Mounting auxiliary structure for end effector of mechanical arm

Abstract

The utility model discloses a mechanical arm end effector installation auxiliary structure, which relates to the technical field of end effector installation, and comprises a support plate, the top of the support plate is fixedly connected with a connecting plate, one side of the connecting plate is provided with a positioning mechanism, and the positioning mechanism comprises a hydraulic cylinder, a positioning piece and a clamping jaw II. One side of the first clamping jaw and one side of the second clamping jaw are fixedly connected with the buffer plate, the bottom of the hydraulic cylinder is slidably connected with the guide rail, the second clamping jaw is driven by the hydraulic cylinder to move, the end effector is clamped and fixed through the first clamping jaw and the second clamping jaw, and then the threaded rod is rotated to drive the hydraulic cylinder to slide on the top of the guide rail till the locating piece is in lap joint with the mechanical arm. The position calibration of the actuator before installation can be realized, so that the position deviation during subsequent installation of the actuator can be reduced, the position adjustment of the actuator and the positioning piece is relatively simple, and the operation difficulty of an operator can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of end effector installation, in particular to an installation auxiliary structure of an end effector of a robotic arm. Background Art

[0002] The end effector is a device mounted at the end of the robotic arm to perform specific tasks. It can be a gripper, suction cup, spray gun, cutter, or other different types of tools, which can be selected and replaced according to different application requirements.

[0003] For example, Chinese patent CN109610548B discloses an auxiliary installation adjustment bracket for quick replacement of the end effector of a hydraulic excavator, in which the lower U-shaped support beam, the height adjustment screw, and the upper U-shaped support beam are parallel; the lower U-shaped support beam and the height adjustment screw are connected to the lower sub-mechanism, and the height adjustment screw and the upper U-shaped support beam are connected to the upper sub-mechanism in parallel; the upper side surface of the upper U-shaped support beam is an arc-shaped groove, and a branch pipe assembly is installed in the arc-shaped groove of the upper U-shaped support beam; a push block is slidably installed in the guide groove of the upper U-shaped support beam, and the upper end of the push block is engaged with the branch pipe assembly; an advance and retreat screw is installed in the threaded through hole of the push block through a threaded connection.

[0004] In the above patent, although the problem of time-consuming installation of the end effector is solved by the advance and retreat screw and the push block, the entire bracket is large in size and complex in structure. The adjustment of various parts during use is cumbersome, which increases the difficulty of operation for the operator. Utility Model Content

[0005] The purpose of this utility model is to solve the problems in the prior art that the entire bracket is large in size, has a complex structure, and is cumbersome to adjust various parts during use, which increases the difficulty of operation for the operator, and to propose an installation auxiliary structure for the end effector of the robotic arm.

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions: an auxiliary installation structure for the end effector of a robotic arm, comprising a support plate, the top of the support plate is fixedly connected to a connecting plate, a positioning mechanism is provided on one side of the connecting plate, and the positioning mechanism comprises a hydraulic cylinder, a positioning piece and two clamps, one end of the hydraulic cylinder is fixedly connected to a fixing plate one, one side of the fixing plate one is fixedly connected to a clamp one, the other end of the hydraulic cylinder is fixedly connected to a fixing plate two, one side of the fixing plate two is fixedly connected to the clamp two, one side of the clamp one and the clamp two are both fixedly connected to a buffer plate, the bottom of the hydraulic cylinder is slidably connected to a guide rail, the bottom of the guide rail is fixedly connected to the support plate, and one side of the hydraulic cylinder is fixedly connected to a mounting piece, one side of the mounting piece is plugged with an L-shaped rod, and one side of the L-shaped rod is fixedly connected to the positioning piece.

[0007] Preferably, a threaded rod is rotatably connected to one side of the inner wall of the guide rail, and one end of the threaded rod passes through the side wall of the guide rail.

[0008] Preferably, the threaded rod is connected to a second guide member and a first guide member via threads, and both the second guide member and the first guide member are slidably connected to the guide rail.

[0009] Preferably, the top of the second guide member is fixedly connected to the hydraulic cylinder, and the top of the first guide member is fixedly connected to the mounting member.

[0010] Preferably, a guide groove is provided on the top of the connecting plate, a placement plate is slidably connected inside the guide groove, and a limiting groove is provided on the top of the placement plate.

[0011] Preferably, a rotating disk is engaged with the bottom of the support plate, and a connecting platform is rotatably connected to the bottom of the rotating disk. Positioning holes are provided on the connecting platform and the support plate.

[0012] Preferably, a lifting assembly is installed at the bottom of the connecting platform, and a base is fixedly connected to the bottom of the lifting assembly.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are:

[0014] 1. In the utility model, one side of the clamping jaw 1 and the clamping jaw 2 are fixedly connected to the buffer plate, the bottom of the hydraulic cylinder is slidably connected to the guide rail, and the hydraulic cylinder is used to drive the clamping jaw 2 to move, and the end effector is clamped and fixed by the clamping jaw 1 and the clamping jaw 2, and then the threaded rod is rotated to drive the hydraulic cylinder to slide on the top of the guide rail until the positioning piece overlaps with the robotic arm. This can realize the position calibration before the actuator is installed, thereby reducing the position deviation during the subsequent installation of the actuator. The position adjustment of the actuator and the positioning piece is relatively simple, which can reduce the operating difficulty of the operator.

[0015] 2. In the utility model, the top of the lifting assembly is connected to the connecting platform, and the top of the connecting platform is rotatably connected to a rotating disk. When the rotating disk and the support plate are rotated on the top of the connecting platform, the guide rail and the hydraulic cylinder rotate with the support plate, changing the installation direction of the actuator. The use height of the connecting platform and the support plate can be adjusted through the lifting assembly, which facilitates the connection between the top of the actuator and the robotic arm, thereby improving the auxiliary effect during the installation of the actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an auxiliary installation structure for a robotic arm end effector proposed in the utility model;

[0017] Figure 2 This is a schematic diagram of the installation of a rotating disk structure of an installation auxiliary structure for a robotic arm end effector proposed in the utility model;

[0018] Figure 3This utility model provides a schematic diagram of the installation of a support plate structure of an auxiliary installation structure for a robotic arm end effector;

[0019] Figure 4 The utility model provides a schematic diagram of the installation structure of the mounting parts of the auxiliary structure for the installation of the end effector of the robot arm.

[0020] Legend: 1. Hydraulic cylinder; 2. Support plate; 3. Connecting platform; 4. Base; 5. Clamping jaw 1; 6. Fixing plate 1; 7. Connecting plate; 8. Buffer plate; 9. Positioning piece; 10. Fixing plate 2; 11. Clamping jaw 2; 12. Placement plate; 13. Guide rail; 14. L-shaped rod; 15. Guide piece 1; 16. Guide piece 2; 17. Threaded rod; 18. Mounting piece; 19. Rotating disk; 20. Lifting assembly. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: Reference Figures 1-4 As shown: an auxiliary installation structure for the end effector of a robotic arm, including a support plate 2, a connecting plate 7 fixedly connected to the top of the support plate 2, a positioning mechanism provided on one side of the connecting plate 7, the positioning mechanism including a hydraulic cylinder 1, a positioning member 9 and a second clamping jaw 11, one end of the hydraulic cylinder 1 is fixedly connected to a fixed plate 16, one side of the fixed plate 16 is fixedly connected to a clamping jaw 15, the other end of the hydraulic cylinder 1 is fixedly connected to a fixed plate 2 10, one side of the fixed plate 2 10 is fixedly connected to the clamping jaw 2 11, one side of the clamping jaw 15 and the clamping jaw 2 11 are fixedly connected to a buffer plate 8, and the bottom of the hydraulic cylinder 1 is slidably connected to a guide rail 13 The bottom of the guide rail 13 is fixedly connected to the support plate 2, and a mounting piece 18 is fixedly connected to one side of the hydraulic cylinder 1. An L-shaped rod 14 is inserted into one side of the mounting piece 18. One side of the L-shaped rod 14 is fixedly connected to the positioning piece 9. A threaded rod 17 is rotatably connected to one side of the inner wall of the guide rail 13. One end of the threaded rod 17 passes through the side wall of the guide rail 13. The threaded rod 17 is threadedly connected to a guide piece 2 16 and a guide piece 1 15. Both the guide piece 2 16 and the guide piece 1 15 are slidingly connected to the guide rail 13. The top of the guide piece 2 16 is fixedly connected to the hydraulic cylinder 1, and the top of the guide piece 15 is fixedly connected to the mounting piece 18.

[0024] The connection between the hydraulic cylinder 1 and the clamp 1 5 can be realized by using the fixing plate 1 6, and the connection between the clamp 2 11 and the hydraulic cylinder 1 can be realized by using the fixing plate 2 10. The distance between the clamp 1 5 and the clamp 2 11 can be adjusted by the hydraulic cylinder 1, so that the end effector can be clamped and fixed by the clamp 1 5 and the clamp 2 11. The damage to the actuator during clamping can be reduced by the buffer plate 8. The support plate 2 can support and reinforce the bottom of the guide rail 13. At the same time, the guide rail 13 can guide the movement of the guide member 15 and the guide member 2 16. The guide member 15 and the guide member 2 16 can be driven by the threaded rod 17. The movement of part 15 and guide part 2 16 inside the guide rail 13 can drive the hydraulic cylinder 1 to slide on the top of the guide rail 13, changing the use position of the hydraulic cylinder 1. When the hydraulic cylinder 1 moves, the placement plate 12 can move synchronously with the hydraulic cylinder 1, and the guide groove can guide the movement of the placement plate 12. The connection between the mounting part 18 and the positioning part 9 can be achieved through the L-shaped rod 14, so that the mounting part 18 is used to support and reinforce the bottom of the positioning part 9. The positioning part 9 can be used to assist in calibrating the position of the robotic arm and the actuator, thereby improving the accuracy of the actuator installation.

[0025] Example 2: Figure 1 and Figure 2 As shown: a guide groove is provided on the top of the connecting plate 7, a placement plate 12 is slidably connected inside the guide groove, a limiting groove is provided on the top of the placement plate 12, a rotating disk 19 is engaged with the bottom of the support plate 2, and the bottom of the rotating disk 19 is rotatably connected to the connecting platform 3, positioning holes are provided on the connecting platform 3 and the support plate 2, a lifting assembly 20 is installed at the bottom of the connecting platform 3, and the bottom of the lifting assembly 20 is fixedly connected to the base 4.

[0026] The base 4 can be used to support the bottom of the lifting component 20, which facilitates the stable installation and use of the entire device on the ground. The lifting component 20 can be used to achieve the connection between the base 4 and the connecting platform 3, and then the use height of the connecting platform 3 can be adjusted. The connecting platform 3 and the support plate 2 can be connected by the rotating disk 19. By rotating the rotating disk 19, the use direction of the support plate 2 can be changed. The positioning hole can be used to limit the position of the support plate 2, thereby preventing the support plate 2 from rotating when the actuator is installed.

[0027] The usage and working principle of this device are as follows: first, the end effector to be installed is engaged on the placement plate 12, and the buffer plate 8 on one side of the clamp 1 5 is overlapped with one side of the actuator. Then, the hydraulic cylinder 1 is used to drive the clamp 2 11 to move to the side close to the clamp 1 5 to clamp and fix the actuator. Then, the threaded rod 17 is rotated, and the guide part 2 16 and the guide part 1 15 slide along the guide rail 13. The hydraulic cylinder 1 moves above the guide rail 13, and the placement plate 12 slides along the guide groove of the connecting plate 7 until the inner wall of the positioning part 9 overlaps with the robotic arm. At this time, the bottom of the robotic arm and the actuator are on the same axis. The lifting assembly 20 is used to adjust the use height of the connecting platform 3 so that the top of the actuator is inserted into the end of the robotic arm. Then, the actuator is manually fixed. Then, the clamp 2 11 is separated from the actuator to complete the overall installation of the actuator. According to the different installation directions of the actuator, the support plate 2 can also be rotated on the top of the connecting platform 3 to change the installation direction of the actuator. Then, the pins are inserted into the positioning holes on the support plate 2 and the connecting platform 3 to fix it.

[0028] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An auxiliary installation structure for an end effector of a robotic arm, comprising a support plate (2), a connecting plate (7) fixedly connected to the top of the support plate (2), characterized in that: A positioning mechanism is provided on one side of the connecting plate (7), and the positioning mechanism includes a hydraulic cylinder (1), a positioning member (9) and a second clamping jaw (11). One end of the hydraulic cylinder (1) is fixedly connected to a first fixing plate (6), and one side of the first fixing plate (6) is fixedly connected to a first clamping jaw (5). The other end of the hydraulic cylinder (1) is fixedly connected to a second fixing plate (10), and one side of the second fixing plate (10) is fixedly connected to a second clamping jaw (11). One side of each of the first clamping jaw (5) and the second clamping jaw (11) is fixedly connected to a buffer plate (8). The bottom of the hydraulic cylinder (1) is slidably connected to a guide rail (13), and the bottom of the guide rail (13) is fixedly connected to the support plate (2). One side of the hydraulic cylinder (1) is fixedly connected to a mounting member (18), and one side of the mounting member (18) is plugged with an L-shaped rod (14), and one side of the L-shaped rod (14) is fixedly connected to the positioning member (9).

2. The auxiliary installation structure for the end effector of a robotic arm according to claim 1, characterized in that: One side of the inner wall of the guide rail (13) is rotatably connected to a threaded rod (17), and one end of the threaded rod (17) passes through the side wall of the guide rail (13).

3. The auxiliary installation structure for the end effector of a robotic arm according to claim 2, characterized in that: The threaded rod (17) is connected to the second guide member (16) and the first guide member (15) through threads, and the second guide member (16) and the first guide member (15) are both slidably connected to the guide rail (13).

4. The auxiliary installation structure for the end effector of a robotic arm according to claim 3, characterized in that: The top of the second guide member (16) is fixedly connected to the hydraulic cylinder (1), and the top of the first guide member (15) is fixedly connected to the mounting member (18).

5. The auxiliary installation structure for the end effector of a robotic arm according to claim 1, characterized in that: A guide groove is provided on the top of the connecting plate (7), a placement plate (12) is slidably connected inside the guide groove, and a limiting groove is provided on the top of the placement plate (12).

6. The auxiliary installation structure for the end effector of a robotic arm according to claim 1, characterized in that: The bottom of the support plate (2) is engaged with a rotating disk (19), and the bottom of the rotating disk (19) is rotatably connected to a connecting platform (3). Positioning holes are provided on both the connecting platform (3) and the support plate (2).

7. The auxiliary installation structure for the end effector of a robotic arm according to claim 6, characterized in that: A lifting assembly (20) is installed at the bottom of the connecting platform (3), and a base (4) is fixedly connected to the bottom of the lifting assembly (20).

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