Quick disassembly and assembly structure of mechanical arm

Abstract

The utility model provides a quick disassembly and assembly structure of a mechanical arm, and belongs to the technical field of industrial mechanical arms. The structure mainly comprises a barrel-shaped connecting part, a connecting ring, a connecting column and an elastic supporting piece, one end of the barrel-shaped connecting part is used for being connected with the tail end of the mechanical arm, and the other end of the barrel-shaped connecting part is used for being connected with an end effector; the connecting ring is used for being detachably connected with the end, away from the mechanical arm, of the cylindrical connecting part. One end of the connecting column is used for extending into the connecting ring to be quickly connected with the connecting ring, and the other end of the connecting column is provided with a clamping groove used for being connected with the end effector so as to be connected with the end effector in a clamped mode. The elastic supporting piece is arranged in the cylindrical connecting part, one end of the elastic supporting piece is used for pressing the mechanical arm, and the other end of the elastic supporting piece is used for pressing the connecting column. The dismounting and mounting process of the mechanical arm and the end effector is greatly simplified, the replacement efficiency is improved, potential safety hazards caused by adsorption of metal objects are avoided, and the mechanical arm has the advantages of high efficiency, safety, reliability and the like, and has wide application prospects in the field of industrial mechanical arms.

Description

TECHNICAL FIELD

[0001] The utility model belongs to industrial mechanical arm technical field, concretely relates to a quick dismounting structure of mechanical arm. BACKGROUND

[0002] A mechanical arm is an automatic device that can imitate the action of a human arm. It is usually composed of multiple joints and links and can move in three-dimensional space. These joints can be rotary joints (similar to human elbow joints) or translational joints (similar to human arm extension). The movement of the mechanical arm is achieved through motor, hydraulic or pneumatic driving.

[0003] The end effector of a mechanical arm is a tool installed at the end of the mechanical arm. It directly contacts the work object and completes various operation tasks. It is like a human hand. Different tasks require different types of "hands".

[0004] The mechanical arm and the end effector cooperate with each other. The mechanical arm provides a platform for the end effector to move. It can accurately move the end effector to the working position. The end effector is the key component of the mechanical arm to complete various tasks. It determines the specific function of the mechanical arm.

[0005] The existing mechanical arm and end effector are often connected and operated complicatedly, which is not suitable for some work scenes that require disassembly and replacement of the end effector (for example, the end effector of the mechanical arm needs to be frequently replaced in a car manufacturing plant). The invention patent with document number CN112454406A shows the installation method through a latch. The structure is simple, but in the scene where the end effector of the mechanical arm needs to be quickly replaced, the disassembly and assembly process is complicated, which affects the work efficiency. The utility model patent with document number CN212399634U directly adsorbs and connects with the robot mounting disc through a replacement module with a strong magnet. Although it can quickly realize the connection and replacement of the end effector, metal objects may be attracted, causing serious danger, which makes this method not suitable for widespread use, especially in dangerous operation processes. The robot needs to perform the task of quickly and safely disassembling the end effector device in a dangerous environment.

[0006] Therefore, it is necessary to provide an improved technical solution for the above-mentioned deficiencies of the prior art. UTILITY MODEL CONTENT

[0007] The utility model aims to provide a quick dismounting structure of a mechanical arm to solve the technical problem that the existing mechanical arm and end effector cannot be quickly disassembled.

[0008] In order to achieve the above-mentioned purpose, the quick dismounting structure of the mechanical arm of the utility model provides the following technical solutions:

[0009] A quick dismounting structure of a mechanical arm, comprising:

[0010] A cylindrical connecting component, one end of which is used for connecting with the end of the mechanical arm, and the other end of which is used for connecting with an end effector;

[0011] A connecting ring, which is used for detachably connecting with the end of the cylindrical connecting component away from the mechanical arm;

[0012] A connecting column, one end of which is used for extending into the connecting ring for quick connection, and the other end of which is provided with a clamping groove for connecting with the end effector to be clamped with the end effector;

[0013] An elastic supporting member, which is arranged inside the cylindrical connecting component, one end of which is used for pressing the mechanical arm, and the other end of which is used for pressing the connecting column;

[0014] The inner side wall of the connecting ring is circumferentially provided with a first connecting structure, and the outer side wall of the connecting column is provided with a second connecting structure, after the second connecting structure of the connecting column extends into the cylindrical connecting component along the first connecting structure, the connecting column is relatively rotated with the connecting ring, so that the first connecting structure and the second connecting structure are staggered with each other, and the elastic supporting member presses the connecting column to make the second connecting structure press the end of the connecting ring to realize the limiting of the connecting column.

[0015] As a further optimized technical solution, the connecting ring has an integrated limiting section and a guide section, the guide section is arranged at the end away from the cylindrical connecting component, and the inner diameter of the guide section is greater than that of the limiting section, so as to facilitate the extension of the connecting column into the connecting ring.

[0016] As a further optimized technical solution, the first connecting structure is a sliding groove arranged at intervals on the limiting section, and the second connecting structure is a protrusion matched with the sliding groove.

[0017] As a further optimized technical solution, the sliding groove is arranged along the axial direction.

[0018] As a further optimized technical solution, the end of the connecting column for extending into the connecting ring is arranged in a truncated conical shape.

[0019] As a further optimized technical solution, the elastic supporting member is a spiral spring.

[0020] As a further optimized technical solution, the diameter of the spiral spring is close to the inner diameter of the cylindrical connecting component, and the spiral spring presses the connecting column through a push plate.

[0021] As a further optimized technical solution, an internal thread is arranged inside the cylindrical connecting component, and the internal thread is matched with an external thread on the mechanical arm.

[0022] As a further optimized technical solution, the connecting ring is externally provided with external threads, and the part of the connecting ring extending into the cylindrical connecting component is threadedly matched with the cylindrical connecting component.

[0023] As a further optimized technical solution, the side wall of the cylindrical connecting component is provided with a wire passing hole.

[0024] Beneficial effects:

[0025] (1) Through the cooperation of the cylindrical connecting component, the connecting ring, the connecting column and the elastic support, a stable and efficient connecting system is constructed, the two ends of the cylindrical connecting component are respectively matched with the mechanical arm and the end effector, and the effective transmission of force is ensured; the detachable connection of the connecting ring and the cylindrical connecting component, and the quick connection mechanism of the connecting column and the connecting ring lay a foundation for subsequent quick disassembly while ensuring the connection strength. The elastic support continuously provides stable pressure to ensure the close fit between the connecting column and the connecting ring, effectively prevents the connection from loosening due to vibration, impact and other factors during the operation of the mechanical arm, and greatly improves the stability and reliability of the overall structure.

[0026] (2) The unique first connecting structure and the second connecting structure design make it only need a simple relative rotation operation after the connecting column extends into the connecting ring, so as to realize the quick locking and unlocking of the two, compared with the traditional bolt type connection, without the cumbersome plug-in and plug-out steps of the bolt, greatly saving the operation time, in the scene of automobile manufacturing factory and other places where the end effector needs to be frequently replaced, the equipment downtime can be greatly reduced, and the production efficiency is improved.

[0027] (3) Compared with the strong magnet adsorption connection mode, the utility model completely avoids the safety hazards caused by adsorbing surrounding metal objects, in dangerous operation environment, such as chemical industry, electric power and other fields, there is no risk of equipment failure, short circuit and even explosion caused by accidental adsorption of metal objects, which not only guarantees the personal safety of the operator, but also ensures the stable operation of the equipment, and provides a strong guarantee for the safety production of enterprises.

[0028] (4) The quick disassembly structure of the utility model has good universality and adaptability, and can be widely used in various types of mechanical arms, whether it is a large mechanical arm on an industrial production line or a small precision mechanical arm in scientific research experiments, the quick and stable end effector replacement can be realized by adjusting the structure size and parameters, in addition, the structure can also be flexibly matched with various types of end effectors according to different operation requirements, further expanding the application range of the mechanical arm, and providing the possibility for the efficient application of the mechanical arm in more fields.

[0029] (5) due to the simple and fast disassembly and assembly process, in the daily maintenance of the mechanical arm, maintenance and the repair and replacement process of the end effector, the artificial cost and time cost can be greatly reduced, at the same time, the stable and reliable connecting structure also reduces the equipment damage risk caused by the connection problem, reduces the equipment maintenance cost and the cost of replacing parts, reduces the operating cost of the enterprise, and improves the market competitiveness. BRIEF DESCRIPTION OF DRAWINGS

[0030] The drawings accompanying the specification of this application form a part thereof, serve to provide further understanding of the present application, and together with the description of the exemplary embodiments of the present application, serve to explain the present application, and do not constitute an improper limitation on the present application. Among them:

[0031] Fig. 1 It is an exploded view of an embodiment of the present application;

[0032] Fig. 2 It is an overall assembly schematic view of an embodiment of the present application;

[0033] Fig. 3 It is a cross-sectional view of an embodiment of the present application.

[0034] In the figure: 1, cylindrical connecting part; 11, wire hole; 2, connecting ring; 21, first connecting structure; 22, limiting section; 23, guide section; 3, connecting column; 31, clamping groove; 32, second connecting structure; 4, elastic support; 5, push plate. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present application will be described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art belong to the scope of protection of the present application.

[0036] In the description of the present application, the orientation or positional relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application, not requiring the present application to be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the present application. The terms "connected", "connected" used in the present application should be understood broadly, for example, it can be fixed connection, or detachable connection; it can be directly connected, or indirectly connected through intermediate parts. For those skilled in the art, the specific meaning of the above terms can be understood according to the specific circumstances.

[0037] The utility model will be explained in detail below with reference to the drawings and in combination with the embodiments. It should be noted that the embodiments in the utility model and the features in the embodiments can be combined with each other without conflict.

[0038] The shape and size of each component in the drawings do not reflect the true proportion of the product, and the purpose is only to illustrate the content of the utility model.

[0039] The utility model provides a quick dismounting structure of mechanical arm, greatly simplifies the dismounting process of mechanical arm and end effector, improves the replacement efficiency greatly, satisfies the demand of quick replacement end effector in actual production, and compared with the connection mode such as strong magnet adsorption, the structure effectively avoids the security risk caused by adsorbing metal articles, has higher safety and reliability, and has wide application prospect in the field of industrial mechanical arm.

[0040] Embodiment 1

[0041] As Figs. 1-3 The quick dismounting structure of mechanical arm includes cylindrical connecting component 1, connecting ring 2, connecting column 3 and elastic supporting piece 4.

[0042] The cylindrical connecting component 1 plays the role of connecting, one end is used for being stably connected with the end of mechanical arm, and the other end provides the interface for connecting end effector. The connecting ring 2 and the one end of the cylindrical connecting component 1 away from the mechanical arm adopt the detachable connection mode, which is convenient for disassembling and replacing when needed. One end of the connecting column 3 can be quickly inserted into the connecting ring 2 to realize the quick connection of the two, and the clamping groove 31 at the other end can be tightly clamped with the end effector (the clamping can be the common mechanical buckle type clamping or the mortise and tenon cooperation type clamping), so as to ensure the stability of the connection. The elastic supporting piece 4 is arranged in the cylindrical connecting component 1, and the two ends thereof are pressed against the mechanical arm and the connecting column 3 respectively, so as to provide the necessary pressure for the whole connecting structure and ensure the reliability of the connection.

[0043] Especially crucially, four first connecting structures 21 are uniformly and spacedly distributed on the inner side wall of the connecting ring 2, and the second connecting structure 32 is correspondingly arranged on the outer side wall of the connecting column 3. When the second connecting structure 32 of the connecting column 3 is inserted into the cylindrical connecting component 1 along the first connecting structure 21, the first connecting structure 21 and the second connecting structure 32 are staggered by relatively rotating the connecting column 3, and at this time, the elastic supporting piece 4 is pressed against the connecting column 3, so that the second connecting structure 32 tightly presses the end of the connecting ring 2, thereby realizing the firm location of the connecting column 3.

[0044] Further, the connecting ring 2 is integrally provided with a limiting section 22 and a guiding section 23, the guiding section 23 is arranged at the end away from the cylindrical connecting component 1, and the inner diameter of the guiding section 23 is larger than that of the limiting section 22, so that the connecting column 3 can slide along the guiding section 23 when being inserted into the connecting ring 2, thereby facilitating the extension of the connecting column 3 into the connecting ring 2.

[0045] Further, the first connecting structure 21 is a sliding groove arranged on the limiting section 22, and the second connecting structure 32 is a protrusion matched with the sliding groove, so that when the connecting column 3 is extended into the connecting ring 2 until the protrusion completely exceeds the end of the connecting ring 2, the connecting column 3 can be limited in the cylindrical connecting component 1 by slightly rotating the connecting column 3 to stagger the protrusion and the sliding groove, and the operation is very convenient.

[0046] Further, in order to facilitate the placement of the connecting column 3, the sliding groove is arranged in the axial direction.

[0047] Further, the end of the connecting column 3 arranged to extend into the connecting ring 2 is in the shape of a truncated cone, so that the diameter of the end of the connecting column 3 is smaller, thereby facilitating the insertion of the connecting column 3 into the connecting ring 2.

[0048] In the embodiment, the elastic supporting member 4 is a coil spring, and in order to avoid axial deformation when being pressed, the diameter of the coil spring is close to the inner diameter of the cylindrical connecting component 1, and in order to avoid the coil spring being directly sleeved on the connecting column 3 and failing to push the connecting column 3, a pushing plate 5 is arranged between the coil spring and the connecting column 3, and the coil spring pushes the connecting column 3 through the pushing plate 5.

[0049] Further, the inside of the cylindrical connecting component 1 is provided with an internal thread matched with an external thread on the mechanical arm, and the outside of the connecting ring 2 is provided with an external thread, and the part of the connecting ring 2 extending into the cylindrical connecting component 1 is threadedly connected with the cylindrical connecting component 1.

[0050] Further, the side wall of the cylindrical connecting component 1 is provided with a wire hole 11, which is mainly used for providing a channel for transmitting various cables between the mechanical arm and the end effector.

[0051] The working principle of the utility model is as follows:

[0052] Firstly, the cylindrical connecting component 1 is threadedly connected with the end of the mechanical arm through the internal thread in the cylindrical connecting component 1 and the external thread on the end of the mechanical arm, so as to ensure firm connection.

[0053] When a new end effector needs to be installed, the connecting column 3 with the truncated cone-shaped end is aligned with the guide section 23 of the connecting ring 2, and the connecting column 3 can be smoothly inserted due to the larger inner diameter of the guide section 23 than the inner diameter of the limiting section 22. During the insertion process, the protrusions on the outer side wall of the connecting column 3 slide along the sliding groove on the limiting section 22 of the connecting ring 2. When the connecting column 3 is fully inserted, the connecting column 3 is rotated so that the protrusions are misaligned with the sliding groove. At this time, the helical spring inside the cylindrical connecting component 1 is compressed by the push plate 5 to tightly press the protrusions against the end of the limiting section 22 of the connecting ring 2, achieving reliable limiting of the connecting column 3. Finally, the connecting part of the end effector is clamped with the clamping groove 31 on the other end of the connecting column 3, and the entire installation process is completed.

[0054] When the end effector needs to be removed, the connecting ring 2 is rotated in the opposite direction so that the protrusions are aligned with the sliding groove, and under the action of the helical spring, the connecting column 3 is partially ejected, making it easier for the operator to pull out the connecting column 3 from the connecting ring 2 and then easily remove the end effector. The entire process is simple and quick, greatly improving production efficiency while ensuring the safety of the operation.

[0055] It can be understood that the above description is only exemplary, and the embodiments of the present application do not limit this.

[0056] The above is only a preferred embodiment of the present application and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application is within the scope of the claims of the present application.

Claims

1. A quick detachable structure of a robot arm, characterized by, The utility model relates to a connecting device for connecting a robot arm and an end effector, comprising: a cylindrical connecting part (1) having one end for connecting with the robot arm and the other end for connecting with the end effector; a connecting ring (2) for detachably connecting with the one end of the cylindrical connecting part (1) away from the robot arm; a connecting column (3) having one end for extending into the connecting ring (2) and the other end having a clamping groove (31) for connecting with the end effector; a spring support (4) arranged inside the cylindrical connecting part (1) and having one end for pressing against the robot arm and the other end for pressing against the connecting column (3); the inner wall of the connecting ring (2) is circumferentially provided with a first connecting structure (21), and the outer wall of the connecting column (3) is provided with a second connecting structure (32), and after the second connecting structure (32) of the connecting column (3) extends into the cylindrical connecting part (1) along the first connecting structure (21), the connecting column (3) is relatively rotated with the connecting ring (2) so that the first connecting structure (21) and the second connecting structure (32) are staggered with each other, and the spring support (4) presses against the connecting column (3) to make the second connecting structure (32) press against the end of the connecting ring (2) to limit the connecting column (3).

2. The quick detach structure of a robot arm according to claim 1, wherein, The connecting ring (2) has a limiting section (22) and a guiding section (23) integrally connected, the guiding section (23) is arranged at the end away from the cylindrical connecting part (1), and the inner diameter of the guiding section (23) is greater than that of the limiting section (22) to facilitate the extension of the connecting column (3) into the connecting ring (2).

3. The quick detach structure of a robot arm according to claim 2, wherein, The first connecting structure (21) is a sliding groove arranged on the limiting section (22) at intervals, and the second connecting structure (32) is a protrusion matched with the sliding groove.

4. The quick detach structure of a robot arm according to claim 3, wherein, The sliding groove is arranged along the axial direction.

5. The quick detach structure of a robot arm according to claim 1, wherein, The end of the connecting column (3) for extending into the connecting ring (2) is arranged in a truncated conical shape.

6. The quick detach structure of a robot arm according to claim 1, wherein, The spring support (4) is a spiral spring.

7. The quick detach structure of a robot arm according to claim 6, wherein, The diameter of the spiral spring is close to the inner diameter of the cylindrical connecting part (1), and the spiral spring presses against the connecting column (3) through a push plate (5).

8. The quick detach structure of a robotic arm according to claim 1, wherein, The inside of the cylindrical connecting part (1) is provided with an internal thread matched with an external thread on the robot arm.

9. The quick detach structure of a robotic arm according to claim 8, wherein, The outside of the connecting ring (2) is provided with an external thread, and the part of the connecting ring (2) extending into the cylindrical connecting part (1) is threadedly matched with the cylindrical connecting part (1).

10. The quick detach structure of the mechanical arm according to any one of claims 1-9, characterized in that, The side wall of the cylindrical connecting part (1) is provided with a wire hole (11).

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