Tool changing robot and mechanical arm thereof

Abstract

The utility model provides a tool changing robot and a mechanical arm thereof, and belongs to the field of tunneling equipment. A mechanical arm of the tool changing robot comprises a telescopic arm and a joint structure located on the downstream portion of the telescopic arm, an adapter is arranged between the tail end of the telescopic arm and the joint structure on the downstream portion of the telescopic arm, and the adapter comprises a connecting part used for being connected with the tail end of the telescopic arm and an installing part used for installing the joint structure on the downstream portion of the telescopic arm. The installation part is located on one side of the telescopic arm, and the direction of the side is perpendicular to the telescopic direction of the telescopic arm. The tool changing robot comprises the mechanical arm. The adapter is arranged between the telescopic arm and the downstream joint structure of the telescopic arm, so that the downstream joint structure of the telescopic arm is arranged on one side of the telescopic arm, the direction of the side is perpendicular to the telescopic direction of the telescopic arm, and the size of the tool changing robot in the telescopic direction of the telescopic arm is reduced; and the overall structure of the tool changing robot is more compact.

Description

Technical Field

[0001] This utility model belongs to the field of tunnel boring equipment, and in particular relates to a tool changing robot and its robotic arm. Background Technology

[0002] During tunnel construction, worn cutterheads need to be inspected and replaced regularly. In the past, workers had to manually operate auxiliary tools to disassemble, assemble, and move the cutterheads, which was inefficient and could not guarantee the safety of personnel.

[0003] Currently, there are cutter-changing robots that can replace workers in changing cutterheads. These robots typically have long robotic arms and are located in a robot compartment behind the soil chamber. When a cutter change is needed, the robot's robotic arm extends into the soil chamber through an opening in a partition, delivering the actuator at the end of the robotic arm to the cutter box of the cutter to be replaced. The actuator's orientation also needs to be adjusted to face the cutter box. However, current cutter-changing robots are relatively large and have limited degrees of freedom, making it difficult to perform wider and more complex operations within the soil chamber. To solve this problem, the robotic arm can be miniaturized and directly inserted into the soil chamber when a cutter change is needed. A mobile platform within the soil chamber can be provided for the robotic arm, allowing it to move perpendicular to the tunneling direction, thus giving the robot a greater range of motion.

[0004] A Chinese invention patent application with publication number CN118305775A and publication date of July 9, 2024, discloses an automatic tool-changing robot. This robot includes a base, a sliding mechanism guided on the base, a clamping joint rotatably connected to the sliding mechanism, a swing joint connected to the clamping joint via a first pitch joint, and a clamping unit connected to the swing joint via a second pitch joint. The swing joint includes two telescopic arms. One telescopic arm has its two ends hinged to the first and second pitch joints respectively, while the other telescopic arm has one end fixedly connected to the first pitch joint and the other end hinged to the second pitch joint. When both telescopic arms extend or retract simultaneously, the swing joint can extend or retract accordingly; when one extends while the other retracts, the telescopic arm will swing. Because this tool-changing robot has a compact structure and sufficient degrees of freedom for flexible operation, its base can be used as a mobile platform, allowing it to move entirely within the earth chamber.

[0005] In existing tunneling machines, especially smaller ones, the space around the main drive is limited. The space must also accommodate the personnel compartment, material compartment, main thrust cylinder, and various pipelines. Furthermore, some tunneling machines were not specifically designed with space for a robot compartment in their initial design. Therefore, the robot compartment needs to be placed as far to the side as possible and its size needs to be minimized to meet operational requirements. The tool-changing robot in the aforementioned utility model patent uses a telescopic arm to achieve its telescopic function. The telescopic arm itself is quite long, and a second pitch joint and clamping unit are located downstream of the telescopic joint along its length. Therefore, the tool-changing robot is quite long in the telescopic direction of the telescopic joint, resulting in an overall structure that is not compact enough and makes it difficult to meet the requirements for use in limited spaces. Utility Model Content

[0006] The purpose of this utility model is to provide a tool changing robot to solve the technical problems of existing tool changing robots having a non-compact structure and being difficult to apply on tunneling machines with limited space.

[0007] The purpose of this invention is to provide a robotic arm for a tool-changing robot to solve the aforementioned technical problems.

[0008] To achieve the above objectives, the technical solution for the robotic arm of the tool-changing robot provided by this utility model is as follows:

[0009] A robotic arm for a tool-changing robot includes a telescopic arm and a joint structure located downstream of the telescopic arm. A connector is provided between the end of the telescopic arm and the joint structure downstream of it. The connector includes a connecting part for connecting to the end of the telescopic arm and a mounting part for mounting the joint structure downstream of the telescopic arm. The mounting part is located on one side of the telescopic arm and the direction of that side is perpendicular to the telescopic arm's telescopic direction.

[0010] As a further improvement, the adapter is an adapter cylinder sleeved on the telescopic arm. The telescopic output end of the telescopic arm is connected to the bottom wall of the adapter cylinder. The bottom wall of the adapter cylinder forms the connecting part, and the side wall of the adapter cylinder forms the mounting part.

[0011] As a further improvement, the telescopic boom includes a telescopic body and a guide sleeve. The guide sleeve is guided and fitted with the mounting part. One end of the telescopic body is located inside the guide sleeve and connected to the guide sleeve. The other end of the telescopic body is located inside the adapter tube and connected to the connecting part of the adapter tube.

[0012] As a further improvement, the joint structure located downstream of the telescopic arm includes a pitch joint. The pitch joint includes a fixed seat and a pitch seat hinged to the fixed seat. The pitch seat is rotatable relative to the fixed seat and the axis of rotation is perpendicular to the telescopic direction of the telescopic arm. The fixed seat is fixedly mounted on the mounting part. A pitch drive device for driving the pitch seat to pitch and rotate is provided between the fixed seat and the pitch seat.

[0013] As a further improvement, the mounting section includes a mounting surface for mounting the pitch joint, and the rotation axis of the pitch mount is perpendicular to the mounting surface.

[0014] As a further improvement, a second rotary joint is provided on the pitch mount, and the rotation axis of the second rotary joint is perpendicular to the rotation axis of the pitch mount in the pitch joint.

[0015] As a further improvement, the second rotary joint is connected to a linear motion joint for controlling the linear movement of the actuator.

[0016] As a further improvement, the robotic arm of the tool-changing robot also includes a sliding base for cooperating with a multi-stage slide rail. A first rotary joint is provided on the sliding base, and a telescopic arm is mounted on the first rotary joint. The rotation axis of the first rotary joint is in the same direction as the extension and retraction direction of the telescopic arm.

[0017] As a further improvement, the robotic arm of the tool-changing robot also includes a sliding base for cooperating with a multi-stage slide rail. The telescopic arm is mounted on the sliding base and includes a telescopic body and a rotary head located at the end of the telescopic body. The connecting part of the adapter is connected to the rotary head, and the rotation axis of the rotary head is in the same direction as the telescopic body.

[0018] The beneficial effects are as follows: The robotic arm of the tool-changing robot provided by this utility model is an improvement on the existing technology. By setting a transition piece between the telescopic arm and its downstream joint structure, the downstream joint structure of the telescopic arm is positioned on one side of the telescopic arm, with the direction of this side perpendicular to the telescopic arm's extension direction. This reduces the size of the tool-changing robot in the telescopic arm's extension direction, making the overall structure of the tool-changing robot more compact and better suited for use on tunneling machines with limited space.

[0019] To achieve the above objectives, the technical solution of the tool-changing robot provided by this utility model is as follows:

[0020] A tool-changing robot includes a multi-stage slide rail, a robotic arm, and an actuator located at the end of the robotic arm. The robotic arm includes a telescopic arm and a joint structure located downstream of the telescopic arm. A connector is provided between the end of the telescopic arm and the downstream joint structure. The connector includes a connecting part for connecting to the end of the telescopic arm and a mounting part for mounting the downstream joint structure of the telescopic arm. The mounting part is located on one side of the telescopic arm, and the direction of this side is perpendicular to the telescopic arm's telescopic direction.

[0021] As a further improvement, the adapter is an adapter cylinder sleeved on the telescopic arm. The telescopic output end of the telescopic arm is connected to the bottom wall of the adapter cylinder. The bottom wall of the adapter cylinder forms the connecting part, and the side wall of the adapter cylinder forms the mounting part.

[0022] As a further improvement, the telescopic boom includes a telescopic body and a guide sleeve. The guide sleeve is guided and fitted with the mounting part. One end of the telescopic body is located inside the guide sleeve and connected to the guide sleeve. The other end of the telescopic body is located inside the adapter tube and connected to the connecting part of the adapter tube.

[0023] As a further improvement, the joint structure located downstream of the telescopic arm includes a pitch joint. The pitch joint includes a fixed seat and a pitch seat hinged to the fixed seat. The pitch seat is rotatable relative to the fixed seat and the axis of rotation is perpendicular to the telescopic direction of the telescopic arm. The fixed seat is fixedly mounted on the mounting part. A pitch drive device for driving the pitch seat to pitch and rotate is provided between the fixed seat and the pitch seat.

[0024] As a further improvement, the mounting section includes a mounting surface for mounting the pitch joint, and the rotation axis of the pitch mount is perpendicular to the mounting surface.

[0025] As a further improvement, a second rotary joint is provided on the pitch mount, and the rotation axis of the second rotary joint is perpendicular to the rotation axis of the pitch mount in the pitch joint.

[0026] As a further improvement, the second rotary joint is connected to a linear motion joint for controlling the linear movement of the actuator.

[0027] As a further improvement, the robotic arm of the tool-changing robot also includes a sliding base for cooperating with a multi-stage slide rail. A first rotary joint is provided on the sliding base, and a telescopic arm is mounted on the first rotary joint. The rotation axis of the first rotary joint is in the same direction as the extension and retraction direction of the telescopic arm.

[0028] As a further improvement, the robotic arm of the tool-changing robot also includes a sliding base for cooperating with a multi-stage slide rail. The telescopic arm is mounted on the sliding base and includes a telescopic body and a rotary head located at the end of the telescopic body. The connecting part of the adapter is connected to the rotary head, and the rotation axis of the rotary head is in the same direction as the telescopic body.

[0029] The beneficial effects are as follows: The robotic arm of the tool-changing robot provided by this utility model is an improvement on the existing technology. By setting a transition piece between the telescopic arm and the downstream joint structure of the telescopic arm, the downstream joint structure of the telescopic arm is located on one side of the telescopic arm, and the direction of this side is perpendicular to the telescopic arm's telescopic direction. This reduces the size of the tool-changing robot in the telescopic direction of the telescopic arm, making the overall structure of the tool-changing robot more compact and better applicable to tunneling machines with limited space. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the overall structure of the tool-changing robot in Embodiment 1 of this utility model;

[0031] Figure 2 This is a diagram showing the state of the tool changing robot changing a hob in Embodiment 1 of the present invention.

[0032] Figure 3 This is a state diagram of the tool-changing robot changing the side tool in Embodiment 1 of the present invention;

[0033] Figure 4 This is a schematic diagram of the mechanical arm of the tool-changing robot in Embodiment 1 of the present invention;

[0034] Figure 5 This is a structural schematic diagram of the robotic arm of the tool-changing robot in Embodiment 1 of the present invention from another perspective;

[0035] Figure 6 This is a schematic diagram of the telescopic arm of the tool-changing robot in Embodiment 1 of the present invention, with the actuator retracted below the protective cover.

[0036] Figure 7 This is a schematic diagram of the telescopic arm of the tool-changing robot in the extended state and the actuator in the extended state in Embodiment 1 of the present invention.

[0037] Figure 8 This is a schematic diagram of the tool changing base of the tool changing robot in Embodiment 1 of the present invention;

[0038] Figure 9 This is a schematic diagram of the telescopic arm of the tool-changing robot in Embodiment 1 of the present invention;

[0039] Figure 10 This is a schematic diagram of the telescopic arm, pitch joint, and second rotation joint of the tool-changing robot in Embodiment 1 of this utility model.

[0040] Figure 11 This is a schematic diagram of the pitch joint of the tool-changing robot in Embodiment 1 of the present invention;

[0041] Figure 12 This is a schematic diagram of the linear motion joint of the tool-changing robot in Embodiment 1 of the present invention.

[0042] Explanation of reference numerals in the attached figures:

[0043] 1. Robot cabin; 2. Multi-stage slide rail; 21. Primary slide rail; 22. Secondary slide rail; 23. Tertiary slide rail; 3. Robotic arm; 31. Sliding base; 311. Guide slider; 312. Drive motor; 313. Drive gear; 32. First rotary joint; 33. Telescopic arm; 331. Telescopic body; 332. Guide sleeve; 34. Pitch joint; 341. Fixed seat; 342. Pitch seat; 343. Pitch oil. 35. Cylinder; 36. Second rotary joint; 37. Linear traverse joint; 38. Top plate; 39. Side plate; 30. Rear end plate; 31. Guide rail; 32. Motor reducer; 33. Driven gear; 34. Driven gear; 35. Threaded rod; 36. Driven block; 37. Adapter cylinder; 38. Hinge seat; 39. Mounting surface; 4. Actuator; 5. Cutter disc; 6. Partition plate; 7. Opening; 8. Valve assembly. Detailed Implementation

[0044] The present invention will be further described in detail below with reference to the embodiments.

[0045] To address the problems in the prior art, the basic concept of this utility model is to set a connector between the telescopic arm of the robotic arm and its downstream joint structure, so that the joint structure downstream of the telescopic arm is located on one side of the telescopic arm and the direction of this side is perpendicular to the telescopic arm's telescopic direction, thereby shortening the size of the robotic arm in the telescopic direction of the telescopic arm.

[0046] Specific embodiment 1 of the tool-changing robot provided by this utility model:

[0047] A tool-changing robot, see appendix Figure 1 Appendix Figure 2 Appendix Figure 3 and appendix Figure 4 It includes a robot cabin 1, a multi-stage slide rail 2, a robotic arm 3, and an actuator 4.

[0048] Robot cabin 1 is used to house robotic arm 3 and actuator 4. Robot cabin 1 is installed on the main drive side behind the front shield. In order to avoid other structures near the main drive, robot cabin 1 needs to be set close to the edge of the tunneling machine.

[0049] See appendix Figure 2 and attached Figure 3The last stage of the multi-stage slide rail 2 can rotate 90 degrees after extending into the soil chamber. The robotic arm 3 is mounted on the last stage of the multi-stage slide rail 2 and can move along the last stage of the multi-stage slide rail 2. The multi-stage slide rail 2 includes a first-stage slide rail 21 fixed to the bottom of the robot cabin 1, a second-stage slide rail 22 mounted on the first-stage slide rail 21, and a third-stage slide rail 23 mounted on the second-stage slide rail 22. The second-stage slide rail 22 is guided and slidably engaged with the first-stage slide rail 21, and a drive structure for driving the movement of the second-stage slide rail 22 is provided between them. A rotary structure is provided between the third-stage slide rail 23 and the second-stage slide rail 22.

[0050] See appendix Figure 4 and attached Figure 5 The robotic arm 3 includes six joint structures, which are arranged sequentially as follows: a sliding base 31, a first rotary joint 32, a telescopic arm 33, a pitch joint 34, a second rotary joint 35, and a linear motion joint 36. The actuator 4 is located at the output end of the linear motion joint 36. The first rotary joint 32 and the sliding base 31 are both located upstream of the telescopic arm 33, while the pitch joint 34, the second rotary joint 35, and the linear motion joint 36 are all located downstream of the telescopic arm 33.

[0051] See appendix Figure 8 The sliding base 31 is provided with a guide slider 311 that slides and guides the three-stage slide rail 23. The sliding base 31 is also provided with a drive motor 312. The output shaft end of the drive motor 312 is provided with a drive gear 313. The three-stage guide rail 364 is provided with a rack for meshing with the drive gear 313. The sliding base 31 can move along the three-stage guide rail 364 under the drive of the drive motor 312.

[0052] A first rotary joint 32 is provided above the sliding base 31, and a telescopic arm 33 is provided above the first rotary joint 32. The telescopic arm 33 can rotate under the drive of the first rotary joint 32. The rotation axis of the first rotary joint 32 is vertical, and the extension and retraction direction of the telescopic arm 33 is in the same direction as the rotation axis of the first rotary joint 32.

[0053] See appendix Figure 9 The telescopic arm 33 includes a telescopic body 331 and a guide sleeve 332. The guide sleeve 332 is a rectangular sleeve. The lower end of the telescopic body 331 is disposed inside the guide sleeve 332 and is hinged to the lower part of the guide sleeve 332 via a hinge shaft. See appendix. Figure 6 and attached Figure 7An adapter cylinder 37 is provided on the upper part of the guide sleeve 332. The adapter cylinder 37 is also rectangular, with its opening facing downwards, and fits onto the guide sleeve 332. A hinge seat 371 is provided on the bottom wall of the adapter cylinder 37. The upper end of the telescopic body 331 is hinged to the hinge seat 371 via a hinge shaft. The side wall of the adapter cylinder 37 is located on one side of the telescopic arm 33, and the direction of this side is perpendicular to the telescopic direction of the telescopic arm 33. The telescopic body 331 is a telescopic hydraulic cylinder, but in other embodiments it can also be a pneumatic cylinder or an electric actuator.

[0054] The side wall of the adapter cylinder 37 is guided and fitted with the guide sleeve 332. In order to reduce the friction between the adapter cylinder 37 and the guide sleeve 332, a slider or other structure that facilitates the relative sliding of the two can be provided between them, which will not be elaborated here.

[0055] See appendix Figure 10 and attached Figure 11 One outer side of the sidewall of the adapter cylinder 37 serves as a mounting surface 372 for mounting the pitch joint 34. Specifically, the pitch joint 34 includes a fixed base 341 and a pitch seat 342 hinged to the fixed base 341. The fixed base 341 is fixedly mounted on the mounting surface 372, and the hinge axis between the pitch seat 342 and the fixed base 341 is perpendicular to the mounting surface 372. This allows the pitch joint 34 to be positioned to the left or right of the telescopic arm 33 during tool changing operations, making the robotic arm 3 smaller in the longitudinal direction to accommodate the narrow space within the soil chamber. A pitch drive device is provided between the pitch seat 342 and the fixed base 341. The pitch drive device controls the rotation of the pitch seat 342 relative to the fixed base 341. Specifically, the pitch drive device is a pitch cylinder 343, the cylinder body of which is hinged to the fixed base 341, and the piston rod of which is hinged to the pitch seat 342. In other embodiments, the pitch drive may also be a cylinder or an electric actuator.

[0056] The second rotary joint 35 is mounted on the pitch mount 342. The linear motion joint 36 is connected to the second rotary joint 35. The linear motion joint 36 can be rotated by the second rotary joint 35. The rotation axis of the second rotary joint 35 is perpendicular to the rotation axis of the pitch mount 342.

[0057] See appendix Figure 12 The linear motion joint 36 includes a protective cover, an actuator 4 is located below the protective cover, a guide rail 364 is provided on the inner side of the protective cover, and a guide member is provided on the actuator 4 for guiding and cooperating with the guide rail 364. The protective cover includes a top plate 361 and side plates 362 provided on both sides of the top plate 361. A rear end plate 363 is provided at the rear end of the top plate 361 and the side plates 362, and the rear end plate 363 is connected to the second rotary joint 35. Guide rails 364 are provided on both the top plate 361 and the side plates 362, and each guide rail 364 is provided with a corresponding guide member.

[0058] One of the side plates 362 has a moving structure on its outer side for driving the actuator 4. The moving structure includes a motor reducer 365 fixedly mounted on the side plate 362, a drive gear 366 located at the output shaft end of the motor reducer 365, and a threaded rod 368 rotatably mounted on the outer side of the side plate 362. The end of the threaded rod 368 has a driven gear 367 that meshes with the drive gear 366. The actuator 4 has a driven block 369 with a threaded hole that threadedly engages with the threaded rod 368. In other embodiments, the moving structure can also be a cylinder or a hydraulic cylinder, which will not be elaborated here.

[0059] During the process of sending the actuator 4 into the soil chamber, the actuator 4 retracts entirely under the protective cover, which protects the actuator 4 from damage caused by falling soil from the soil chamber. When the actuator 4 is sent to the rear of the cutter box, it moves forward into the cutter box under the drive of the moving structure to perform the cutter change operation. To protect the threaded rod 368 and the valve group 8 on the side plate 362 on the same side, which controls the actuator 4, a cover is also provided on the side plate 362, which is not shown in the figure. The actuator 4 is used to tighten the bolt and pick up the hob. The actuator 4 is prior art and will not be described in detail here.

[0060] The first rotary joint 32 and the second rotary joint 35 in this embodiment are both existing technologies and will not be described in detail here.

[0061] In this embodiment, the adapter tube 37 is a connector used to connect the telescopic arm 33 and its downstream joint structure. In this embodiment, the downstream joint structure of the adapter tube 37 is a pitch joint 34. The adapter tube 37 can set the pitch joint 34 on one side of the adapter tube 37 in the vertical and telescopic directions, thereby reducing the overall height of the robotic arm 3 and making the robotic arm 3 more compact, which can meet the needs of use in tunneling machines with limited space.

[0062] Specific embodiment 2 of the tool-changing robot provided by this utility model:

[0063] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that no guide sleeve is provided in this embodiment. The lower end of the telescopic body is fixedly connected to the first rotary joint, and the upper end is fixedly connected to the adapter tube. The telescopic body itself is used to maintain the stability of the adapter tube's lifting and lowering.

[0064] In other embodiments, the adapter cylinder can also be kept stable by setting multiple telescopic bodies, such as the swing joint structure in the invention patent application with publication number CN118305775A.

[0065] Specific embodiment 3 of the tool-changing robot provided by this utility model:

[0066] This embodiment is based on Embodiment 1, but differs from Embodiment 1 in that the connecting part and the mounting part of the adapter in this embodiment are a connecting plate and a mounting plate, respectively. The connecting plate is perpendicular to the mounting plate, making the adapter as a whole L-shaped. The connecting plate is fixedly connected to the end of the telescopic arm, and the mounting plate extends out of one side of the telescopic arm with the direction of that side perpendicular to the telescopic arm's extension direction. The side of the mounting plate away from the telescopic arm constitutes the mounting surface.

[0067] Specific embodiment 4 of the tool-changing robot provided by this utility model:

[0068] This embodiment is based on embodiment 3, but differs from embodiment 3 in that the first rotary joint is not provided in this embodiment. The telescopic arm in this embodiment includes a telescopic body and a rotary head located at the end of the telescopic body. The lower end of the telescopic body is fixedly connected to the sliding base, and the rotary head is located at the upper end of the telescopic body. The connecting plate of the adapter is connected to the rotary head, and the adapter can be rotated relative to the telescopic body through the rotary head.

[0069] Specific embodiment 5 of the tool-changing robot provided by this utility model:

[0070] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the downstream joint of the telescopic arm can also be a second rotary joint, and the pitch joint is set between the second rotary joint and the linear motion joint. In this embodiment, the second rotary joint is mounted on the mounting surface, and the rotation axis of the second rotary joint is perpendicular to the mounting surface. The pitch joint is mounted on the second rotary joint, and the rotation axis of the pitch seat in the pitch joint is perpendicular to the rotation axis of the second rotary joint.

[0071] Specific embodiment 6 of the tool-changing robot provided by this utility model:

[0072] This embodiment is based on embodiment 1. The difference between this embodiment and embodiment 1 is that the rotation axis of the pitch seat is parallel to the mounting surface. That is, during the tool changing process, the pitch joint is located in front of the telescopic arm.

[0073] Specific embodiment 7 of the tool-changing robot provided by this utility model:

[0074] This embodiment is based on Embodiment 1. The difference between this embodiment and Embodiment 1 is that the robotic arm in this embodiment only includes a sliding base, a telescopic arm, and a linear motion joint. The lower end of the telescopic arm is fixedly installed on the sliding base, the upper end of the telescopic arm is connected to the adapter, and the linear motion joint is installed on the adapter.

[0075] This embodiment is applicable to tunneling machines that do not require cutting tool replacement. The actuator can be sent to the cutter head that is directly opposite the opening on the partition or located near the opening using the sliding base and telescopic arm. The cutting tool replacement operation of the cutter head can be completed using the linear motion joint.

[0076] In other embodiments, if it is necessary to change the edge tool near the opening, a first rotary joint can be added.

[0077] In other embodiments, if it is necessary to change the cutter on the hob that is far from the opening, a pitch joint and a second rotation joint can be added.

[0078] Specific embodiments of the robotic arm of the tool-changing robot provided by this utility model:

[0079] The robotic arm of the tool-changing robot is any one of the robotic arms in embodiments 1-7 of the above-mentioned tool-changing robot, and will not be described in detail here.

[0080] Finally, it should be noted that the above description is only a preferred embodiment of this utility model and is not intended to limit this utility model. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still make modifications to the technical solutions described in the foregoing embodiments without creative effort, or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A robotic arm for a tool-changing robot, comprising a telescopic arm and a joint structure located downstream of the telescopic arm, characterized in that, A connector is provided between the end of the telescopic arm and its downstream joint structure. The connector includes a connecting part for connecting to the end of the telescopic arm and a mounting part for mounting the downstream joint structure of the telescopic arm. The mounting part is located on one side of the telescopic arm and the direction of that side is perpendicular to the telescopic arm's telescopic direction.

2. The robotic arm of the tool-changing robot according to claim 1, characterized in that, The adapter is an adapter cylinder sleeved on the telescopic arm. The telescopic output end of the telescopic arm is connected to the bottom wall of the adapter cylinder. The bottom wall of the adapter cylinder forms the connecting part, and the side wall of the adapter cylinder forms the mounting part.

3. The robotic arm of the tool-changing robot according to claim 2, characterized in that, The telescopic boom includes a telescopic body and a guide sleeve. The guide sleeve is guided and fitted with the mounting part. One end of the telescopic body is located inside the guide sleeve and connected to the guide sleeve. The other end of the telescopic body is located inside the adapter tube and connected to the connecting part of the adapter tube.

4. The robotic arm of the tool-changing robot according to any one of claims 1-3, characterized in that, The joint structure located downstream of the telescopic arm includes a pitch joint, which includes a fixed seat and a pitch seat hinged to the fixed seat. The pitch seat can rotate relative to the fixed seat and the axis of rotation is perpendicular to the telescopic direction of the telescopic arm. The fixed seat is fixedly mounted on the mounting part, and a pitch drive device for driving the pitch seat to pitch and rotate is provided between the fixed seat and the pitch seat.

5. The robotic arm of the tool-changing robot according to claim 4, characterized in that, The mounting section includes a mounting surface for mounting the pitch joint, and the rotation axis of the pitch mount is perpendicular to the mounting surface.

6. The robotic arm of the tool-changing robot according to claim 4, characterized in that, The pitch mount is equipped with a second rotary joint, and the rotation axis of the second rotary joint is perpendicular to the rotation axis of the pitch mount in the pitch joint.

7. The robotic arm of the tool-changing robot according to claim 6, characterized in that, The second rotary joint is connected to a linear motion joint for controlling the linear movement of the actuator.

8. The robotic arm of the tool-changing robot according to any one of claims 1-3, characterized in that, The robotic arm of the tool-changing robot also includes a sliding base for cooperating with a multi-stage slide rail. A first rotary joint is provided on the sliding base, and a telescopic arm is mounted on the first rotary joint. The rotation axis of the first rotary joint is in the same direction as the extension and retraction direction of the telescopic arm.

9. The robotic arm of the tool-changing robot according to any one of claims 1-3, characterized in that, The robotic arm of the tool-changing robot also includes a sliding base for cooperating with multi-stage slide rails. The telescopic arm is mounted on the sliding base and includes a telescopic body and a rotary head located at the end of the telescopic body. The connecting part of the adapter is connected to the rotary head, and the rotation axis of the rotary head is in the same direction as the telescopic body.

10. A tool-changing robot, comprising a multi-stage slide rail, a robotic arm, and an actuator located at the end of the robotic arm, characterized in that, The robotic arm is the robotic arm of the tool-changing robot according to any one of claims 1-9.

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