Manipulator with clamping jaws convenient to replace

Abstract

The mechanical arm comprises a rotating arm and a gripper, a quick assembly mechanism is arranged between the rotating arm and the gripper, the quick assembly mechanism comprises a connecting column, an assembly hole, an assembly column, a driving cavity, a rack and a gear, a platform block is arranged right in front of the rack, a threaded hole is formed in the front face of the platform block, a hexagon bolt is arranged in an inner cavity of the threaded hole, and a clamping jaw is arranged in the hexagon bolt. A round clamping cavity is formed in the assembling column, a cross-shaped hole is formed in the top of the assembling column, a rotating rod is arranged in an inner cavity of the cross-shaped hole, four assembling clamping rods are arranged in an inner cavity of the round clamping cavity, and a T-shaped column is arranged at the bottom of the assembling column. According to the quick assembling mechanism, the mechanical arm and the gripper can be quickly assembled and disassembled by screwing one bolt through the cooperation of the connecting column, the assembling column, the rack, the gear, the platform block, the hexagon bolt, the rotating rod, the assembling clamping rod, the cross-shaped hole and the circular clamping cavity, so that the time required for assembling and disassembling is shortened, and the working efficiency is improved. And the operation convenience is improved.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm with easily replaceable grippers. Background Technology

[0002] A robotic arm is a robot device capable of moving, rotating, and bending freely in three-dimensional space. It can perform various tasks according to a preset program, completing repetitive, dangerous, or high-precision work. A robotic arm is usually composed of basic components, a motion drive system, sensors, and controllers. Robotic arms are widely used in industrial manufacturing, medical, logistics, and other fields.

[0003] Different tasks often require robotic arms to change different grippers. Currently, the robotic arm and grippers are assembled using a multi-point bolt connection method, which requires workers to repeat the bolt tightening process many times, which takes a long time. Therefore, a robotic arm that can easily change grippers is needed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic arm that facilitates the replacement of grippers, thereby solving the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic arm that facilitates the replacement of grippers, comprising:

[0006] Rotary arm;

[0007] A gripper, wherein the gripper is located below the rotating arm;

[0008] A quick-assembly mechanism is provided between the rotating arm and the gripper;

[0009] The quick-assembly mechanism includes a connecting column, an assembly hole at the bottom of the connecting column, an assembly column inside the assembly hole, a drive cavity inside the connecting column, a rack inside the drive cavity, a gear on one side of the rack, a platform block in front of the rack, a threaded hole on the front of the platform block, a hexagonal bolt inside the threaded hole, a circular locking cavity inside the assembly column, a cross-shaped hole at the top of the assembly column, a rotating rod inside the cross-shaped hole, four assembly locking rods inside the circular locking cavity, and a T-shaped column at the bottom of the assembly column.

[0010] The platform block is equipped with an anti-loosening mechanism on its front side.

[0011] Preferably, the connecting column is fixedly connected to the bottom of the rotating arm, one side of the rack meshes with the outer wall of the gear, the platform block is fixedly connected to the outer wall of the connecting column, the outer wall of the hexagonal bolt is threadedly connected to the inner wall of the threaded hole, one end of the hexagonal bolt is rotatably connected to one end of the rack, the top end of the rotating rod penetrates the top of the inner wall of the assembly hole and is fixedly connected to the bottom of the gear, the four assembly clamps are fixedly connected to the outer wall of the rotating rod in a ring array, and the T-shaped column is fixedly connected between the assembly column and the gripper.

[0012] Preferably, the top of the rack is provided with a strip-shaped sliding hole, and a limiting slider is provided inside the strip-shaped sliding hole, the limiting slider being fixedly connected to the inner cavity of the drive cavity.

[0013] Preferably, the anti-loosening mechanism includes two fixing blocks, which are symmetrically fixed to the front of the platform block, and a strip-shaped anti-loosening block is rotatably connected between the two fixing blocks.

[0014] Preferably, a force-applying plate is fixedly connected to one side of the strip-shaped anti-loosening block, and the outer wall of the force-applying plate is provided with uniformly distributed anti-slip textures.

[0015] Preferably, a short alignment strip is fixedly connected to the outer wall of the connecting column, and a long alignment strip is fixedly connected to the outer wall of the T-shaped column.

[0016] The technical effects and advantages of this utility model are as follows:

[0017] (1) This utility model utilizes the quick-assembly mechanism. Through the cooperation between the connecting column, assembly column, rack, gear, platform block, hexagonal bolt, rotating rod, assembly clamping rod, cross-shaped hole and circular clamping cavity, the disassembly and assembly of the robotic arm and gripper can be quickly completed by tightening a single bolt, reducing the time required for disassembly and assembly and improving the convenience of operation.

[0018] (2) This utility model utilizes the anti-loosening mechanism to prevent the hexagonal bolt from rotating through the cooperation between the fixing block, the strip anti-loosening block and the force plate, thereby improving the stability of the quick-installation mechanism. Attached Figure Description

[0019] Figure 1 This is a three-dimensional structural diagram of the present invention.

[0020] Figure 2 This is a top-view cross-sectional structural diagram of the gear of this utility model.

[0021] Figure 3 This is a front sectional view of the quick-assembly mechanism of this utility model.

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the assembly column of this utility model.

[0023] In the diagram: 1. Rotating arm; 2. Grab; 3. Quick-assembly mechanism; 301. Connecting column; 302. Assembly column; 303. Rack; 304. Gear; 305. Platform block; 306. Hex bolt; 307. Rotating rod; 308. Assembly clamp; 309. T-shaped column; 310. Limiting slider; 4. Anti-loosening mechanism; 401. Fixing block; 402. Strip anti-loosening block; 403. Force plate; 5. Short alignment strip; 6. Long alignment strip. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] This utility model provides, for example Figure 1-4 The robotic arm shown includes a rotating arm 1 and a gripper 2. The rotating arm 1 is part of the robotic arm, and the gripper 2 is located below the rotating arm 1. A quick-release mechanism 3 is provided between the rotating arm 1 and the gripper 2. The quick-release mechanism 3 is used to quickly complete the disassembly and assembly of the robotic arm and the gripper 2, thereby improving the convenience of operation.

[0026] The quick-assembly mechanism 3 includes a connecting column 301, which is fixedly connected to the bottom of the rotating arm 1. An assembly hole is provided at the bottom of the connecting column 301, and an assembly column 302 is provided inside the assembly hole. A drive cavity is provided inside the connecting column 301, and a rack 303 is provided inside the drive cavity. A strip-shaped sliding hole is provided at the top of the rack 303, and a limiting slider 310 is provided inside the strip-shaped sliding hole. The limiting slider 310 is fixedly connected to the inner cavity of the drive cavity. The limiting slider 310 and the strip-shaped sliding hole ensure that the rack 303 can move smoothly. A gear 304 is provided on one side of the rack 303, and one side of the rack 303 meshes with the outer wall of the gear 304. A platform block 305 is provided directly in front of the rack 303, and the platform block 305 is fixedly connected to the outer wall of the connecting column 301. A threaded hole is provided on the front of the platform block 305, which communicates with the drive cavity. A hexagonal bolt 306 is provided inside the threaded hole, and the outer wall of the hexagonal bolt 306... The hexagonal bolt 306, which rotates clockwise within the threaded hole, drives the gear 304 to rotate counterclockwise via the rack 303. One end of the hexagonal bolt 306 is rotatably connected to one end of the rack 303. A circular retaining cavity is provided inside the assembly column 302. A cross-shaped hole is provided at the top of the assembly column 302. The cross-shaped hole is used for the assembly retaining rod 308 to disengage from the assembly column 302. A rotating rod 307 is provided inside the cross-shaped hole. The top end of the rotating rod 307 penetrates the top of the inner wall of the assembly hole and is fixedly connected to the bottom of the gear 304. Four assembly retaining rods 308 are provided inside the circular retaining cavity. The four assembly retaining rods 308 are round rods and are fixedly connected to the outer wall of the rotating rod 307 in a ring array. A T-shaped column 309 is provided at the bottom of the assembly column 302. The T-shaped column 309 is fixedly connected between the assembly column 302 and the gripper 2. The T-shaped column 309 is used for the connection between the assembly column 302 and the gripper 2.

[0027] The outer wall of the connecting column 301 is fixedly connected with a short alignment strip 5, and the outer wall of the T-shaped column 309 is fixedly connected with a long alignment strip 6. The workers can determine the installation direction of the gripper 2 by using the short alignment strip 5 and the long alignment strip 6, and it is also used to assist the four assembly clamps 308 in aligning with the cross-shaped holes.

[0028] The platform block 305 has an anti-loosening mechanism 4 on its front side. The anti-loosening mechanism 4 prevents the quick-release mechanism 3 from loosening by preventing the hexagonal bolts 306 from rotating. The anti-loosening mechanism 4 includes two fixing blocks 401, which are symmetrically fixed to the front side of the platform block 305. A strip-shaped anti-loosening block 402 is rotatably connected between the two fixing blocks 401. The strip-shaped anti-loosening block 402 and the two fixing blocks 401 are interference fit, so the strip-shaped anti-loosening block 402 will not rotate without any external force. A force-applying plate 403 is fixedly connected to one side of the strip-shaped anti-loosening block 402. The force-applying plate 403 makes it easy for the operator to apply force to rotate the strip-shaped anti-loosening block 402. The outer wall of the force-applying plate 403 has evenly distributed anti-slip textures to increase the friction between the force-applying plate 403 and the operator's fingers.

[0029] Working principle of this utility model:

[0030] When it is necessary to replace the gripper 2 of the robotic arm, first apply a clockwise steering force to the force plate 403. After the strip-shaped anti-loosening block 402 moves away from the side of the hexagonal bolt 306, apply a counterclockwise steering force to the hexagonal bolt 306. The hexagonal bolt 306, rotating counterclockwise in the threaded hole, will drive the gear 304, rotating rod 307 and four assembly latches 308 to rotate clockwise through the rack 303. When the limit slider 310 contacts the end of the strip-shaped sliding hole, the rack 303 can no longer continue. During movement, the four assembly levers 308 can disengage from the assembly post 302 through the cross-shaped hole. Then, a downward force is applied to the gripper 2 to complete the disassembly. Next, the assembly post 302 at the top of the gripper 2 to be installed is inserted into the assembly hole at the bottom of the connecting post 301. During this process, the short alignment strip 5 and the long alignment strip 6 can be used to ensure that the gripper 2 is in the correct orientation. Then, the above steps are repeated in reverse to quickly complete the installation of the gripper 2, reducing the time required for disassembly and assembly and improving the convenience of operation.

[0031] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robotic arm with easily replaceable grippers, comprising: Rotary arm (1); A gripper (2) is disposed below the rotating arm (1); The feature is that a quick-assembly mechanism (3) is provided between the rotating arm (1) and the gripper (2); The quick-assembly mechanism (3) includes a connecting column (301), an assembly hole at the bottom of the connecting column (301), an assembly column (302) inside the assembly hole, a drive cavity inside the connecting column (301), a rack (303) inside the drive cavity, a gear (304) on one side of the rack (303), a platform block (305) in front of the rack (303), a threaded hole on the front of the platform block (305), a hexagonal bolt (306) inside the threaded hole, a circular locking cavity inside the assembly column (302), a cross-shaped hole at the top of the assembly column (302), a rotating rod (307) inside the cross-shaped hole, four assembly locking rods (308) inside the circular locking cavity, and a T-shaped column (309) at the bottom of the assembly column (302). The platform block (305) is provided with an anti-loosening mechanism (4) on its front side.

2. The robotic arm for easy gripper replacement according to claim 1, characterized in that, The connecting column (301) is fixedly connected to the bottom of the rotating arm (1). One side of the rack (303) is meshed with the outer wall of the gear (304). The platform block (305) is fixedly connected to the outer wall of the connecting column (301). The outer wall of the hexagonal bolt (306) is threadedly connected to the inner wall of the threaded hole. One end of the hexagonal bolt (306) is rotatably connected to one end of the rack (303). The top end of the rotating rod (307) penetrates the top of the inner wall of the assembly hole and is fixedly connected to the bottom of the gear (304). The four assembly clamps (308) are fixedly connected to the outer wall of the rotating rod (307) in a ring array. The T-shaped column (309) is fixedly connected between the assembly column (302) and the gripper (2).

3. The robotic arm for easy gripper replacement according to claim 1, characterized in that, The top of the rack (303) is provided with a strip-shaped sliding hole, and a limiting slider (310) is provided inside the strip-shaped sliding hole. The limiting slider (310) is fixedly connected to the inner cavity of the drive cavity.

4. A robotic arm for easy gripper replacement according to claim 1, characterized in that, The anti-loosening mechanism (4) includes two fixing blocks (401), which are symmetrically fixed to the front of the platform block (305), and a strip-shaped anti-loosening block (402) is rotatably connected between the two fixing blocks (401).

5. A robotic arm for easy gripper replacement according to claim 4, characterized in that, One side of the strip-shaped anti-loosening block (402) is fixedly connected to a force-applying plate (403), and the outer wall of the force-applying plate (403) is provided with uniformly distributed anti-slip textures.

6. A robotic arm for easy gripper replacement according to claim 1, characterized in that, The outer wall of the connecting column (301) is fixedly connected with a short alignment strip (5), and the outer wall of the T-shaped column (309) is fixedly connected with a long alignment strip (6).

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