Quick-change assembly and mechanical arm

Abstract

The utility model discloses a quick change subassembly and mechanical arm relates to manipulator technical field, including lower mounting seat and lower mounting seat, the top of lower mounting seat is provided with cavity, the inner bottom wall of cavity is provided with a plurality of jack in annular shape, the bottom of upper mounting seat is fixedly connected with the flashboard, and the flashboard is connected with the lower mounting seat. The bottom of the inserting plate is fixedly connected with a plurality of inserting rods in an annular mode, and the inserting rods are movably inserted into the inserting holes through fixing units. When the quick-change assembly is used, the arranged hydraulic cylinder stretches out and draws back and is matched with the transmission mechanism to drive the limiting rod to be inserted into the limiting hole or drawn out of the limiting hole, so that the connection or disassembly operation of the small arm and the large arm becomes simpler and more convenient, the pulling strength of workers is effectively reduced, and the quick-change assembly is high in structural reliability and convenient to use. The damage cannot easily occur.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a quick-change component and a manipulator arm. Background Art

[0002] A manipulator is a robotic arm used for assembly operations. It has three rotating joints whose axes are parallel to each other and are used for positioning and orientation within a plane. The other joint is a moving joint used to complete the movement of the end piece perpendicular to the plane.

[0003] During actual use, the robot can complete a variety of different tasks, such as moving, picking up and placing objects, spraying, assembling and welding. In order to improve the practicality of the robot, the robot's forearm can be replaced. Different forearms have different working devices to complete different tasks, so that the robot can replace different working devices according to production needs.

[0004] The Chinese utility model patent with patent application number CN201410437112.3 records a manipulator with a quickly replaceable arm / arm. The arm / arm can be installed and disassembled more easily and quickly by setting a coupling seat and coupling that cooperate with each other. When replacing the arm, the screws of the hydraulic coupling are loosened, and the connection between the hydraulic coupling and the arm output shaft is also loosened. The hydraulic coupling is taken out, and the arm and the arm drive mechanism are removed together. Then, a new arm with a arm drive mechanism is replaced, the hydraulic coupling is installed and the screws are tightened to complete the replacement of the arm. However, in the above-mentioned manipulator, each time the arm is replaced, the screws of the hydraulic coupling need to be loosened or tightened, which is not only time-consuming and labor-intensive, but also frequently turning the screws can easily cause thread slippage, resulting in the arm being unable to be connected or disassembled. The reliability of the arm replacement assembly is poor. Utility Model Content

[0005] The purpose of this application is to provide a quick-change assembly and a robotic arm to solve the problem proposed in the above-mentioned background technology that each time the forearm is replaced, the screws of the hydraulic coupling need to be loosened or tightened, which is not only time-consuming and labor-intensive, but also frequently tightening the screws may easily cause thread slippage, resulting in the forearm being unable to be connected or disassembled, and the reliability of the forearm replacement assembly is poor.

[0006] To achieve the above-mentioned objectives, the present application provides the following technical solutions: a quick-change assembly, comprising a lower mounting seat and an upper mounting seat, the top of the lower mounting seat is provided with a cavity, the bottom wall of the cavity is provided with a plurality of sockets in a ring shape, the bottom of the upper mounting seat is fixedly connected with a plug plate, the bottom of the plug plate is fixedly connected with a plurality of plug rods in a ring shape, and the plurality of plug rods are movably inserted into the plurality of sockets through a fixing unit, the fixing unit comprises a mounting cavity provided on the bottom wall of the cavity, a hydraulic cylinder is fixedly connected to the bottom wall of the mounting cavity, a plurality of through holes are provided in a ring shape on the inner side wall of the mounting cavity, and limiting holes are provided on the outer circumferential surfaces of the plurality of plug rods, the fixing unit also comprises a plurality of limiting rods distributed in a ring shape, and the fixing unit also comprises a transmission mechanism, and the hydraulic cylinder drives the plurality of limiting rods to move horizontally through the transmission mechanism.

[0007] Preferably, the transmission mechanism includes several fixing seats fixedly connected in an annular shape on the inner side wall of the mounting cavity, and several rotating rods are rotatably connected to the fixing seats through rotating shafts and torsion springs. The transmission mechanism also includes a conical push block fixedly connected to the output end of the hydraulic cylinder, and several rotating rods are in conflict with the outer side surfaces of the push block. The advantage of such an arrangement is that the push block can be driven to move upward or downward only by the extension or contraction of the hydraulic cylinder, thereby cooperating with the elastic force of the torsion spring to drive the rotating rods to rotate in the direction of moving away from each other or in the direction of approaching each other, thereby pushing the limit rod to pass through the through hole and insert into the limit hole to achieve the fixation of the insertion rod or driving the limit rod to be pulled out of the limit hole to release the fixation of the insertion rod, thereby making the connection and separation operation of the upper mounting seat and the lower mounting seat simple and convenient, greatly simplifying the installation and disassembly operation of the forearm, reducing the pulling strength of the staff, and the structural reliability of the quick-change assembly is high and not easy to be damaged.

[0008] 14. The repairing kit for automotive dents, according to claim 13, wherein a bottom of the foot stand comprises a through-hole, and the two foot pieces comprise two bosses, wherein the bosses comprise a through-hole, a screw bolt, and a nut. The through-hole comprises a screw bolt, and the nut is fixedly attached to the foot stand, wherein the bosses comprise a through-hole, a screw bolt, and a nut.

[0009] Preferably, the positioning assembly also includes a swivel rotatably connected to the top of the circular plate, and the axis of the swivel coincides with the axis of the circular plate. The advantage of this arrangement is that it reduces the force required to rotate the small arm and the upper mounting seat, effectively reduces the labor intensity of the staff, and greatly improves the practicality of the robotic arm and quick-change assembly.

[0010] A robotic arm comprises a base plate, a chassis is fixedly mounted on the top of the base plate, a large arm is rotatably connected to the top of the chassis, a first motor is fixedly connected to the bottom of the large arm, an output shaft of the first motor passes through the large arm and is fixedly connected to the bottom center of a lower mounting seat, and further comprises a small arm fixedly connected to the top of an upper mounting seat.

[0011] In summary, the technical effects and advantages of the utility model are:

[0012] 1. In the present invention, the hydraulic cylinder is extended and retracted and cooperates with the transmission mechanism to drive the limit rod to be inserted into the limit hole or to be pulled out from the limit hole, thereby making the connection or disassembly operation of the forearm and the upper arm simpler and more convenient, effectively reducing the pulling strength of the staff, and the quick-change assembly structure has high reliability and is not easy to be damaged.

[0013] 2. In the present invention, a positioning assembly is provided to insert the positioning cone into the positioning hole to complete the initial positioning of the forearm, and then the force required to rotate the forearm is reduced by the swivel until several rods are respectively aligned with several holes to complete the positioning operation, thereby further improving the efficiency of the installation and connection of the forearm and greatly improving the practicality of the quick-change assembly and the robotic arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 This is a schematic structural diagram of a robotic arm in an embodiment of the present application;

[0016] Figure 2 This is a schematic diagram of the exploded structure of a quick-change assembly in an embodiment of the present application;

[0017] Figure 3 This is a first structural diagram of the lower mounting base in an embodiment of the present application;

[0018] Figure 4 This is a second structural diagram of the lower mounting base in the embodiment of the present application;

[0019] Figure 5 This is a first structural diagram of the upper mounting seat in an embodiment of the present application;

[0020] Figure 6 In the embodiment of this application Figure 4 Enlarged schematic diagram of point A in the middle.

[0021] In the figure: 1. base plate; 2. chassis; 3. upper arm; 31. first motor; 41. lower mounting seat; 42. lower mounting seat; 43. cavity; 44. socket; 45. plug-in plate; 46. plug-in rod; 47. fixing unit; 471. mounting cavity; 472. through hole; 473. limiting hole; 474. limiting rod; 475. transmission mechanism; 4751. fixing seat; 4752. rotating rod; 4753. push block; 48. positioning assembly; 481. straight rod; 482. circular plate; 483. elastic member; 484. positioning cone; 485. positioning hole; 486. swivel; 5. small arm. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0023] Example 1

[0024] Please refer to Figure 1-6 The quick-change assembly shown includes a lower mounting seat 41 and an upper mounting seat 42. A cavity 43 is provided at the top of the lower mounting seat 41, and a plurality of sockets 44 are provided in a ring shape on the inner bottom wall of the cavity 43. A plug plate 45 is fixedly connected to the bottom of the upper mounting seat 42, and a plurality of plug rods 46 are fixedly connected in a ring shape on the bottom of the plug plate 45. The plurality of plug rods 46 are movably inserted into the plurality of sockets 44 through a fixing unit 47. The fixing unit 47 includes a mounting cavity 471 provided on the inner bottom wall of the cavity 43, a hydraulic cylinder is fixedly connected to the inner bottom wall of the mounting cavity 471, a plurality of through holes 472 are provided in a ring shape on the inner side wall of the mounting cavity 471, and limiting holes 473 are provided on the outer circumferential surfaces of the plurality of plug rods 46. The fixing unit 47 also includes a plurality of limiting rods 474 distributed in a ring shape. The fixing unit 47 also includes a transmission mechanism 475. The hydraulic cylinder drives the plurality of limiting rods 474 to move horizontally through the transmission mechanism 475.

[0025] Example 2

[0026] According to Example 1, please refer to Figure 2 、 3, 4 and 6, the transmission mechanism 475 includes a plurality of fixed seats 4751 fixedly connected to the inner wall of the installation cavity 471 in an annular shape, and a plurality of rotating rods 4752 are rotatably connected to the plurality of fixed seats 4751 through a rotating shaft and a torsion spring. The transmission mechanism 475 also includes a truncated cone-shaped push block 4753 fixedly connected to the output end of the hydraulic cylinder, and the plurality of rotating rods 4752 are in conflict with the outer side surface of the push block 4753.

[0027] Specifically, the hydraulic cylinder only needs to extend or contract to drive the push block 4753 to move upward or downward, thereby cooperating with the elastic force of the torsion spring to drive the rotating rod 4752 to rotate in the direction of moving away from each other or towards each other, thereby pushing the limit rod 474 through the through hole 472 and inserting it into the limit hole 473 to fix the insertion rod 46 or drive the limit rod 474 to be pulled out from the limit hole 473 to release the fixation of the insertion rod 46, thereby making the connection and separation operations of the upper mounting seat 42 and the lower mounting seat 41 simple and convenient, greatly simplifying the installation and disassembly operations of the forearm 5, reducing the pulling strength of the staff, and the structural reliability of the quick-change assembly is high and not easy to be damaged.

[0028] Example 3

[0029] According to Example 1 or 2, please refer to Figure 4 and Figure 6 , and also includes a positioning component 48, which is used to assist several insertion rods 46 to align with several insertion holes 44 respectively. The positioning component 48 includes several straight rods 481 that are movably inserted in a ring shape on the inner bottom wall of the cavity 43, and a circular plate 482 is fixedly connected between the top ends of the several straight rods 481. Several elastic members 483 are fixedly connected in a ring shape between the bottom of the circular plate 482 and the inner bottom wall of the cavity 43. A positioning cone 484 is fixedly connected to the top center of the circular plate 482. The positioning component 48 also includes a positioning hole 485 opened in the bottom center of the insertion plate 45, and the positioning cone 484 is adapted to the positioning hole 485.

[0030] Specifically, when the staff is installing the small arm 5, they can first insert the positioning cone 484 into the positioning hole 485 so that the insertion rod 46 is located above the insertion hole 44. In this way, the initial positioning of the upper mounting seat 42 and the small arm 5 can be quickly completed. Then, the upper mounting seat 42 and the small arm 5 are rotated so that several insertion rods 46 are respectively aligned with several insertion holes 44. Then, the insertion rod 46 can be pressed down and inserted into the insertion hole 44, which effectively simplifies the connection operation of the upper mounting seat 42 and the lower mounting seat 41, further reduces the labor intensity of the staff, and effectively improves the practicality of the robotic arm and the quick-change assembly.

[0031] refer to Figure 4 The positioning assembly 48 also includes a swivel 486 rotatably connected to the top of the circular plate 482 , and the axis of the swivel 486 coincides with the axis of the circular plate 482 .

[0032] Specifically, the force required to rotate the small arm 5 and the upper mounting seat 42 is reduced, the labor intensity of the staff is effectively reduced, and the practicality of the mechanical arm and the quick-change assembly is greatly improved.

[0033] Please refer to Figure 1 A robotic arm is shown, including a base plate 1, a chassis 2 fixedly mounted on the top of the base plate 1, a second motor mounted inside the chassis 2, an output end of the second motor passes through the top wall of the chassis 2 and is fixedly connected to the bottom of the arm 3, the top of the chassis 2 is rotatably connected to the arm 3, the bottom of the arm 3 is fixedly connected to the first motor 31, the output shaft of the first motor 31 passes through the arm 3 and is fixedly connected to the bottom center of the lower mounting seat 41, and also includes a small arm 5 fixedly connected to the top of the upper mounting seat 42, an end effector is mounted on the right end of the small arm 5, and the end effector can be used to perform specified operations to realize different processing functions. The processing function of the robotic arm can be replaced by replacing the small arm 5 with a different end effector.

[0034] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A quick-change assembly, comprising a lower mounting seat (41) and an upper mounting seat (42), characterized in that: The top of the lower mounting seat (41) is provided with a cavity (43), and the inner bottom wall of the cavity (43) is provided with a plurality of jacks (44) in an annular shape. The bottom of the upper mounting seat (42) is fixedly connected with a plug plate (45), and the bottom of the plug plate (45) is fixedly connected with a plurality of plug rods (46) in an annular shape. The plurality of plug rods (46) are movably plugged into the plurality of jacks (44) through a fixing unit (47). The fixing unit (47) includes a mounting cavity provided on the inner bottom wall of the cavity (43). (471), a hydraulic cylinder is fixedly connected to the inner bottom wall of the installation cavity (471), a plurality of through holes (472) are provided in a ring shape on the inner side wall of the installation cavity (471), and a plurality of limiting holes (473) are provided on the outer peripheral surfaces of the plurality of the insertion rods (46), the fixed unit (47) further includes a plurality of limiting rods (474) distributed in a ring shape, and the fixed unit (47) further includes a transmission mechanism (475), and the hydraulic cylinder drives the plurality of limiting rods (474) to move horizontally through the transmission mechanism (475).

2. A quick-change assembly according to claim 1, characterized in that: The transmission mechanism (475) includes a plurality of fixing seats (4751) fixedly connected to the inner wall of the installation cavity (471) in an annular shape, and a plurality of rotating rods (4752) are rotatably connected to the fixing seats (4751) via rotating shafts and torsion springs. The transmission mechanism (475) also includes a truncated cone-shaped push block (4753) fixedly connected to the output end of the hydraulic cylinder, and the plurality of rotating rods (4752) are in conflict with the outer side surface of the push block (4753).

3. The quick-change assembly according to claim 2, characterized in that: The invention also includes a positioning assembly (48), which is used to assist a plurality of insertion rods (46) to align with a plurality of insertion holes (44) respectively. The positioning assembly (48) includes a plurality of straight rods (481) movably plugged into the inner bottom wall of the cavity (43) in an annular shape. A circular plate (482) is fixedly connected between the top ends of the plurality of straight rods (481). A plurality of elastic members (483) are fixedly connected in an annular shape between the bottom of the circular plate (482) and the inner bottom wall of the cavity (43). A positioning cone (484) is fixedly connected to the center of the top of the circular plate (482). The positioning assembly (48) also includes a positioning hole (485) opened at the center of the bottom of the insertion plate (45). The positioning cone (484) is adapted to the positioning hole (485).

4. The quick-change assembly according to claim 3, characterized in that: The positioning assembly (48) further includes a rotating ring (486) rotatably connected to the top of the circular plate (482), and the axis of the rotating ring (486) coincides with the axis of the circular plate (482).

5. A robotic arm, characterized in that: The invention comprises a base plate (1), a chassis (2) fixedly mounted on the top of the base plate (1), a large arm (3) rotatably connected to the top of the chassis (2), a first motor (31) fixedly connected to the bottom of the large arm (3), an output shaft of the first motor (31) passing through the large arm (3) and fixedly connected to the bottom center of the lower mounting seat (41), and a small arm (5) fixedly connected to the top of the upper mounting seat (42).

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