Combined structure of robot arm

Abstract

The utility model relates to the technical field of robots, in particular to a robot arm combined structure which comprises a robot arm and a clamping jaw module, the clamping jaw module is arranged at the front end of the robot arm, a containing cavity is formed in the front end of the robot arm, a motor is fixedly arranged on the upper side cavity wall of the containing cavity, and a lead screw is fixedly arranged at the output end of the motor. The output end of the lead screw is rotationally connected with the cavity wall of the containing cavity through a rolling bearing, a plurality of strip-shaped holes are evenly formed in the bottom of the containing cavity, a combined mechanism capable of rapidly replacing the clamping jaw module is arranged in the containing cavity, a mounting block is fixedly arranged in the middle of the upper end of the clamping jaw module, and a plug is arranged at the upper end of the mounting block. And the front end of the robot arm is provided with an interface matched with the plug. The clamping jaw module can be conveniently and rapidly replaced, the replacement efficiency is high, and the working efficiency of the robot arm is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a combined structure of robot arms. Background Art

[0002] In recent years, the international market for robot products has maintained a trend of continuous expansion. Under the demand of "making robots better serve humans", humanoid robots have achieved a high level of interaction with the objects they serve due to their safety, convenience, and intelligence, and their appearance and movement patterns similar to humans. They can achieve more friendly functions than non-humanoid robots, and are therefore widely favored by all kinds of people. However, the functions of the humanoid robots currently available on the market are relatively single, and they cannot adapt to the actual needs of using multiple tools in terms of mechanism maintenance.

[0003] The front end of the robot arm is generally provided with gripper modules of various sizes. During use, gripper modules of various sizes need to be replaced. In the prior art, it is not convenient to quickly replace the gripper modules, and the replacement efficiency is low, which reduces the working efficiency of the robot arm. Therefore, we have introduced a combined structure of the robot arm. Utility Model Content

[0004] The purpose of the utility model is to provide a combined structure of a robot arm, which is convenient for rapid replacement of a gripper module, has high replacement efficiency, improves the working efficiency of the robot arm, and solves the problems raised in the above-mentioned background technology.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A combination structure of a robot arm comprises a robot arm and a gripper module, wherein the gripper module is arranged at the front end of the robot arm, a placement cavity is provided inside the front end of the robot arm, a motor is fixedly provided on the upper cavity wall of the placement cavity, a screw is fixedly provided on the output end of the motor, and the output end of the screw is rotatably connected to the cavity wall of the placement cavity through a rolling bearing, a plurality of strip holes are evenly provided on the bottom of the placement cavity, a combination mechanism for quickly replacing the gripper module is provided in the placement cavity, a mounting block is fixedly provided on the middle part of the upper end of the gripper module, a plug is provided on the upper end of the mounting block, and an interface matching the plug is provided on the front end of the robot arm.

[0007] Preferably, the combined mechanism includes a sliding rod and a slider, and the plurality of sliding rods are respectively fixedly arranged in a plurality of strip holes, and the rod wall of the sliding rod is slidably provided with a vertical clamping block, and the upper and lower ends of the clamping block extend outside the strip hole, and the slider is threadedly connected to the screw rod, and the upper end of the clamping block is hinged with a connecting rod, and the upper end of the connecting rod is hinged to the side wall of the slider, and a locking block is fixedly arranged on the opposite side of the lower end of the plurality of clamping blocks, and the side wall of the mounting block is provided with a locking groove matching the locking block.

[0008] Preferably, a protective frame is fixedly provided at the front end edge of the robot arm.

[0009] Preferably, a sealing ring is fixedly provided at the lower end of the protection frame.

[0010] Preferably, the sealing ring is a high temperature resistant rubber ring.

[0011] Preferably, an inclined surface is provided on the upper side of the locking block.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] The combined structure of the robot arm includes a protective frame, a clamping claw module, a robot arm, a connecting rod, a motor, a lead screw, a slider, a slide bar, a clamping block, a locking block, a mounting block, a plug and a sealing ring. When the motor is started, the motor drives the lead screw to rotate, the lead screw drives the slider to move downward, the slider drives a plurality of clamping blocks to move away from each other through the connecting rod, the clamping block drives the locking block to move out of the locking groove, after clamping claw modules of different sizes are replaced, the plug is docked with the interface, the motor is started, the motor drives the lead screw to reverse, the lead screw drives the slider to move upward, the slider drives a plurality of clamping blocks to approach each other through the connecting rod, the clamping block drives the locking block to be stuck in the locking groove, the clamping claw module can be quickly replaced, the replacement efficiency is high, and the working efficiency of the robot arm is improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 The figure is a schematic diagram of the structure of a combined structure of a robot arm.

[0015] Figure 2 The figure is a schematic diagram of the internal structure of a combined structure of a robot arm.

[0016] Figure 3 for Figure 2 An enlarged schematic diagram of the local part A in the figure.

[0017] In the figure: 1. Protection frame; 2. Gripper module; 3. Robot arm; 4. Connecting rod; 5. Motor; 6. Screw; 7. Slider; 8. Slide bar; 9. Clamping block; 10. Locking block; 11. Mounting block; 12. Plug; 13. Sealing ring. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0019] See also Figures 1 to 3 , the utility model provides a technical solution:

[0020] A combination structure of a robot arm includes a robot arm 3 and a gripper module 2, the gripper module 2 is arranged at the front end of the robot arm 3, a placement cavity is opened inside the front end of the robot arm 3, a motor 5 is fixedly provided on the upper cavity wall of the placement cavity, a screw rod 6 is fixedly provided on the output end of the motor 5, the output end of the screw rod 6 is rotatably connected to the cavity wall of the placement cavity through a rolling bearing, a plurality of strip holes are evenly opened on the bottom of the placement cavity, a combination mechanism for quickly replacing the gripper module 2 is arranged in the placement cavity, a mounting block 11 is fixedly provided on the middle part of the upper end of the gripper module 2, a plug 12 is provided on the upper end of the mounting block 11, and an interface matching the plug 12 is provided on the front end of the robot arm.

[0021] The combined mechanism includes a slide rod 8 and a slider 7. Multiple slide rods 8 are fixedly arranged in multiple strip holes respectively. The rod wall of the slide rod 8 is slidably provided with a vertical clamping block 9. The upper and lower ends of the clamping block 9 extend outside the strip hole. The slider 7 is threadedly connected to the screw rod 6. The upper end of the clamping block 9 is hinged with a connecting rod 4. The upper end of the connecting rod 4 is hinged to the side wall of the slider 7. A locking block 10 is fixedly arranged on the opposite side of the lower end of the multiple clamping blocks 9. The side wall of the mounting block 11 is provided with a locking groove that matches the locking block 10, and the upper side of the locking block 10 is provided with an inclined surface.

[0022] A protective frame 1 is fixedly provided at the front edge of the robot arm 3, and the protective frame 1 can provide protection for the combined structure. A sealing ring 13 is fixedly provided at the lower end of the protective frame 1. The sealing ring 13 is a high-temperature resistant rubber ring. The high-temperature resistant rubber ring is not easily deformed at high temperatures and has a long service life.

[0023] When you want to replace the gripper module 2, start the motor 5, the motor 5 drives the screw rod 6 to rotate, the screw rod 6 drives the slider 7 to move downward, the slider 7 drives multiple clamping blocks 9 to move away from each other through the connecting rod 4, the clamping block 9 drives the locking block 10 to move out of the locking groove. After replacing the gripper modules 2 of different sizes, dock the plug 12 with the interface, start the motor 5, the motor 5 drives the screw rod 6 to reverse, the screw rod 6 drives the slider 7 to move upward, the slider 7 drives multiple clamping blocks 9 to move closer together through the connecting rod 4, the clamping block 9 drives the locking block 10 to get into the locking groove, which is convenient for rapid replacement of the gripper module 2 and has high replacement efficiency, thereby improving the working efficiency of the robot arm.

[0024] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot arm assembly structure, comprising a robot arm (3) and a gripper module (2), characterized in that: The gripper module (2) is arranged at the front end of the robot arm (3); a placement cavity is provided inside the front end of the robot arm (3); a motor (5) is fixedly provided on the upper cavity wall of the placement cavity; a screw rod (6) is fixedly provided at the output end of the motor (5); the output end of the screw rod (6) is rotatably connected to the cavity wall of the placement cavity via a rolling bearing; a plurality of strip holes are evenly provided at the bottom of the placement cavity; a combination mechanism for quickly replacing the gripper module (2) is provided in the placement cavity; a mounting block (11) is fixedly provided at the middle of the upper end of the gripper module (2); a plug (12) is provided at the upper end of the mounting block (11); and an interface matching the plug (12) is provided at the front end of the robot arm.

2. The combined structure of a robot arm according to claim 1, characterized in that: The combined mechanism comprises a sliding rod (8) and a slider (7), wherein a plurality of the sliding rods (8) are fixedly arranged in a plurality of strip holes respectively, a vertical clamping block (9) is slidably arranged on the rod wall of the sliding rod (8), and the upper and lower ends of the clamping block (9) both extend outside the strip hole, the slider (7) is threadedly connected to the screw rod (6), the upper end of the clamping block (9) is hinged with a connecting rod (4), and the upper end of the connecting rod (4) is hinged with the side wall of the slider (7), and a locking block (10) is fixedly arranged on the side opposite to the lower end of the plurality of clamping blocks (9), and a locking groove matching the locking block (10) is opened on the side wall of the mounting block (11).

3. The combined structure of a robot arm according to claim 1, characterized in that: A protective frame (1) is fixedly provided at the front end edge of the robot arm (3).

4. The combined structure of a robot arm according to claim 3, characterized in that: A sealing ring (13) is fixedly provided at the lower end of the protection frame (1).

5. The combined structure of a robot arm according to claim 4, characterized in that: The sealing ring (13) is a high temperature resistant rubber ring.

6. The combined structure of a robot arm according to claim 2, characterized in that: The locking block (10) is provided with an inclined surface on its upper side.

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