Mechanical arm end quick-change mechanism

Abstract

The utility model belongs to the quick change technology field of mechanical arm, especially relates to a quick change mechanism of mechanical arm tail end. A quick change mechanism of mechanical arm tail end, including support, the crossbeam of fixed erection on support, detachablely being provided with a plurality of quick change mechanisms on crossbeam, quick change mechanism includes the support plate of setting on crossbeam, the support arm of forming to the outside of crossbeam and extending in the both sides of support plate, the support rod of being connected fixedly to the inside of its horizontally on support plate and two support arms, still including the mounting plate, the arc limit slot of being opened in the lower end surface of mounting plate, the mounting plate is set up on support rod through limit slot, the quick change female disc is fixedly connected on the mounting plate upper end surface, the fixed plate is fixedly connected on the tail end of mechanical arm, the quick change male disc is fixedly connected on the fixed plate lower end surface, quick change male disc and quick change female disc can be coupled and separate. The utility model structure is simple, and the quick change of grasping mechanism can be installed conveniently.

Description

TECHNICAL FIELD

[0001] The utility model belongs to mechanical arm quick change technical field, especially relates to a mechanical arm tail end quick change mechanism. BACKGROUND

[0002] With the wide use of automatic mechanical arm, the automatic grabbing and carrying efficiency of workpieces is greatly improved. In the prior art, different types of grabbing mechanisms are generally fixedly installed at the tail end of the mechanical arm, most of which are pneumatic grabbing mechanisms, such as grabbing cylinders provided with various clamping jaws, which drive the clamping jaws to take and place workpieces and carry the workpieces by the mechanical arm. In actual processing, when the workpieces are of multiple types and small batches, in order to save costs, too many mechanical arms will not be configured, and thus the grabbing mechanisms installed at the tail end of the mechanical arm need to be frequently replaced, which seriously affects the changeover time and increases the labor cost and labor intensity, and a quick change mechanism is urgently needed to quickly replace the grabbing mechanisms installed at the tail end of the mechanical arm. SUMMARY

[0003] To solve the technical problems existing in the prior art, the application provides a mechanical arm tail end quick change mechanism which is simple in structure, easy to install and capable of quickly replacing a grabbing mechanism.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical scheme:

[0005] A mechanical arm tail end quick change mechanism, comprising two oppositely arranged supports, a cross beam fixedly arranged on the supports, and a plurality of quick change mechanisms detachably and fixedly connected to the cross beam; the quick change mechanism comprises a support plate detachably and horizontally fixedly connected to the cross beam, support arms formed by extending outward from both sides of the support plate toward the cross beam, and support rods horizontally fixedly connected to the inner sides of the support plate and the two support arms; further comprising a mounting plate, a circular-arc-shaped limiting groove matched with the support rods being formed in the lower end surface of the mounting plate, and the mounting plate being arranged on the support rods through the limiting groove; a quick change female disc being fixedly connected to the upper end surface of the mounting plate, a fixed plate being fixedly connected to the tail end of the mechanical arm, and a quick change male disc being fixedly connected to the lower end surface of the fixed plate, the quick change male disc and the quick change female disc being couplable and decouplable.

[0006] Preferably, support grooves are formed in the support plate and the support arms respectively, and the support rods are fixedly embedded in the corresponding support grooves respectively.

[0007] Preferably, a limiting plane is arranged on the outer circumference of the support rod along the axial direction thereof, and when the support rod is embedded in the support groove, the limiting plane abuts against the groove bottom of the support groove.

[0008] Preferably, a connecting plane is arranged on the outer circumference of the support rod away from the limiting plane, and the length of the connecting plane is less than the length of the support rod.

[0009] Preferably, a plurality of connecting holes are formed in the support groove along the length direction of the support groove, and a support rod through hole is formed in the connecting plane, and a mounting bolt is arranged in the support rod through hole and is threadedly connected in a corresponding connecting hole to fix and connect the support rod in the support groove.

[0010] Preferably, a plurality of support rod through holes are arranged along the length direction of the support rod.

[0011] Preferably, the edges on both sides of the limiting groove are connected to the lower end surface of the mounting plate in a circular arc transition.

[0012] Preferably, a support plate through hole is formed in the support plate, a'convex' shaped sliding groove is formed in the length direction of the cross beam, a sliding groove is formed in the length direction of the cross beam, an adjusting block is slidably arranged in the sliding groove, and an adjusting bolt is arranged in the support plate through hole and is threadedly connected in the adjusting block to fix and connect the support plate on the cross beam.

[0013] Compared with the prior art, the utility model has the advantages that:

[0014] The utility model discloses a quick change mechanism for a mechanical arm, which comprises a mounting plate, a quick change male disc, a quick change female disc and a grabbing mechanism, wherein the mounting plate is arranged at the end of the mechanical arm, the quick change male disc is arranged on the upper end surface of the mounting plate, the quick change female disc is arranged on the lower end surface of the mounting plate, and the grabbing mechanism is arranged on the lower end surface of the mounting plate.

[0015] The utility model discloses a quick change mechanism for a mechanical arm, which comprises a mounting plate, a quick change male disc, a quick change female disc and a grabbing mechanism, wherein the mounting plate is arranged at the end of the mechanical arm, the quick change male disc is arranged on the upper end surface of the mounting plate, the quick change female disc is arranged on the lower end surface of the mounting plate, and the grabbing mechanism is arranged on the lower end surface of the mounting plate. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a whole structure schematic diagram of the utility model.

[0017] Figure 2 It is a structure schematic diagram of the first visual angle of the quick change mechanism of the utility model. It is a structure schematic diagram of the first visual angle of the quick change mechanism of the utility model.

[0018] Figure 3 It is the second view angle structure schematic drawing of the quick change mechanism of the utility model.

[0019] Figure 4 It is the connecting structure schematic drawing of the support plate, support arm and support rod of the utility model.

[0020] Figure 5 It is the connecting structure schematic drawing of the quick change male disc and the quick change female disc of the utility model.

[0021] Figure 6 It is the connecting structure schematic drawing of the support plate and the support arm of the utility model.

[0022] Figure 7 It is the structure schematic drawing of the support rod of the utility model.

[0023] Figure 8 It is the structure schematic drawing of the mounting plate of the utility model.

[0024] In the figure: 1, support, 11, support leg, 12, horizontal beam,

[0025] 2, crossbeam, 21, sliding groove, 22, adjusting block, 23, adjusting bolt,

[0026] 3, quick change mechanism, 31, support plate, 311, support plate through hole, 312, support groove one, 313, connecting hole, 32, support arm, 321, support groove two, 33, support rod, 331, first support rod, 3311, limiting plane one, 3312, connecting plane one, 332, second support rod, 3321, limiting plane two, 3322, connecting plane two, 333, support rod through hole, 334, mounting bolt, 34, mounting plate, 341, limiting groove, 35, quick change male disc, 36, quick change female disc, 37, fixed plate, 38, accommodation cavity. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0028] In the description of the utility model, it is understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model. Embodiment

[0029] Referring to the drawings, Figure 1 A mechanical arm end quick change mechanism is shown, comprising two oppositely arranged supports 1, a cross beam 2 fixedly arranged on the support 1, and a plurality of quick change mechanisms 3 detachably and fixedly connected on the cross beam 2. Specifically, each support 1 comprises two vertical fixedly installed legs 11 on a base (not shown in the drawing) or the ground, and a horizontal beam 12 horizontally fixedly installed on the two legs 11, and the two ends of the cross beam 2 are fixedly arranged on the horizontal beam 12.

[0030] Referring to the drawings, Figure 2 , 3 The quick change mechanism 3 comprises a support plate 31, a support arm 32, a support rod 33, a mounting plate 34, a quick change male disc 35, a quick change female disc 36, and a fixing plate 37.

[0031] The support plate 31 is detachably and horizontally fixedly connected on the cross beam 2, and the support arms 32 are formed on the two sides of the support plate 31 extending outwardly from the cross beam 2, and the two support arms 32 and the support plate 31 are in U-shaped structure, that is, the two support arms 32 are oppositely arranged and the space between the two support arms 32 and the support plate 31 forms a clearance cavity 38.

[0032] Further, in order to facilitate the adjustment of the relative position of the support plate 31 on the cross beam 2, thereby adjusting the relative position of the plurality of quick change mechanisms 3 on the cross beam 2, in this embodiment, two support plate through holes 311 are formed on the support plate 31, and a sliding groove 21 with an upper end opening is formed on the cross beam 2 along the length direction thereof, the width of the upper end opening of the sliding groove 21 is smaller than the width inside the sliding groove 21, and an adjusting block 22 matched with the sliding groove 21 is slidably arranged in the sliding groove 21, that is, the width of the adjusting block 22 is greater than the width of the upper end opening of the sliding groove 21, an adjusting bolt 23 is arranged in the support plate through hole 311 and is threadedly connected in the adjusting block 22, and by tightening the adjusting bolt 23, the upper end face of the adjusting block 22 abuts against the inner wall of the upper end of the sliding groove 21, thereby fixing the support plate 31 at a certain position on the cross beam 2. Of course, the cross beam 2, the leg 11 and the horizontal beam 12 can be selected as profile structures, and the adjusting block 22 can be slidably arranged in the cross beam 2 of the profile structure.

[0033] The support rods 33 are horizontally fixedly connected to the support plate 31 and the two support arms 32 towards the inner side thereof. In the embodiment, one first support rod 331 can be arranged on the support plate 31, and one second support rod 332 can be arranged on each of the two support arms 32. The first support rod 331 and the second support rods 332 extend into the accommodation cavity 38 so as to support the mounting plate 34 in the accommodation cavity 38.

[0034] The first support rod 331 and the second support rods 332 can be directly horizontally fixedly installed on the support plate 31 and the two support arms 32 by bolts or other existing structures. In the embodiment, in order to limit the first support rod 331 and the second support rod 332 and facilitate installation, support grooves one 312 and support grooves two 321 are respectively arranged on the support plate 31 and the support arms 32. The first support rod 331 and the second support rod 332 are respectively fixedly arranged in the corresponding support grooves one 312 and support grooves two 321.

[0035] Referring to FIGS. Figure 4 6 In order to improve the stability of the connection between the first support rod 331 and the second support rod 332 and the support grooves one 312 and the support grooves two 321, limit planes one 3331 and limit planes two 3321 are arranged on the outer circumferences of the first support rod 331 and the second support rod 332 along the axial direction thereof, i.e., the limit planes one 3331 and the limit planes two 3321 are formed by cutting off part of the circumferences of the first support rod 331 and the second support rod 332. Thus, when the first support rod 331 and the second support rod 332 are respectively arranged in the support grooves one 312 and the support grooves two 321, the limit planes one 3331 and the limit planes two 3321 respectively abut against the groove bottoms of the support grooves one 312 and the support grooves two 321.

[0036] Further, in order to facilitate the fixed installation of the support rods 33 on the support plate 31 and the support arms 32, in the embodiment, a connecting plane one 3312 is arranged on the outer circumference of the first support rod 331 away from the limit planes one 3331, and a connecting plane two 3322 is arranged on the outer circumference of the second support rod 332 away from the limit planes two 3321. The lengths of the connecting plane one 3312 and the connecting plane two 3322 are respectively less than the lengths of the corresponding first support rod 331 and the second support rod 332.

[0037] ​Further, a plurality of connecting holes 313 are formed along the length direction of the support groove one 312 and the support groove two 321 respectively, in this embodiment, two connecting holes 313 are arranged along the length direction of the support groove one 312 and the support groove two 321 respectively, support rod through holes 333 are formed on the connecting plane one 312 and the connecting plane two 3322 respectively, mounting bolts 334 are arranged in the support rod through holes 333 and are screwed in the corresponding connecting holes 313 to fix and connect the first support rod 331 and the second support rod 332 in the corresponding support groove one 312 and the support groove two 321.

[0038] Further, the support rod through holes 333 on the first support rod 331 are arranged in multiple along the length direction of the first support rod 331, in this embodiment, two support rod through holes 333 are arranged.

[0039] Referring to Figure 8 The axes of the first support rod 331 and the second support rod 332 coincide with the axes of the corresponding limiting grooves 341 respectively, that is, the front ends of the first support rod 331 and the second support rod 332 are arranged in the corresponding limiting grooves 341 respectively, so that the mounting plate 34 can be detachably arranged on the support rod 33. In order to facilitate the support rod 33 to enter the limiting groove 341 quickly, the edges on both sides of the limiting groove 341 are connected with the lower end surface of the mounting plate 34 in a circular arc transition.

[0040] Referring to Figure 2 , 5 The quick-change female disc 36 is fixedly connected to the upper end surface of the mounting plate 34 by bolts, the fixed plate 37 is fixedly connected to the end of the mechanical arm (not shown in the figure) by bolts, the quick-change male disc 35 is fixedly connected to the lower end surface of the fixed plate 37 by bolts, and the quick-change male disc 35 and the quick-change female disc 36 can be coupled and decoupled.

[0041] In this embodiment, the quick-change male disc 35, the quick-change female disc 36 and other required auxiliary structures such as a mechanical locking mechanism, a gas source and pipeline, a control unit and the like can be selected from existing structures, such as a WOMMER robot end effector TK-160 and the like, the quick-change male disc 35 and the quick-change female disc 36 can be quickly coupled and decoupled by a pneumatic device to complete tool exchange, and one quick-change male disc 35 can be selectively connected with any number of quick-change female discs 36.

[0042] The working principle and process of this embodiment are as follows:

[0043] A certain number of support plates 31 of quick change mechanism 3 are installed on crossbeam 2, and the distance between each quick change mechanism 3 is adjusted as needed, then the adjusting bolt 23 on each quick change mechanism 3 is tightened; according to the size of mounting plate 34, the length of first support rod 331 and second support rod 332 extending into the accommodation cavity 38 is adjusted (by inserting mounting bolt 334 into support rod through hole 333 and screwing into different connecting holes 313 respectively); different function grabbing mechanisms are fixed on the lower end surface of each mounting plate 34 through bolts, and quick change female plate 36 is fixed on the upper end surface of each mounting plate 34, and the mounting plate 34 with grabbing mechanism is erected on the corresponding support rod 33, as shown in Figure 1

[0044] The fixed plate 37 is fixed on the end of the mechanical arm, and the quick change male plate 35 is fixed on the fixed plate 37. When the mechanical arm needs to replace the grabbing mechanism, first, the mechanical arm drives the installed grabbing mechanism into the accommodation cavity 38, and the mounting plate 34 is erected on the corresponding support rod 33, then the quick change male plate 35 is separated from the quick change female plate 36; then, the mechanical arm drives the quick change male plate 35 to move above the corresponding quick change female plate 36 of the quick change mechanism to be used, the mechanical arm drives the quick change male plate 35 to move down to couple and fixedly combine the quick change male plate 35 and the quick change female plate 36, and the mechanical arm can drive the selected grabbing mechanism to move up out of the accommodation cavity 38 for use.

[0045] Although the embodiments of the utility model have been shown and described, it can be understood by those skilled in the art that various changes, modifications, replacements and variations can be made to these embodiments without departing from the principles and spirits of the utility model, the scope of the utility model is defined by the appended claims and their equivalents.​

Claims

1. A mechanical arm end quick change mechanism, comprising two opposite arranged supports, a crossbeam fixedly arranged on the supports, characterized in that: A plurality of quick-change mechanisms are detachably and fixedly connected to the cross beam; The quick-change mechanism comprises a support plate detachably and horizontally fixedly connected to the cross beam, support arms formed by extending outward from both sides of the support plate, and support rods horizontally fixedly connected to the inner sides of the support plate and the two support arms; An installation plate is further included, and a circular-arc-shaped limiting groove matching the support rods is formed in the lower end surface of the installation plate, and the installation plate is arranged on the support rods through the limiting groove; A quick-change female disc is fixedly connected to the upper end surface of the installation plate, a fixed plate is fixedly connected to the end of the mechanical arm, and a quick-change male disc is fixedly connected to the lower end surface of the fixed plate, and the quick-change male disc and the quick-change female disc can be coupled and decoupled.

2. The quick-change mechanism of the end of a robot arm according to claim 1, characterized in that: Support grooves are formed in the support plate and the support arms, respectively, and the support rods are fixedly embedded in the corresponding support grooves.

3. The quick-change mechanism of the end of a robot arm according to claim 2, characterized in that: A limiting plane is arranged on the outer circumference of the support rod along the axial direction of the support rod, and the limiting plane abuts against the groove bottom of the support groove when the support rod is embedded in the support groove.

4. The quick-change mechanism of the end of a robot arm according to claim 3, characterized in that: A connecting plane is arranged on the outer circumference of the support rod away from the limiting plane, and the length of the connecting plane is less than the length of the support rod.

5. The quick change mechanism of the end of a robot arm according to claim 4, characterized in that: A plurality of connecting holes are formed in the support groove along the length direction of the support groove, and a support rod through hole is formed in the connecting plane, a mounting bolt is embedded in the support rod through hole and is threadedly connected in a corresponding connecting hole to fixedly connect the support rod in the support groove.

6. The quick-change mechanism of the end of a robot arm according to claim 5, characterized in that: The support rod through hole is provided with a plurality of support rod through holes along the length direction of the support rod.

7. The quick change mechanism of the end of a robot arm according to claim 1, characterized in that: The edges of the limiting groove on both sides are circularly and transitionally connected to the lower end surface of the installation plate.

8. The quick change mechanism of the end of a robot arm according to claim 1, characterized in that: A support plate through hole is formed in the support plate, a sliding groove is formed in the cross beam along the length direction of the cross beam, an adjusting block is slidably embedded in the sliding groove, and an adjusting screw is embedded in the support plate through hole and is threadedly connected in the adjusting block to fixedly connect the support plate to the cross beam.

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