Six-axis manipulator with replaceable clamping head

Abstract

The utility model discloses a six-axis manipulator with a replaceable clamping head, which comprises a six-axis manipulator body, the tail end of the six-axis manipulator body is provided with a tail end moving shaft, the tail end of the tail end moving shaft is connected with the clamping head, and a connecting structure is arranged between the tail end moving shaft and the clamping head. A connecting structure composed of a lower sleeving disc body and an upper sleeving disc body is welded to the tail end of a clamping head, the lower sleeving disc body and the upper sleeving disc body are hinged, a butt-joint mounting disc is arranged at the tail end of a tail end movable shaft of a six-axis mechanical arm body, the butt-joint mounting disc is arranged in a cavity of the lower sleeving disc body, and the butt-joint mounting disc is arranged in the cavity of the lower sleeving disc body. When the clamping head and the movable shaft are assembled and disassembled, the upper sleeving disc body and the lower sleeving disc body are closed, then a bolt and nut fastener is used for fixing the lower sleeving disc body and the upper sleeving disc body, or a buckle is used for fixing the upper sleeving disc body and the lower sleeving disc body, and therefore the clamping head and the movable shaft can be assembled and disassembled more rapidly.

Description

TECHNICAL FIELD

[0001] The utility model relates to six -axis manipulator technical field, concretely is a six -axis manipulator of replaceable clamping head. BACKGROUND

[0002] Mechanical arm is the earliest appearance industrial robot, also is the earliest appearance modern robot, it can replace the heavy labor of people to realize the mechanization and automation of production, can operate in harmful environment to protect the safety of the human body, thus is widely used in machinery manufacturing, metallurgy, electron, light industry and atomic energy department, wherein six -axis manipulator is most common.

[0003] The end moving shaft of the existing six -axis manipulator and the clamping head are fixedly connected through a plurality of bolts, therefore the disassembly of the clamping head and the end moving shaft of the six -axis manipulator is very inconvenient, therefore the fixing structure between the clamping head and the end moving shaft of the six -axis manipulator needs to be improved. UTILITY MODEL CONTENT

[0004] In view of the problems existing in the prior art, the utility model is provided.

[0005] Therefore, the utility model aims at providing a six -axis manipulator of replaceable clamping head, which solves the problem that the end moving shaft of the existing six -axis manipulator and the clamping head are fixedly connected through a plurality of bolts, therefore the disassembly of the clamping head and the end moving shaft of the six -axis manipulator is very inconvenient, therefore the fixing structure between the clamping head and the end moving shaft of the six -axis manipulator needs to be improved.

[0006] To solve the above technical problem, according to one aspect of the utility model, the utility model provides the following technical scheme:

[0007] A six -axis manipulator of replaceable clamping head, including six -axis manipulator body, the end of six -axis manipulator body has end moving shaft, the end of end moving shaft is connected with clamping head, and the connecting structure is arranged between end moving shaft and clamping head, and the fixing between end moving shaft and clamping head is realized through connecting structure.

[0008] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the connecting structure includes lower sleeveing disc body, the top of the lower sleeveing disc body is hingedly connected with upper sleeveing disc body, the connecting structure further includes the butt joint mounting disc integrally possessed by the terminal movable shaft, the terminal movable shaft is sleeved in the cavity formed between lower sleeveing disc body and upper sleeveing disc body, and fixed structure is jointly installed between lower sleeveing disc body and upper sleeveing disc body;First semicircular notch and second semicircular notch for terminal movable shaft to pass through are respectively formed in lower sleeveing disc body and upper sleeveing disc body.

[0009] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the lower sleeveing disc body and the upper sleeveing disc body are jointly connected with hinge at the terminal.

[0010] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the lower sleeveing disc body has first accommodating cavity, the upper sleeveing disc body has second accommodating cavity, the butt joint mounting disc is located in the cavity jointly formed by the first accommodating cavity and the second accommodating cavity, and the inner wall of lower sleeveing disc body and upper sleeveing disc body is abutting against the butt joint mounting disc.

[0011] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the inner cavity bottom wall of the first accommodating cavity is provided with limiting embedding groove, and the outer wall of the butt joint mounting disc is integrally provided with limiting embedding plug;The limiting embedding plug is inserted into the limiting embedding groove, so that the butt joint mounting disc and the lower sleeveing disc body cannot rotate relative to each other.

[0012] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the lower sleeveing disc body is welded on the clamping head, the thickness of the upper sleeveing disc body is less than the thickness of the lower sleeveing disc body, and there is a gap between the upper sleeveing disc body and the clamping head.

[0013] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the fixed structure includes first butt joint block welded on the lower sleeveing disc body and second butt joint block welded on the upper sleeveing disc body, inner thread holes are formed in the corresponding positions of the first butt joint block and the second butt joint block, and the first butt joint block and the second butt joint block are fixed by bolt and nut fastener.

[0014] As a kind of preferred scheme of the six-axis manipulator of replaceable clamping head described in the utility model, wherein: the fixed structure includes female buckle fixedly installed on the lower sleeveing disc body and male buckle fixedly installed on the upper sleeveing disc body, and the female buckle and the male buckle are clamped.

[0015] Compared with the prior art:

[0016] By welding the connecting structure composed of the lower sleeved disc body and the upper sleeved disc body at the end of the clamping head, and hinging the lower sleeved disc body and the upper sleeved disc body, and setting the butt joint mounting disc at the end of the end moving shaft of the six-axis mechanical hand body, the butt joint mounting disc is placed in the cavity of the lower sleeved disc body, the upper sleeved disc body is closed with the lower sleeved disc body, and then a bolt and nut fastener is used to fix the lower sleeved disc body and the upper sleeved disc body, or a buckle is used to fix the upper sleeved disc body and the lower sleeved disc body, so that the disassembly and assembly between the clamping head and the moving shaft is faster. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 The structure schematic view provided for the embodiment 1 of the utility model;

[0018] Figure 2 The structure schematic view provided for the embodiment 1 of the utility model; Figure 1 The partial enlarged view of the structure schematic view provided for the embodiment 1 of the utility model;

[0019] Figure 3 The enlarged view of the end of the end moving shaft provided for the embodiment 1 of the utility model;

[0020] Figure 4 The side view of the butt joint mounting disc provided for the embodiment 1 of the utility model;

[0021] Figure 5 The side view of the connecting structure provided for the embodiment 1 of the utility model;

[0022] Figure 6 The structure schematic view provided for the embodiment 1 of the utility model; Figure 5 The top view of the lower sleeved disc body in the structure schematic view provided for the embodiment 1 of the utility model;

[0023] Figure 7 The structure schematic view provided for the embodiment 1 of the utility model; Figure 5 The bottom view of the lower sleeved disc body in the structure schematic view provided for the embodiment 1 of the utility model;

[0024] Figure 8 The side view of the connecting structure provided for the embodiment 2 of the utility model.

[0025] In the figure: six-axis mechanical hand body 1, end moving shaft 2, butt joint mounting disc 21, limiting embedded plug 211, connecting structure 3, lower sleeved disc body 31, first containing cavity 311, first semicircular notch 312, limiting embedded groove 313, upper sleeved disc body 32, second containing cavity 321, second semicircular notch 322, hinge 33, second butt joint block 34, first butt joint block 35, bolt and nut fastener 36, male buckle 37, female buckle 38, clamping head 100. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical scheme and advantages of the utility model more clear, the embodiments of the utility model will be further described in detail below with reference to the drawings.

[0027] Embodiment 1

[0028] The utility model provides a six -axis manipulator of replaceable clamping head, please refer to Figures 1-7 , including six -axis manipulator body 1, six -axis manipulator body 1's end has end moving shaft 2, the end of end moving shaft 2 is connected with clamping head 100, and end moving shaft 2 and clamping head 100 between there is connecting structure 3, and the fixed between end moving shaft 2 and clamping head 100 is realized through connecting structure.

[0029] Connecting structure 3 includes the lower sleeve setting disc body 31, and the top end of lower sleeve setting disc body 31 is hinged with upper sleeve setting disc body 32, specifically, the end of lower sleeve setting disc body 31 and upper sleeve setting disc body 32 is connected with hinge 33 in common, and connecting structure 3 also includes the docking installation disc 21 that end moving shaft 2 end has integrally, and end moving shaft 2 is set in the cavity formed between lower sleeve setting disc body 31 and upper sleeve setting disc body 32, and fixing structure is installed in common between lower sleeve setting disc body 31 and upper sleeve setting disc body 32;Lower sleeve setting disc body 31 and upper sleeve setting disc body 32 are respectively provided with first semicircular notch 312 and second semicircular notch 322 for end moving shaft 2 to pass through.

[0030] Lower sleeve setting disc body 31 has first accommodating cavity 311, and upper sleeve setting disc body 32 has second accommodating cavity 321, and docking installation disc 21 is located in the cavity formed by first accommodating cavity 311 and second accommodating cavity 321 in common, and the inner wall of lower sleeve setting disc body 31 and upper sleeve setting disc body 32 is all abutting docking installation disc 21.

[0031] The inner cavity bottom wall of first accommodating cavity 311 is provided with limiting embedding groove 313, and the outer wall of docking installation disc 21 is integrally provided with limiting embedding plug 211;Limiting embedding plug 211 is inserted into limiting embedding groove 313, so that docking installation disc 21 and lower sleeve setting disc body 31 do not rotate relative to each other.

[0032] Lower sleeve setting disc body 31 is welded on clamping head 100, and the thickness of upper sleeve setting disc body 32 is less than the thickness of lower sleeve setting disc body 31, and there is a gap between upper sleeve setting disc body 32 and clamping head 100, so that upper sleeve setting disc body 32 can rotate in the presence of hinge 33, so that upper sleeve setting disc body 32 and lower sleeve setting disc body 31 open and close.

[0033] The fixed structure comprises a first butt joint block 35 welded on the lower sleeving disc body 31 and a second butt joint block 34 welded on the upper sleeving disc body 32, the first butt joint block 35 and the second butt joint block 34 are both provided with internally threaded holes at corresponding positions, and the first butt joint block 35 and the second butt joint block 34 are fixed through a bolt-nut fastener 36, so that only one bolt is needed when the end assembly clamping head 100 of the six-axis mechanical hand body 1 is assembled on the end moving shaft 2, thereby making the disassembly and assembly more convenient.

[0034] In specific use, the butt joint mounting disc 21 at the end of the end moving shaft 2 is inserted into the first accommodating cavity 311, the limiting embedded plug-in block 211 is inserted into the limiting embedded groove 313, the upper sleeving disc body 32 is rotated to be closed with the lower sleeving disc body 31, and the second butt joint block 34 and the first butt joint block 35 are fixed through the bolt-nut fastener 36.

[0035] Embodiment 2:

[0036] Refer to the accompanying drawings Figure 8 Different from embodiment 1, the fixed structure comprises a female buckle 38 fixedly installed on the lower sleeving disc body 31 and a male buckle 37 fixedly installed on the upper sleeving disc body 32, and the female buckle 38 and the male buckle 37 are clamped; at this time, the opening and closing between the lower sleeving disc body 31 and the upper sleeving disc body 32 are simpler, and the assembly speed of the clamping head 100 is further improved.

[0037] Although the present application has been described with reference to the embodiments above in the foregoing description, it is to be understood that various modifications can be made without departing from the scope of the present application. In particular, the features of the disclosed embodiments can be used in any combination, and the combinations are not limited to those specifically disclosed. Thus, the present application is not intended to be limited to the specific embodiments mentioned herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A six-axis manipulator with replaceable gripping head, comprising a six-axis manipulator body (1), the end of the six-axis manipulator body (1) having an end moving shaft (2), the end of the end moving shaft (2) being connected with a gripping head (100), characterized in that: The connecting structure (3) is arranged between the end movable shaft (2) and the clamping head (100), and the end movable shaft (2) and the clamping head (100) are fixed through the connecting structure. The connecting structure (3) comprises a lower sleeving disc body (31), the top end of the lower sleeving disc body (31) is hingedly connected with an upper sleeving disc body (32), the connecting structure (3) further comprises a docking mounting disc (21) which is integrally arranged at the end of the end movable shaft (2), the end movable shaft (2) is sleeved in a cavity formed between the lower sleeving disc body (31) and the upper sleeving disc body (32), and a fixing structure is jointly arranged between the lower sleeving disc body (31) and the upper sleeving disc body (32); a first semicircular notch (312) and a second semicircular notch (322) are respectively formed in the lower sleeving disc body (31) and the upper sleeving disc body (32) and used for allowing the end movable shaft (2) to pass through.

2. The six-axis robot with interchangeable heads of claim 1, wherein, The lower sleeving disc body (31) and the upper sleeving disc body (32) are hingedly connected at the ends.

3. The six-axis robot with interchangeable heads of claim 2, wherein, The lower sleeving disc body (31) has a first accommodating cavity (311), the upper sleeving disc body (32) has a second accommodating cavity (321), the docking mounting disc (21) is located in a cavity formed by the first accommodating cavity (311) and the second accommodating cavity (321), and the inner walls of the lower sleeving disc body (31) and the upper sleeving disc body (32) abut against the docking mounting disc (21).

4. The six-axis robot of claim 3, wherein, A limiting embedded groove (313) is formed in the inner wall of the first accommodating cavity (311), and a limiting embedded plug (211) is integrally arranged on the outer wall of the docking mounting disc (21); the limiting embedded plug (211) is inserted into the limiting embedded groove (313), so that the docking mounting disc (21) and the lower sleeving disc body (31) cannot rotate relative to each other.

5. The six-axis robot of claim 3, wherein, The lower sleeving disc body (31) is welded to the clamping head (100), the thickness of the upper sleeving disc body (32) is smaller than that of the lower sleeving disc body (31), and a gap is formed between the upper sleeving disc body (32) and the clamping head (100).

6. The six-axis robot of claim 2, wherein, The fixing structure comprises a first docking block (35) welded to the lower sleeving disc body (31) and a second docking block (34) welded to the upper sleeving disc body (32), internal thread holes are formed in the corresponding positions of the first docking block (35) and the second docking block (34), and the first docking block (35) and the second docking block (34) are fixed through a bolt and nut fastener (36).

7. The six-axis robot of claim 2, wherein, The fixing structure comprises a female buckle (38) fixedly installed on the lower sleeving disc body (31) and a male buckle (37) fixedly installed on the upper sleeving disc body (32), and the female buckle (38) and the male buckle (37) are clamped.

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