Quick-change structure assembly at tail end of mechanical arm

Abstract

The utility model discloses a mechanical arm tail end quick-change structure component which can realize quick connection, quick disassembly and quick change between a mechanical arm and an executing mechanism which specifically executes operation, so that the mechanical arm can be ensured to have stronger adaptive capacity, and the mechanical arm tail end quick-change structure component can assist in positioning during disassembly and assembly actions, can ensure a fitting effect after butt joint is completed, and is reasonable in structure and good in stability. The mechanical arm mainly structurally comprises a mechanical arm tail end mechanism and an execution end mechanism, the mechanical arm tail end mechanism comprises a tail end seat shell, a tail end wire harness bayonet socket, a tail end 4-pin connector and a power-losing electromagnet, the execution end mechanism comprises an execution end seat shell, an execution end wire harness bayonet socket, an execution end 4-pin connector and an electromagnetic pure iron block, a positioning pin column is arranged on the tail end seat shell, and a positioning pin is arranged on the execution end seat shell. And a positioning pin hole matched with the positioning pin column is formed in the execution end seat shell.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical arms, and in particular relates to a mechanical arm end quick-change structural component. Background Art

[0002] The robotic arm is an automated mechanical device that is widely used in the field of robots and automation technology. It can be seen in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, space exploration and other fields. Although they have different forms, they all have a common feature, which is the ability to receive instructions and locate to a certain point in three-dimensional (or two-dimensional) space to perform operations. The end of the robotic arm will be equipped with an actuator, such as a pneumatic gripper, a punch needle, a liquid adding gun, an adjustment lever, etc. When a certain function needs to be performed, the end of the robotic arm can be equipped with an actuator of the corresponding function. Utility Model Content

[0003] The utility model provides a quick-change structural component at the end of a robotic arm, which can achieve quick connection, quick disassembly, and quick change between the robotic arm and an actuator that performs specific operations, thereby ensuring that the robotic arm has a strong adaptability and can assist in positioning when performing connection and disassembly actions. After the docking is completed, the fitting effect can be guaranteed, the structure is reasonable, and the stability is good.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0005] A mechanical arm end quick-change structural assembly, comprising a mechanical arm end mechanism and an execution end mechanism that can be docked with the mechanical arm end mechanism;

[0006] The end mechanism of the robot arm includes an end housing, an end wiring harness socket provided on the end housing, an end 4-pin connector provided on the end housing, and at least one power-off type electromagnet provided on the end housing, the end wiring harness socket is electrically connected to the end 4-pin connector through the end inner wiring harness, the power-off type electromagnet is electrically connected to the end wiring harness socket through the electromagnet wiring harness, and a plurality of screw holes are provided on the end housing;

[0007] The actuator mechanism includes an actuator housing, an actuator wiring harness socket disposed on the actuator housing, an actuator 4-pin connector disposed on the actuator housing, and an electromagnetic pure iron block disposed on the actuator housing. The actuator wiring harness socket is electrically connected to the actuator 4-pin connector via the actuator internal wiring harness, and a plurality of screw holes are disposed on the actuator housing.

[0008] The terminal 4-pin connector is adapted to the execution end 4-pin connector, the electromagnetic pure iron block has a suction plane, the de-energized electromagnet has a suction surface that can fit with the suction plane, a positioning pin is provided on the terminal seat shell, and a positioning pin hole adapted to the positioning pin is provided on the execution end seat shell.

[0009] Preferably, the end seat shell has an end working surface, the suction surface is flush with the end working surface, the execution end seat shell has an execution end working surface that can be attached to the end working surface, the suction plane is flush with the execution end working surface, and when the end mechanism of the mechanical arm is docked with the execution end mechanism: the end 4pin connector is electrically connected to the execution end 4pin connector.

[0010] Preferably, the end 4-pin connector includes a base and 4 spring-loaded probes arranged on the base, and the execution end 4-pin connector includes 4 metal contacts corresponding to the spring-loaded probes one by one. When the end mechanism of the mechanical arm is docked with the execution end mechanism: the spring-loaded probes press against the corresponding metal contacts, and the spring-loaded probes are in a compressed energy storage state.

[0011] Preferably, the number of the de-energizing electromagnets is 3, and when the suction plane is arranged horizontally, the vertical projection of the execution end seat shell is a circular surface, and the de-energizing electromagnets are evenly distributed along the circumference of the execution end seat shell.

[0012] Preferably, the end seat shell is provided with two positioning auxiliary columns, and the execution end seat shell is provided with positioning auxiliary holes adapted to the positioning auxiliary columns, the axis of the positioning pin is parallel to the axis of the positioning auxiliary column, the distance between the axis of the positioning pin and the axis of one positioning auxiliary column is M, the distance between the axis of the positioning pin and the axis of another positioning auxiliary column is N, and M>N.

[0013] Preferably, the positioning pin is provided with a guiding hemispherical head at one end thereof for passing through the positioning pin hole, and the positioning auxiliary column is provided with a guiding hemispherical head at one end thereof for passing through the positioning auxiliary hole.

[0014] The beneficial effects of the utility model are: it can realize quick connection, quick disassembly and quick replacement between the robot arm and the actuator that performs specific operations, thereby ensuring that the robot arm has a strong adaptability, and can assist in positioning when performing disassembly and connection actions. After the docking is completed, the fitting effect can be guaranteed, the structure is reasonable, and the stability is good; when the end mechanism of the robot arm and the actuator end mechanism are separated, the spring-type probe in the compressed energy storage state can assist in pushing open the metal contact piece, which is equivalent to providing an additional part of the "separation force" for pushing open the actuator end mechanism, so that the end mechanism of the robot arm and the actuator end mechanism can be separated more smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a schematic diagram of the structure at the end housing;

[0017] Figure 3 It is a schematic diagram of the structure inside the end seat shell;

[0018] Figure 4It is a schematic diagram of the structure at the execution end housing;

[0019] Figure 5 It is a schematic diagram of the structure inside the actuator housing.

[0020] Figure markings: terminal seat shell 1, terminal working surface 1a, terminal wiring harness socket 101, terminal 4-pin connector 2, spring-loaded probe 2.1, terminal inner wiring harness 201, de-energized electromagnet 3, suction surface 3a, electromagnet wiring harness 301, execution end seat shell 4, execution end working surface 4a, execution end wiring harness socket 401, execution end 4-pin connector 5, metal contact piece 5.1, execution end inner wiring harness 501, electromagnetic pure iron block 6, suction plane 6a, positioning pin column 701, positioning pin hole 701a, positioning auxiliary column 702, positioning auxiliary hole 702a, guide hemispherical head 703. DETAILED DESCRIPTION

[0021] 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 those skilled in the art without creative work are within the scope of protection of the utility model.

[0022] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a mechanical arm end quick-change structural assembly includes a mechanical arm end mechanism and an actuator end mechanism that can be docked with the mechanical arm end mechanism;

[0023] The end mechanism of the robot arm includes an end housing 1, an end wiring harness socket 101 arranged on the end housing 1, an end 4-pin connector 2 arranged on the end housing 1, and at least one power-off type electromagnet 3 arranged on the end housing 1. The end wiring harness socket 101 is electrically connected to the end 4-pin connector 2 through the end inner wiring harness 201, and the power-off type electromagnet 3 is electrically connected to the end wiring harness socket 101 through the electromagnet wiring harness 301. A plurality of screw holes are arranged on the end housing 1;

[0024] The execution end mechanism comprises an execution end base shell 4, an execution end wire harness socket 401 arranged on the execution end base shell 4, an execution end 4pin connector 5 arranged on the execution end base shell 4 and an electromagnetic pure iron block 6 arranged on the execution end base shell 4, the execution end wire harness socket 401 is electrically connected to the execution end 4pin connector 5 through the execution end internal wire harness 501, and a plurality of screw holes are arranged on the execution end base shell 4;

[0025] The end 4pin connector 2 is adapted to the execution end 4pin connector 5, the electromagnetic pure iron block 6 has a suction plane 6a, the de-energized electromagnet 3 has a suction surface 3a that can be fitted with the suction plane 6a, the end seat shell 1 is provided with a positioning pin 701, and the execution end seat shell 4 is provided with a positioning pin hole adapted to the positioning pin 701.

[0026] When the end mechanism of the mechanical arm is docked with the actuator end mechanism, the suction surface 3a is in contact with the suction plane 6a, and the positioning pin 701 is inserted into the positioning pin hole.

[0027] The end seat shell 1 of the utility model is installed at the end of the robot arm, and a plurality of screw holes are provided on the end seat shell 1, and the end seat shell 1 can be fixed to the end of the robot arm by means of screws and screw holes. The execution end seat shell 4 of the utility model is installed on the actuator, and a plurality of screw holes are provided on the execution end seat shell 4, and the execution end seat shell 4 can be fixed to the actuator by means of screws and screw holes. The specific actuator is determined according to the needs, and examples are given in the background technology: such as pneumatic clamps, punching needles, liquid adding guns, adjustment levers, etc. It should also be noted that there can usually be multiple execution end mechanisms, so that there can be multiple execution end mechanisms for replacement, and a robot arm (already equipped with the end mechanism of the robot arm of the utility model) can be quickly connected, quickly disassembled, and quickly replaced with multiple actuators (already equipped with the execution end mechanism of the utility model).

[0028] After the end seat shell 1 is fixed to the end of the robot arm and the execution end seat shell 4 is fixed to the actuator, an external plug is connected to the end wiring harness socket 101, and the other external plug is connected to the execution end wiring harness socket 401. Through these external plugs, the connection between the components of the utility model (such as the de-energized electromagnet 3) and the signal controller, and the connection between the components of the utility model (such as the de-energized electromagnet 3) and the power supply can be realized. The signal controller is connected to the robot arm (or the controller of the robot arm itself can be directly used as the signal controller).

[0029] At the beginning, the de-energized electromagnet 3 is kept in the energized state (the de-energized electromagnet 3 is non-magnetic), and the mechanical arm can drive the end housing 1 to dock with the execution end mechanism. The mechanical arm moves with the end housing 1, aligns the positioning pin 701 with the positioning pin hole, and then the end housing 1 moves axially along the positioning pin 701 and approaches the execution end housing 4 until the suction surface 3a is attached to the suction plane 6a. The power is turned off, so that the de-energized electromagnet 3 is in the de-energized state (the de-energized electromagnet 3 is magnetic), and the de-energized electromagnet 3 and the electromagnetic pure iron block 6 are attracted and fixed to each other, thus completing the docking of the mechanical arm end mechanism and the execution end mechanism.

[0030] When it is necessary to separate the end mechanism of the robot arm and the execution end mechanism, power is supplied to make the de-energized electromagnet 3 in the energized state (the de-energized electromagnet 3 is non-magnetic), so that the de-energized electromagnet 3 and the electromagnetic pure iron block 6 no longer attract each other, and the robot arm moves the end seat shell 1 axially along the positioning pin 701 and away from the execution end seat shell 4, and finally the end seat shell 1 leaves the execution end seat shell 4.

[0031] like Figure 2 , Figure 4 As shown, the end seat shell 1 has an end working surface 1a, the suction surface 3a is flush with the end working surface 1a, the execution end seat shell 4 has an execution end working surface 4a that can be attached to the end working surface 1a, and the suction plane 6a is flush with the execution end working surface 4a. When the end mechanism of the robot arm is docked with the execution end mechanism: the end 4pin connector 2 is electrically connected to the execution end 4pin connector 5.

[0032] In this solution, when the end mechanism of the mechanical arm is docked with the actuator end mechanism, since the end 4pin connector 2 and the actuator end 4pin connector 5 are aligned, after the end mechanism of the mechanical arm and the actuator end mechanism are docked, the end 4pin connector 2 and the actuator end 4pin connector 5 naturally complete the contact docking. The suction surface 3a is flush with the end working surface 1a, and the suction and sticking plane 6a is flush with the actuator end working surface 4a, which is conducive to expanding the overall bonding area after the docking is completed, and can improve the overall stability.

[0033] like Figure 2 , Figure 4 As shown, the end 4-pin connector 2 includes a base and four spring-type probes 2.1 arranged on the base, and the execution end 4-pin connector 5 includes four metal contact pieces 5.1 corresponding to the spring-type probes 2.1 one by one. When the end mechanism of the mechanical arm is docked with the execution end mechanism: the spring-type probes 2.1 support the corresponding metal contact pieces 5.1, and the spring-type probes 2.1 are in a compressed energy storage state.

[0034] The spring-type probe 2.1 itself belongs to the existing technology, which includes a probe that can be extended and retracted relative to the base, and an elastic member (such as a spring, a spring sheet, etc.) connected to the probe. After the spring-type probe moves toward the corresponding metal contact piece 5.1 and contacts the metal contact piece 5.1, it can continue to move a little distance toward the metal contact piece 5.1. In this way, it can ensure that the spring-type probe 2.1 is pressed tightly against the metal contact piece 5.1, and the elastic member is compressed to store energy (the spring-type probe 2.1 is in a compressed energy storage state).

[0035] like Figure 2 , Figure 3 , Figure 4 As shown, there are three de-energizing electromagnets 3 , and when the suction plane 6 a is arranged horizontally, the vertical projection of the execution end base shell 4 is a circular surface, and the de-energizing electromagnets 3 are evenly distributed along the circumference of the execution end base shell 4 .

[0036] like Figure 2 , Figure 4 As shown, the end seat shell 1 is provided with two positioning auxiliary columns 702, the execution end seat shell 4 is provided with a positioning auxiliary hole 702a adapted to the positioning auxiliary columns, the axis of the positioning pin 701 is parallel to the axis of the positioning auxiliary column 702, the distance between the axis of the positioning pin 701 and the axis of one positioning auxiliary column 702 is M, the distance between the axis of the positioning pin and the axis of another positioning auxiliary column 702 is N, M>N.

[0037] If only one positioning pin 701 is used for positioning, only auxiliary positioning can be achieved. Two positioning auxiliary pins 702 with set positions plus one positioning pin 701 (the distance between the axis of the positioning pin 701 and the axis of one positioning auxiliary pin 702 is M, and the distance between the axis of the positioning pin and the axis of another positioning auxiliary pin 702 is N, M>N) can fully guarantee the accuracy of positioning. The structure of the positioning auxiliary pin 702 and the positioning pin 701 can be similar or even the same, as long as the positioning function can be achieved.

[0038] like Figure 2 As shown, one end of the positioning pin 701 for passing through the positioning pin hole is provided with a guiding hemispherical head 703, and one end of the positioning auxiliary column 702 for passing through the positioning auxiliary hole 702a is provided with a guiding hemispherical head 703.

[0039] In actual production activities, due to factors such as cost considerations, it is not necessarily possible to ensure that all robotic arms have extremely high precision. In this solution, the guide hemispherical head 703 is used, so that the precision requirements for the robotic arm can be appropriately reduced. Before docking, as long as the positioning pin 701 is roughly aligned with the positioning pin hole and the positioning auxiliary column 702 is roughly aligned with the positioning auxiliary hole 702a, the robotic arm brings the end seat shell 1 along the axial direction of the positioning pin 701 to approach the execution end seat shell 4, and the guide hemispherical head 703 first enters the positioning pin hole or the positioning auxiliary hole 702a. The guiding ability of the guide hemispherical head 703 itself can ensure that the subsequent docking process is completed smoothly.

[0040] It should also be pointed out that the end 4pin connector 2 uses 4 spring-type probes 2.1, which also have a direct function of effectively helping the end seat shell 1 to separate from the execution end seat shell 4 during separation. This is because, whether it is the positioning pin 701 or the positioning auxiliary column 702, in order to ensure accurate positioning after docking, the gap between the positioning pin 701 and the wall of the positioning pin hole should be as small as possible, and the gap between the positioning auxiliary column 702 and the wall of the positioning auxiliary hole 702a should be as small as possible. In this way, when the end seat shell 1 is separated from the execution end seat shell 4, the friction between the positioning pin 701 and the positioning pin hole is large, and the friction between the positioning auxiliary column 702 and the positioning auxiliary hole is large. This results in a large "separation force" being required when the end seat shell 1 is separated from the execution end seat shell 4, that is, in many cases, it is more difficult to separate the end seat shell 1 from the execution end seat shell 4. After the spring-type probe 2.1 is used, as mentioned above, when the end mechanism of the robot arm is docked with the execution end mechanism: the spring-type probe 2.1 presses against the corresponding metal contact piece 5.1, and the spring-type probe 2.1 is in a compressed energy storage state. Therefore, when separating, the spring-type probe 2.1 in a compressed energy storage state can assist in pushing open the metal contact piece 5.1, which is equivalent to providing an additional part of the "separation force" for pushing open the execution end mechanism, so that the end mechanism of the robot arm and the execution end mechanism can be separated more smoothly.

[0041] The above is a detailed introduction to the embodiments of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method and core idea of ​​the present invention. At the same time, for technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A quick-change structural assembly at the end of a robotic arm, characterized in that: It includes a robot arm end mechanism and an execution end mechanism that can be docked with the robot arm end mechanism; The end mechanism of the robot arm comprises an end housing (1), an end wiring harness connector (101) arranged on the end housing (1), an end 4-pin connector (2) arranged on the end housing (1), and at least one power-off type electromagnet (3) arranged on the end housing (1); the end wiring harness connector (101) is electrically connected to the end 4-pin connector (2) via an end inner wiring harness (201); the power-off type electromagnet (3) is electrically connected to the end wiring harness connector (101) via an electromagnet wiring harness (301); and a plurality of screw holes are arranged on the end housing (1); The actuator mechanism comprises an actuator housing (4), an actuator wiring harness socket (401) disposed on the actuator housing (4), an actuator 4-pin connector (5) disposed on the actuator housing (4), and an electromagnetic pure iron block (6) disposed on the actuator housing (4); the actuator wiring harness socket (401) is electrically connected to the actuator 4-pin connector (5) via an actuator internal wiring harness (501); and a plurality of screw holes are disposed on the actuator housing (4); The end 4-pin connector (2) is adapted to the execution end 4-pin connector (5); the electromagnetic pure iron block (6) has a suction surface (6a); the de-energized electromagnet (3) has a suction surface (3a) that can be attached to the suction surface (6a); a positioning pin (701) is provided on the end seat shell (1); and a positioning pin hole adapted to the positioning pin (701) is provided on the execution end seat shell (4).

2. The quick-change structural assembly at the end of a robotic arm according to claim 1, characterized in that: The end seat shell (1) has an end working surface (1a), the suction surface (3a) is flush with the end working surface (1a), the execution end seat shell (4) has an execution end working surface (4a) that can be attached to the end working surface (1a), the suction plane (6a) is flush with the execution end working surface (4a), and when the end mechanism of the robot arm is docked with the execution end mechanism: the end 4-pin connector (2) is electrically connected to the execution end 4-pin connector (5).

3. The quick-change structural assembly at the end of a robotic arm according to claim 2, characterized in that: The end 4-pin connector (2) comprises a base and four spring-type probes (2.1) arranged on the base, and the execution end 4-pin connector (5) comprises four metal contact pieces (5.1) corresponding one to one with the spring-type probes (2.1). When the end mechanism of the mechanical arm is docked with the execution end mechanism, the spring-type probes (2.1) press against the corresponding metal contact pieces (5.1), and the spring-type probes (2.1) are in a compressed energy storage state.

4. A mechanical arm end quick-change structural assembly according to claim 1, 2 or 3, characterized in that: The number of the de-energizing electromagnets (3) is three, and when the suction plane (6a) is arranged horizontally, the vertical projection of the execution end seat shell (4) is a circular surface, and the de-energizing electromagnets (3) are evenly distributed along the circumference of the execution end seat shell (4).

5. A mechanical arm end quick-change structural assembly according to claim 1, 2 or 3, characterized in that: The end seat shell (1) is provided with two positioning auxiliary columns (702), the execution end seat shell (4) is provided with positioning auxiliary holes (702a) adapted to the positioning auxiliary columns, the axis of the positioning pin column (701) is parallel to the axis of the positioning auxiliary column (702), the distance between the axis of the positioning pin column (701) and the axis of one positioning auxiliary column (702) is M, the distance between the axis of the positioning pin column and the axis of another positioning auxiliary column (702) is N, and M>N.

6. The quick-change structural assembly at the end of a robotic arm according to claim 5, characterized in that: The positioning pin (701) is provided with a guiding hemispherical head (703) at one end thereof for passing through the positioning pin hole, and the positioning auxiliary column (702) is provided with a guiding hemispherical head (703) at one end thereof for passing through the positioning auxiliary hole (702a).

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