Manipulator disassembling and assembling structure

Abstract

The utility model discloses a manipulator dismounting structure, and relates to the field of logistics. The manipulator dismounting structure solves the problems that an existing manipulator dismounting structure is tedious in dismounting process and prone to connection failure after being used for a long time. A flange sleeve is sleeved on an installation column of the manipulator, an elastic cushion block is installed in the sleeve, a plurality of positioning strip bodies are processed on the installation column, and spline grooves in the sleeve are connected with the positioning strip bodies in an inserted mode. A plurality of inserting holes are formed in the lower portion of the sleeve, a limiting clamping block is inserted into each inserting hole, and when the upper end face of one end of each limiting clamping block is inserted into the corresponding inserting hole, the mounting column extrudes the elastic cushion block to generate elastic deformation and ejects the mounting column upwards till the limiting clamping blocks are clamped to the lower end face of the positioning strip body, and then the mounting column is reset; the other ends of the multiple limiting clamping blocks are installed on the two clamping rings, and when the two clamping rings are oppositely arranged and connected into a circular ring in a clamped mode, one-time simultaneous insertion of the multiple limiting clamping blocks is achieved. The quick dismounting device is used for quickly dismounting the tail end of the mechanical arm and the manipulator.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic logistics technical field, concretely relates to a mechanical hand dismounting structure for the quick dismounting between robot arm and mechanical hand. BACKGROUND

[0002] The mechanical hand dismounting structure helps to realize the quick switching of the mechanical arm between different carrying and sorting tasks, and improves the efficiency of logistics management.

[0003] Commonly used mechanical hands generally adopt modular design, and each component (such as a joint, a connecting rod and an end effector) can be independently disassembled and replaced. The advantage is that maintenance and upgrading are facilitated, downtime is reduced, and flexibility is improved. However, for the logistics field, a quick connector (such as a buckle, magnetic attraction and threaded connection) is used to realize the quick dismounting of the components. The purpose is to significantly shorten the dismounting time and improve the efficiency.

[0004] The existing dismounting structure of the mechanical hand mainly connects the end of the mechanical arm through an installation plate, and the lower part of the installation plate is provided with a dismounting structure that fixes the mechanical hand. For example, the utility model with the announcement number CN 213140507 U and the patent name of a mechanical hand convenient to install and dismount is fixed and connected with a limiting block by penetrating the top of the installation column into the inner cavity of the installation shell in the radial direction. The connecting block prevents displacement of the connecting column in the horizontal direction and also plays a role in positioning the installation of the mechanical hand. At the same time, in the axial direction of the mechanical hand installation column, the card plate is clamped in the groove of the installation column. When searching for and determining the groove, it is necessary to make a mark in advance. For the mechanical hand that has been used for many times or has been worn out, the staff needs to try to turn around during the installation process in order to clamp the card plate in the groove. Moreover, due to this limiting method, the installation column and the card plate are prone to disconnection after long-term use, especially when the mechanical hand clamps heavy objects, the connecting column is the part that is most prone to breakage under shear force, thereby causing safety hazards. In addition, during the replacement of the mechanical hand, the fixed sleeve needs to be screwed and locked.

[0005] In summary, the existing mechanical hand dismounting structure has the problems of complicated dismounting process and connection failure after long-term use. UTILITY MODEL CONTENTS

[0006] The utility model aims to solve the problems of complicated dismounting process and connection failure after long-term use of the existing mechanical hand dismounting structure. Furthermore, a mechanical hand dismounting structure is provided.

[0007] The technical scheme of the utility model is:

[0008] The mechanical hand dismounting structure comprises a flange sleeve, an elastic pad, a plurality of limiting blocks and two clamping rings. The flange sleeve comprises a flange plate and a sleeve, the flange plate is coaxially installed on the sleeve and is made in one piece, and a plurality of equidistantly arranged spline grooves are formed in the sleeve along the axial direction. The flange sleeve is sleeved on the mounting column of the mechanical hand, the elastic pad is installed in the sleeve and located between the upper end surface of the mounting column and the lower end of the flange plate, a plurality of positioning strips are equidistantly processed on the outer circumferential sidewall of the mounting column along the axial direction, the spline grooves in the sleeve are inserted with the positioning strips to limit the rotation of the mounting column in the circumferential direction, a plurality of insertion holes are formed in the lower part of the sleeve in the form of annular array, and one limiting block is inserted and installed in each insertion hole. When the upper end surface of one end of the limiting block is inserted into the insertion hole, the elastic pad is elastically deformed and the mounting column is lifted upward by the elastic pad, until the limiting block is clamped on the lower end surface of the positioning strip and the mounting column is reset, so that the movement of the mounting column in the axial direction is limited. The other end of the plurality of limiting blocks is installed on the two clamping rings, and when the two clamping rings are oppositely arranged and clamped into a ring, the plurality of limiting blocks are inserted at one time. In the clamping ring, the lower part of the sleeve is located on the outside of the lower part of the sleeve.

[0009] Preferably, the elastic pad is a cylindrical rubber pad.

[0010] Further, one end of the limiting block is provided with a protruding clamping part, the front end of the protruding clamping part is provided with a first inclined surface inclined downward to the side close to the mounting column, and a second inclined surface inclined downward to the side away from the mounting column, and the shape of the lower end of the positioning strip matches the first inclined surface and the second inclined surface.

[0011] Further, the rear end of the limiting block is provided with a third inclined surface inclined downward to the side close to the mounting column.

[0012] Further, a let-go annular groove is formed in the inner sidewall of the lower end of the sleeve.

[0013] Further, a plurality of installation grooves are formed in the two clamping rings.

[0014] Further, a plurality of elastic lifting assemblies are installed in each installation groove, and the upper part of the elastic lifting assembly is arranged in the rear lower end surface of the limiting block.

[0015] Further, the elastic lifting assembly comprises a spring and a lifting pin, the lower part of the spring is fixedly installed in the installation groove, and the upper part of the spring is fixedly connected with the lifting pin.

[0016] Preferably, the upper end surface of the lifting pin is arc-shaped or conical.

[0017] Further, it also comprises a dismounting sleeve ring, which is installed on the outer circumferential sidewall of the sleeve, and the lower end face of the dismounting sleeve ring is a fourth inclined surface and is matched with the third inclined surface.

[0018] Compared with the prior art, the utility model has the following effects:

[0019] 1. The utility model discloses a quick dismounting and mounting between the mechanical arm end and the mechanical hand, which is mainly embodied in that a plurality of limiting blocks are installed on the clamping ring, when the mechanical hand is installed, only the flange plate is fixedly connected to the mechanical arm end, the positioning strip on the mounting column is aligned, the mounting column is inserted into the sleeve, then the two clamping rings are pushed to the center of the mounting column, and the plurality of limiting blocks can be clamped in the sleeve and contacted with the lower end face of the positioning strip. The whole installation process only needs to push to the center of the mounting column. When dismounting, the two clamping rings are pulled outward or the dismounting sleeve ring is pushed downward, and the dismounting distance only needs to meet the separation of the limiting block from the lower part of the positioning strip. Therefore, the quick dismounting and mounting of the mechanical hand can be realized by one push and one pull, which is more rapid compared with the common dismounting and mounting mode.

[0020] 2. The utility model discloses a clamping is more firm, and the structure is more stable, which is embodied in that in the circumferential direction, the displacement in the circumferential direction is limited by a plurality of positioning strips. In the vertical direction, the downward movement in the vertical direction (the axis of the mounting column) is limited by the clamping of the plurality of limiting blocks, so that the mechanical hand can bear the grabbing weight even if heavy objects are grabbed and transported, and the failure phenomenon of the mechanical hand falling is avoided. The limiting failure problem existing in the separate limiting mode (the connecting column in the background technology) is avoided. ACCURACY OF DRAWINGS

[0021] Figure 1 It is the state schematic view of the mechanical arm end and the mechanical hand before installation.

[0022] Figure 2 It is the whole structure schematic view of the mechanical arm end and the mechanical hand after installation by the utility model.

[0023] Figure 3 It is the isometric view of the utility model.

[0024] Figure 4 It is the three-dimensional structure schematic view of the utility model.

[0025] Figure 5 It is Figure 3 the front view.

[0026] Figure 6 It is Figure 5 the sectional view along A-A.

[0027] Figure 7 is Figure 5 sectional view along B-B.

[0028] Figure 8 is Figure 3 structure diagram after removing flange sleeve.

[0029] Figure 9 is Figure 3 structure diagram after removing dismounting sleeve.

[0030] Figure 10 is the schematic diagram of elastic lifting assembly and limiting block cooperation state.

[0031] In the figure: 1, flange sleeve, 1-1, flange, 1-2, sleeve, 1-3, spline groove, 1-4, insertion hole, 1-5, give way annular groove, 2, elastic pad, 3, limiting block, 3-1, protruding clamping part, 3-2, first inclined surface, 3-3, second inclined surface, 3-4, third inclined surface, 4, clamping ring, 5, installation groove, 6, spring, 7, ejector pin, 8, dismounting sleeve, 9, fourth inclined surface, S, mounting column, H, positioning strip. DETAILED DESCRIPTION

[0032] Specific implementation one: combined with Figures 1 to 10 This embodiment includes flange sleeve 1, elastic pad 2, multiple limiting blocks 3 and two clamping rings 4, flange sleeve 1 includes flange 1-1 and sleeve 1-2, flange 1-1 is coaxially installed on sleeve 1-2 and is made into an integral whole, multiple equidistantly arranged spline grooves 1-3 are formed in sleeve 1-2 along the axial direction; flange sleeve 1 is sleeved on the mounting column S of the mechanical hand, elastic pad 2 is installed in sleeve 1-2 and located between the upper end surface of mounting column S and the lower end of flange 1-1, multiple positioning strips H are equidistantly processed on the outer circumferential sidewall of mounting column S along the axial direction, the spline grooves 1-3 in sleeve 1-2 are inserted with positioning strips H to limit the rotation of mounting column S in the circumferential direction; multiple insertion holes 1-4 are formed in the lower part of sleeve 1-2 in the circumferential direction in the form of annular array, one limiting block 3 is inserted and installed in each insertion hole 1-4, and the upper end surface of one end of limiting block 3 is pressed and deformed elastically and lifts mounting column S upward when inserted into insertion hole 1-4, until limiting block 3 is clamped on the lower end surface of positioning strip H, and mounting column S is reset, realizing the limitation of the axial movement of mounting column S; the other end of multiple limiting blocks 3 is installed on two clamping rings 4, two clamping rings 4 are arranged oppositely and clamped into a ring, which realizes the one-time simultaneous insertion of multiple limiting blocks 3, wherein two clamping rings 4 are clamped on the outside of the lower part of sleeve 1-2.

[0033] The flange sleeve 1 of the embodiment is integrally formed in actual production. The flange 1-1 is mainly used for connection with the end of the mechanical arm. The spline groove 1-3 in the sleeve 1-2 cooperates with the positioning strip H to limit the rotation in the circumferential direction by means of the key, and this cooperation is more stable.

[0034] The limiting block 3 in the embodiment mainly limits the movement of the mounting column in the axial direction, specifically, limits the downward movement of the mounting column, and ensures that the robot does not cause unnecessary trouble when grabbing heavy objects (such as the robot grabbing height is the designed height, but the robot has a downward displacement in the axial direction, causing the knocking of the grabbed objects) due to the axial displacement error of the robot.

[0035] The two clamping rings 4 in the embodiment play a role in quickly installing the limiting block 3. In actual use, 6, 7 or 8 are preferred to avoid the problem of installing the limiting block 3 one by one, thereby effectively improving the efficiency of installing the robot.

[0036] Specific implementation method two: combined with Figure 6 and Figure 8 The embodiment is described. The elastic pad 2 of the embodiment is a cylindrical rubber pad. The design thickness of the elastic pad 2 is the distance between the upper end surface of the mounting column S and the lower end surface of the flange 1-1.

[0037] In this way, the cylindrical rubber pad cooperates with the spline groove on the sleeve 1-2. The reason for choosing a cylindrical rubber pad is that it has two functions. First, when the mounting column is pushed up by the limiting block, the cylindrical rubber pad can be compressed and deformed, and the deformation is not large enough to ensure the insertion of the limiting block. The second point is that when the cylindrical rubber pad deforms, the spline groove can provide a deformation space for the compression and deformation of the cylindrical rubber pad to ensure the smooth lifting of the mounting column. The other components and connection relationships are the same as those in the first specific embodiment.

[0038] In addition, when the limiting block is inserted and installed, the mounting column is rapidly lowered under the dual action of gravity and the elastic pad 2 recovering from elastic deformation, and the installation of the robot is quickly completed.

[0039] As an alternative to the embodiment, the elastic pad 2 is a compression spring, and the installation position of the compression spring is between the upper end surface of the mounting column S and the lower end surface of the flange 1-1. The compression spring can act as a buffer when the robot encounters an upward accidental force, thereby protecting the robot arm.

[0040] Specific implementation method three: combined with Figure 8The embodiment is described, one end of the limiting block 3 of the embodiment is provided with a protruding clamping part 3-1, the front end of the protruding clamping part 3-1 is provided with a first inclined surface 3-2 inclined downward to the side close to the mounting column S, and a second inclined surface 3-3 inclined downward to the side away from the mounting column S, and the shape of the lower end of the positioning strip body H matches the first inclined surface 3-2 and the second inclined surface 3-3.

[0041] In this way, the protruding clamping part 3-1 plays a role of guiding and upwardly lifting the positioning strip body during the insertion of the limiting block 3, and the second inclined surface 3-3 is mainly used for guiding and upwardly lifting the positioning strip body again during disassembly, so that the disassembly and assembly are smoothly performed, and the cooperating part is not worn; other components and connection relationships are the same as those in the first or second embodiment.

[0042] The fourth embodiment is described in combination with Figure 8 The embodiment is described, the rear end of the limiting block 3 of the embodiment is provided with a third inclined surface 3-4 inclined downward to the side close to the mounting column S.

[0043] In this way, it is used when disassembling the mechanical hand, when manually disassembling, the third inclined surface 3-4 is held by hand and pulled to both sides until the limiting block is pulled out and separated from the lower end of the positioning strip body, so that rapid disassembly can be realized. Other components and connection relationships are the same as those in any one of the first to third embodiments.

[0044] The fifth embodiment is described in combination with Figure 6 The embodiment is described, the lower end of the sleeve 1-2 is provided with an annular groove 1-5 on the inner side wall.

[0045] In this way, it is used for placing the disassembled limiting block. Other structures and components are the same as those in any one of the first to fourth embodiments.

[0046] The sixth embodiment is described in combination with Figure 8 The embodiment is described, a plurality of mounting grooves 5 are formed on the two clamping rings 4.

[0047] In this way, it is used for installing the elastic lifting assembly to limit the installation position of the limiting block. Other components and connection relationships are the same as those in any one of the first to third embodiments.

[0048] The seventh embodiment is described in combination with Figure 8 The embodiment is described, the embodiment further includes a plurality of elastic lifting assemblies, one elastic lifting assembly is installed in each mounting groove 5, and the upper part of the elastic lifting assembly is arranged on the lower end surface of the rear part of the limiting block 3.

[0049] Thus, the structure is simple, easy to realize, especially can assist the determination of the insertion position of the limiting block 3, and can prevent the limiting block 3 from falling due to misoperation. The other components and connection relationships are the same as any one of the first to sixth embodiments.

[0050] Specific embodiment eight: in combination Figure 8 and Figure 10 In this embodiment, the upper end of the top pin 7 is arc-shaped or conical.

[0051] Thus, the structure is stable, and the top pin 7 abuts against the limiting block 3 to limit the horizontal movement of the limiting block 3. The other components and connection relationships are the same as any one of the first to seventh embodiments.

[0052] Specific embodiment nine: in combination Figure 8 and Figure 10 In this embodiment, the upper end of the top pin 7 is arc-shaped or conical.

[0053] Thus, the resistance is relatively small when the mechanical hand is disassembled. The other components and connection relationships are the same as any one of the first to eighth embodiments.

[0054] Specific embodiment ten: in combination Figures 3 to 6 In this embodiment, the disassembly sleeve ring 8 is installed on the outer circumferential side wall of the sleeve 1-2, and the lower end face of the disassembly sleeve ring 8 is a fourth inclined surface 9 and is matched with the third inclined surface 3-4.

[0055] Thus, when the disassembly sleeve ring 8 slides downward along the installation column axis direction, the fourth inclined surface 9 extrudes the third inclined surface 3-4 to move outward, thereby realizing quick disassembly. The other components and connection relationships are the same as any one of the first to eighth embodiments.

[0056] In combination Figures 1 to 10 The working principle of the utility model is explained as follows:

[0057] The other end of the limiting block 3 is long strip-shaped, that is, without the third inclined surface 3-4. At this time, the plurality of limiting blocks 3 are first inserted into the insertion hole 1-4 from the inner cylinder of the sleeve 1-2 with the long strip-shaped head, thereby realizing the installation of the limiting block 3. The inner side wall or the upper end face of the two clamping rings 4 is fixedly connected with the limiting block 3, thereby realizing that the clamping ring 4 can be pushed to simultaneously install the plurality of limiting blocks 3. The flange plate on the flange sleeve is installed at the end of the mechanical arm, the elastic pad 2 is installed in the sleeve 1-2, and the installation column S is aligned with the position of the spline groove 1-3 and inserted upward, and finally the clamping ring 4 is pushed by both hands, thereby realizing the installation of the mechanical hand. When disassembled, the two clamping rings 4 are simultaneously pulled out.

[0058] When the other end of the limiting block 3 is a third inclined surface 3-4, a dismounting sleeve ring 8 is first sleeved on the outer circumference of the sleeve 1-2, at this time, the third inclined surface 3-4 can be an arc block with a longitudinal section in the shape of a triangle, the third inclined surface 3-4 is fixedly connected with the long strip-shaped part of the limiting block 3 or is inserted in the horizontal direction (preferably dovetail groove sliding insertion), then the clamping ring 4 is connected with the lower part of the third inclined surface 3-4 in a sliding insertion manner, at this time, the clamping ring 4, the third inclined surface 3-4 and the other end of the limiting block 3 form an integral whole. When the mechanical hand needs to be dismounted, only the dismounting sleeve ring 8 needs to be slid downward, the fourth inclined surface 9 of the dismounting sleeve ring 8 extrudes the third inclined surface 3-4 to push it outward and pull it apart, thereby achieving the dismounting of the mechanical hand.

[0059] The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A mechanical hand dismounting structure, characterized by: It includes flange sleeve (1), elastic pad (2), multiple limiting blocks (3) and two clamping rings (4), The flange sleeve (1) includes a flange plate (1-1) and a sleeve (1-2), the flange plate (1-1) is coaxially installed on the sleeve (1-2) and is made in one piece, and multiple equidistantly arranged spline grooves (1-3) are formed in the sleeve (1-2) along the axial direction; The flange sleeve (1) is sleeved on the mounting column (S) of the manipulator, the elastic pad (2) is installed in the sleeve (1-2) and located between the upper end surface of the mounting column (S) and the lower end of the flange plate (1-1), multiple positioning strips (H) are equidistantly processed on the outer circumferential sidewall of the mounting column (S) along the axial direction, and the spline grooves (1-3) in the sleeve (1-2) are inserted with the positioning strips (H) to limit the rotation of the mounting column (S) in the circumferential direction; Multiple insertion holes (1-4) are formed in the lower part of the sleeve (1-2) in the circumferential direction in the form of an annular array, one limiting block (3) is inserted in each insertion hole (1-4), and when the upper end surface of one end of the limiting block (3) is inserted into the insertion hole (1-4), the elastic pad (2) is elastically deformed by the extrusion of the mounting column (S) and the mounting column (S) is lifted upward until the limiting block (3) is clamped on the lower end surface of the positioning strip (H) and the mounting column (S) is reset, thereby limiting the axial movement of the mounting column (S); The other end of the multiple limiting blocks (3) is installed on the two clamping rings (4), and when the two clamping rings (4) are oppositely arranged and clamped into a ring, the multiple limiting blocks (3) are inserted at one time, wherein the two clamping rings (4) are located outside the lower part of the sleeve (1-2) after being clamped.

2. The mechanical hand dismounting structure according to claim 1, characterized in that: The elastic pad (2) is a cylindrical rubber pad.

3. The mechanical hand dismounting structure according to claim 2, characterized in that: One end of the limiting block (3) is provided with a protruding clamping part (3-1), the front end of the protruding clamping part (3-1) is provided with a first inclined surface (3-2) inclined downward toward the side close to the mounting column (S), and a second inclined surface (3-3) inclined downward away from the side close to the mounting column (S), and the shape of the lower end of the positioning strip (H) is matched with the first inclined surface (3-2) and the second inclined surface (3-3).

4. The mechanical hand dismounting structure according to claim 3, characterized in that: The rear end of the limiting block (3) is provided with a third inclined surface (3-4) inclined downward toward the side close to the mounting column (S).

5. The mechanical hand dismounting structure according to claim 4, characterized in that: A let-go annular groove (1-5) is formed in the inner sidewall of the lower end of the sleeve (1-2).

6. The mechanical hand dismounting structure according to claim 5, characterized in that: Multiple installation grooves (5) are formed on the two clamping rings (4).

7. The mechanical hand dismounting structure according to claim 6, characterized in that: It also includes multiple elastic lifting assemblies, one elastic lifting assembly is installed in each installation groove (5), and the upper part of the elastic lifting assembly is arranged on the rear lower end surface of the limiting block (3).

8. The mechanical hand dismounting structure according to claim 7, characterized in that: The elastic lifting assembly includes a spring (6) and a lifting pin (7), the lower part of the spring (6) is fixedly installed in the installation groove (5), and the upper part of the spring (6) is fixedly connected with the lifting pin (7).

9. The mechanical hand dismounting structure according to claim 8, characterized in that: The upper end surface of the lifting pin (7) is arc-shaped or conical.

10. The mechanical hand dismounting structure according to claim 9, characterized in that: It also includes a dismounting sleeve ring (8), the dismounting sleeve ring (8) is installed on the outer circumferential sidewall of the sleeve (1-2), and the lower end surface of the dismounting sleeve ring (8) is a fourth inclined surface (9) matched with the third inclined surface (3-4).

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