according to claim 4, characterized in that: The output end of the motor (21) is transmission-connected to a lead screw (22), and one end of the lead screw (22) close to the motor (21) is connected to the middle of the partition (20) via a bearing, and one end of the lead screw (22) away from the motor (21) is connected to the middle of the inner wall of the mounting frame (19) via a bearing, and the outer sleeve of the lead screw (22) is connected to a moving block (23), and the moving block (23) is fixedly connected to an L-shaped limit plug plate (24), and there are two L-shaped limit plug plates (24), which are symmetrically distributed on the outer walls of both sides of the moving block (23).

6. The connecting shaft mechanism for manipulator expansion according to claim 5, characterized in that: One end of the L-shaped limit plug plate (24) away from the moving block (23) passes through the installation frame (19) and is connected to the inside of the plug-in slot (18); the inside of the plug-in slot (18) is plugged with a connecting block (10), and a limit slot (26) is provided on the outer wall of the connecting block (10); one end of the L-shaped limit plug plate (24) away from the moving block (23) is plugged into the inside of the limit slot (26); a positioning plate (25) is fixedly connected to the middle of the inner wall of the installation frame (19), and the positioning plate (25) and the L-shaped limit plug plate (24) are arranged correspondingly.

7. The connecting shaft mechanism for manipulator expansion according to claim 1, characterized in that: The connecting plate (6) is fixedly connected to the connecting block (10), and the connecting block (10) is located in the middle of one side of the connecting plate (6). The side of the connecting plate (6) away from the connecting block (10) is connected to the pneumatic telescopic rod (8) by bolts, and there are two pneumatic telescopic rods (8), which are symmetrically distributed on both sides of the connecting plate (6). The connecting plate (6) is connected to the cylinder (7) by bolts, and the cylinder (7) is located between the two pneumatic telescopic rods (8). The cylinder (7) and the two pneumatic telescopic rods (8) are connected by connecting pipes respectively, and one end of the pneumatic telescopic rod (8) away from the connecting plate (6) is fixedly connected to a suction plate (9).

Images