Mechanical arm reloading device and mechanical arm

Abstract

The utility model provides a mechanical arm reloading device and a mechanical arm, relates to the technical field of robots, and aims to solve the problem that a tail end tool is inconvenient to replace. The mechanical arm reloading device comprises a locking assembly, a mechanical arm mounting assembly and a tail end tool mounting assembly, the mechanical arm mounting assembly is used for being mounted on a mechanical arm body, the tail end tool mounting assembly is used for mounting a tail end tool, and the mechanical arm mounting assembly and the tail end tool mounting assembly are in sliding connection in the first direction; the locking assembly is sequentially inserted into the mechanical arm mounting assembly and the tail end tool mounting assembly, and the locking assembly is configured to penetrate through the mechanical arm mounting assembly to be inserted into the tail end tool mounting assembly and then can be prevented from being disengaged from the tail end tool mounting assembly in the second direction perpendicular to the first direction. The convenience of replacing a tail end tool can be improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, specifically, relate to a kind of mechanical arm refitting device and mechanical arm. BACKGROUND

[0002] In the current industrial production, mechanical arm is widely used. In order to increase the compatibility of equipment, the mechanical arm of the same equipment often needs to match multiple working scenes, which leads to the end tool of the mechanical arm needing to be replaced frequently in the production process. The existing quick-change mechanism has high cost, poor positioning accuracy, large occupied volume, and low service life.

[0003] For example, if the quick refitting device of the mechanical arm adopts automatic locking, it not only has a large volume, but also has high cost. If a public thread connecting piece is used for locking, it often needs the help of a tool, and the switching time is long, which is not convenient. After multiple quick changes, the public thread connecting piece is prone to fatigue and damage, which reduces the service life of the quick-change mechanism. SUMMARY

[0004] The first aspect of the utility model aims to provide a mechanical arm refitting device to solve the technical problem of inconvenient replacement of end tools.

[0005] The mechanical arm refitting device provided by the first aspect of the utility model includes a locking assembly, a mechanical arm mounting assembly and an end tool mounting assembly. The mechanical arm mounting assembly is used to mount on the mechanical arm body. The end tool mounting assembly is used to mount the end tool. The mechanical arm mounting assembly and the end tool mounting assembly are connected in the first direction. The locking assembly is inserted into the mechanical arm mounting assembly and the end tool mounting assembly in sequence. The locking assembly is configured to prevent the locking assembly from being separated from the end tool mounting assembly in the second direction perpendicular to the first direction after being inserted into the end tool mounting assembly through the mechanical arm mounting assembly.

[0006] The mechanical arm refitting device has the following beneficial effects:

[0007] By setting the mechanical arm mounting assembly and the end tool mounting assembly that can slide relative to each other, the combination and separation of the two can be achieved by their relative sliding in the first direction. By preventing the locking assembly from being separated from the end tool mounting assembly after being inserted into the end tool mounting assembly, the locking assembly can lock the mechanical arm mounting assembly and the end tool mounting assembly in the first direction, thereby preventing the mechanical arm mounting assembly and the end tool mounting assembly from being separated and improving the fixing reliability. By sliding the mechanical arm mounting assembly and the end tool mounting assembly and using the locking assembly to lock the two, the connection or disassembly efficiency of the two is improved, and the convenience of replacing the end tool is improved.

[0008] In an optional technical solution, the end tool mounting assembly comprises a fixedly connected end tool mounting plate and a first sliding member, one end of the first sliding member away from the end tool mounting plate has a dimension in a third direction greater than that of the other end of the first sliding member connected to the end tool mounting plate, the third direction is perpendicular to the first direction and perpendicular to the second direction; the mechanical arm mounting assembly comprises a fixedly connected mechanical arm connecting member and a second sliding member, the second sliding member is adapted to the first sliding member.

[0009] In an optional technical solution, the locking assembly comprises a press-type spring positioning pin, the press-type spring positioning pin comprises a radial extension part capable of extending radially along the press-type spring positioning pin; the end tool mounting assembly is provided with a positioning space comprising a first through hole and a receiving part at one end of the first through hole, the inner diameter of the receiving part is greater than that of the first through hole and is used for accommodating the radial extension part; the second sliding member is provided with a second through hole, the first through hole and the second through hole are oppositely arranged and are both penetrated by the press-type spring positioning pin, the diameter of the first through hole is smaller than the outer diameter of the radial extension part when the radial extension part is popped out.

[0010] In an optional technical solution, the second through hole is arranged on the second sliding member along the first direction.

[0011] In an optional technical solution, the second sliding member is provided with a threaded through hole extending along the third direction, a jackscrew is threadedly connected in the threaded through hole, and the jackscrew abuts against the press-type spring positioning pin.

[0012] In an optional technical solution, the mechanical arm changing device further comprises an elastic positioning member, the elastic positioning member comprises a positioning body and an axial extension part capable of extending the positioning body in the second direction under the action of elasticity, and the positioning body is fixedly connected to the second sliding member; the first sliding member is provided with a positioning recess, the positioning recess is correspondingly arranged with the elastic positioning member, and the axial extension part abuts against the positioning recess.

[0013] In an optional technical solution, the elastic positioning member is arranged on the second sliding member in a rectangular shape.

[0014] In an optional technical solution, the second sliding member is fixedly connected to a limiting blocking member at one end in the first direction, and the limiting blocking member is used for blocking the movement of the first sliding member relative to the second sliding member.

[0015] In an optional technical solution, the first sliding member is provided with a notch part at one end in the first direction, and the notch part accommodates the limiting blocking member.

[0016] The second aspect of this utility model is to provide a robotic arm to solve the technical problem of inconvenience in changing end-effectors.

[0017] The robotic arm provided in the second aspect of this utility model includes the aforementioned robotic arm changing device.

[0018] By incorporating the aforementioned robotic arm changing device into the robotic arm, the robotic arm gains all the advantages of the aforementioned robotic arm changing device, which will not be elaborated upon here. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments or background art of this utility model, the drawings used in the description of the embodiments or background art will be briefly introduced below. Obviously, the drawings described below are only embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0020] Figure 1 A schematic diagram of the robotic arm changing device provided in an embodiment of this utility model.

[0021] Figure 2 This is a cross-sectional view of the robotic arm changing device provided in an embodiment of the present invention. The cut-off position is located by a pressing spring positioning pin.

[0022] Figure 3 A schematic diagram of the structure of the first sliding member in the robotic arm changing device provided in this embodiment of the utility model.

[0023] Figure 4 A schematic diagram of the structure of the second sliding member in the robotic arm changing device provided in this embodiment of the utility model.

[0024] Figure 5 A schematic diagram of the elastic positioning component in the robotic arm changing device provided in this embodiment of the utility model.

[0025] Figure 6 This is a cross-sectional view of the robotic arm changing device provided in an embodiment of the present invention, with the cutting position determined by an elastic positioning member.

[0026] Explanation of reference numerals in the attached figures:

[0027] 100 - Locking assembly; 110 - Press-type spring positioning pin; 111 - Radial extension; 112 - Button;

[0028] 200 - Robotic arm mounting assembly; 210 - Robotic arm connector; 220 - Second sliding member; 221 - Second through hole; 222 - Threaded through hole;

[0029] 300 - End-tool mounting assembly; 310 - End-tool mounting plate; 311 - Receiving portion; 320 - First slider; 321 - First through hole; 322 - Positioning recess; 323 - Notch;

[0030] 400 - Elastic positioning element; 410 - Positioning body; 420 - Axial extension. Detailed Implementation

[0031] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of this utility model and are not intended to limit it.

[0032] Example 1:

[0033] Figure 1 A schematic diagram of the robotic arm changing device provided in an embodiment of this utility model. Figure 2 This is a cross-sectional view of the robotic arm changing device provided in an embodiment of the present invention. The sectioning point is located by a pressing spring positioning pin. Figures 1-2 As shown, the robotic arm mounting device provided in Embodiment 1 of this utility model includes a locking component 100, a robotic arm mounting component 200, and an end-effector mounting component 300. The robotic arm mounting component 200 is used to mount on the robotic arm body (not shown in the figure), and the end-effector mounting component 300 is used to mount an end-effector (not shown in the figure). The robotic arm mounting component 200 and the end-effector mounting component 300 are slidably connected along a first direction. The locking component 100 is sequentially inserted into the robotic arm mounting component 200 and the end-effector mounting component 300, and the locking component 100 is configured to prevent the locking component 100 from disengaging from the end-effector mounting component 300 along a second direction perpendicular to the first direction after it passes through the robotic arm mounting component 200 and is inserted into the end-effector mounting component 300.

[0034] By configuring a robotic arm mounting assembly 200 and an end-effector mounting assembly 300 that can slide relative to each other, their connection and separation can be achieved through relative sliding along a first direction. Furthermore, by using a locking component 100 inserted into the end-effector mounting assembly 300 to prevent itself from detaching, the locking component 100 locks the robotic arm mounting assembly 200 and the end-effector mounting assembly 300 in the first direction, thereby preventing them from disengaging and improving the reliability of the fixation. Using a sliding connection between the robotic arm mounting assembly 200 and the end-effector mounting assembly 300 and locking them with the locking component 100 improves the efficiency of connection and disassembly and enhances the convenience of replacing the end-effector.

[0035] The first direction is the X direction shown in the diagram, and the second direction is the Y direction shown in the diagram. The third direction, which will be discussed later, is the Z direction shown in the diagram.

[0036] Figure 3 A schematic diagram of the structure of the first sliding member in the robotic arm changing device provided in this embodiment of the utility model. Figure 4 A schematic diagram of the structure of the second sliding member in the robotic arm changing device provided in this embodiment of the utility model. Figures 1-4 As shown, optionally, the end-effector mounting assembly 300 includes a fixedly connected end-effector mounting plate 310 and a first slider 320. The dimension of the end of the first slider 320 away from the end-effector mounting plate 310 in a third direction is greater than the dimension of the end of the first slider 320 connected to the end-effector mounting plate 310 in a third direction. The third direction is perpendicular to the first direction and perpendicular to the second direction. The robotic arm mounting assembly 200 includes a fixedly connected robotic arm connector 210 and a second slider 220. The second slider 220 is adapted to the first slider 320.

[0037] With this configuration, when the first slider 320 tends to move away from the robotic arm connector 210, the end of the first slider 320 away from the end tool mounting plate 310 can be blocked by the end of the second slider 220 away from the robotic arm connector 210, which can prevent the first slider 320 and the second slider 220 from falling off in the second direction, thereby achieving direct positioning of the first slider 320 and the second slider 220 in the second direction.

[0038] In this embodiment, the second slider 220 is provided with a T-shaped groove, and the first slider 320 is adapted to the T-shaped groove. The T-shaped cross-section of the T-shaped groove is perpendicular to the first direction. Of course, in another implementation, the groove provided on the second slider 220 can be a dovetail groove, and correspondingly, the first slider 320 can be a dovetail-shaped slider.

[0039] Specifically, in this embodiment, the robotic arm connector 210, the second sliding member 220, the first sliding member 320, and the end-effector mounting plate 310 are arranged approximately in sequence. The robotic arm connector 210 includes a columnar connecting portion, which can be connected to the robotic arm body (not shown in the figure). The end-effector mounting plate 310 has mounting holes of various arrangements and sizes for mounting corresponding end-effectors.

[0040] Figure 5 A schematic diagram of the elastic positioning component in the robotic arm changing device provided in this embodiment of the utility model. Figures 1-5As shown, optionally, the locking assembly 100 includes a press-type spring positioning pin 110, which includes a radially extending portion 111 that can extend radially along the press-type spring positioning pin 110; the end tool mounting assembly 300 is provided with a positioning space, which includes a first through hole 321 and a receiving portion 311 located at one end of the first through hole 321. The inner diameter of the receiving portion 311 is larger than the inner diameter of the first through hole 321 and is used to receive the radially extending portion 111; the second sliding member 220 is provided with a second through hole 221, the first through hole 321 and the second through hole 221 are arranged opposite to each other and are both passed through by the press-type spring positioning pin 110, and the diameter of the first through hole 321 is smaller than the outer diameter of the radially extending portion 111 when it pops out.

[0041] By providing a receiving portion 311 with an inner diameter larger than that of the first through hole 321, the receiving portion 311 can accommodate the radially protruding portion 111. When the radially protruding portion 111 passes through the first through hole 321 in the direction from the second through hole 221 to the first through hole 321 and then pops out radially along the pressing spring positioning pin 110, its outer diameter is larger than the diameter of the first through hole 321. Therefore, the pressing spring positioning pin 110 will not be pulled out of the first through hole 321, thereby preventing the locking assembly 100 from failing. When the locking assembly 100 needs to be unlocked, the button 112 on the top of the pressing spring positioning pin 110 can be pressed to retract the radially protruding portion 111, thereby releasing the locking function of the pressing spring positioning pin 110 and facilitating the sliding of the first sliding member 320 relative to the second sliding member 220 in the first direction.

[0042] After the first slider 320 is installed relative to the second slider 220, the first through hole 321 and the second through hole 221 are positioned opposite each other. More specifically, the inner diameters of the first through hole 321 and the second through hole 221 are equal, and both are positioned by a press-type spring positioning pin 110 passing through them. The receiving portion 311 can be a through hole in the end tool mounting plate 310, or a blind hole in the end tool mounting plate 310 facing the first slider 320.

[0043] like Figure 4 As shown, optionally, the second through hole 221 is arranged along the first direction on the second slider 220.

[0044] By arranging the second through hole 221 along the first direction on the second sliding member 220, the press-type spring positioning pin 110 can be arranged along the first direction on the second sliding member 220. This ensures that the press-type spring positioning pin 110 fixes the first sliding member 320 and the second sliding member 220 along the first direction. With the matching of the first sliding member 320 and the second sliding member 220, the positioning accuracy after they are fixed is further improved.

[0045] In this embodiment, the two second through holes 221 are located on both sides of the robotic arm connector 210.

[0046] like Figure 2 and Figure 4 As shown, optionally, the second sliding member 220 is provided with a threaded through hole 222 extending in a third direction, and a set screw is threadedly connected in the threaded through hole 222, the set screw abutting against the pressing spring positioning pin 110.

[0047] By setting a threaded through hole 222 to connect the set screw with a threaded connection, and using the set screw to press the spring positioning pin 110, the spring positioning pin 110 can be further fixed, thereby preventing the spring positioning pin 110 from coming out of the first sliding member 320 and the second sliding member 220.

[0048] The threaded through hole 222 does not necessarily mean that the thread is provided along the entire length of the hole. For example, the internal thread can be provided in the area of ​​the threaded through hole 222 near the press-type spring positioning pin 110, while a smooth hole with a diameter larger than the internal thread diameter is formed in the area of ​​the threaded through hole 222 away from the press-type spring positioning pin 110.

[0049] Figure 6 This is a cross-sectional view of the robotic arm changing device provided in an embodiment of the present invention, with the cutting position determined by an elastic positioning member. For example... Figure 1 , Figure 3 and Figure 6 As shown, optionally, the robotic arm changing device also includes an elastic positioning member 400. The elastic positioning member 400 includes a positioning body and an axially extending portion 420 that can extend out of the positioning body 410 in a second direction under elastic action. The positioning body is fixedly connected to the second sliding member 220. The first sliding member 320 is provided with a positioning recess 322, which is correspondingly provided with the elastic positioning member 400. The axially extending portion 420 abuts against the positioning recess 322.

[0050] Since the elastic positioning member 400 has an axially protruding part 420 that extends out of the positioning body 410 in the second direction under elastic action, when the axially protruding part 420 abuts against the positioning recess 322, it does not directly and rigidly abut against the positioning recess 322 under the action of the thread, but pushes the axially protruding part 420 under the action of elastic action. This can significantly reduce the force when the axially protruding part 420 abuts, significantly reduce the fatigue speed of the elastic positioning member 400, increase the service life of the robotic arm changing device, and still ensure positioning accuracy under the pre-tightening force of the elastic positioning member 400.

[0051] Specifically, the second sliding member 220 may be provided with a through hole having an internal thread, while the positioning body 410 is provided with an external thread. The positioning body 410 is fixed to the second sliding member 220 by the threaded connection between the external thread and the internal thread. The upper surface of the positioning recess 322 may be an inner conical surface, while the axial extension 420 may be spherical. When the spherical axial extension 420 abuts against the inner conical surface, self-centering can be achieved between the two.

[0052] like Figure 1 As shown, optionally, the elastic positioning element 400 is arranged in a rectangle on the second sliding element 220.

[0053] With this configuration, the four corners of the second slider 220 can be positioned relative to the first slider 320.

[0054] In this embodiment, the second slider 220 is also rectangular when viewed from a top view, and the elastic positioning members 400 are distributed near the four corners of the second slider 220.

[0055] like Figure 1 and Figure 3 As shown, optionally, a limiting stop (not shown in the figure) is fixedly connected to one end of the second slider 220 in the first direction. The limiting stop is used to block the movement of the first slider 320 relative to the second slider 220.

[0056] By setting a limiting stop, the sliding limit position of the first slider 320 relative to the second slider 220 can be limited during the relative sliding process of the first slider 320 relative to the second slider 220, that is, during the assembly process of the robotic arm mounting assembly 200 and the end tool mounting assembly 300. This prevents the first slider 320 from moving too far relative to the second slider 220, or even from coming off the other end of the second slider 220.

[0057] The limiting stop can be a male threaded connector, and a threaded hole can be provided on the second sliding member 220 to allow the male threaded connector to pass through and partially protrude, thereby blocking the movement of the first sliding member 320 in the T-shaped groove. More specifically, the limiting stop can be provided at the bend below the T-shaped groove.

[0058] like Figure 3 As shown, optionally, the first sliding member 320 has a notch 323 at one end in the first direction, and the notch 323 accommodates the limiting blocking member.

[0059] By setting the notch 323, the limiting and blocking component can be accommodated, which can reduce the volume of the first sliding component 320 and help control the overall volume of the robotic arm changing device.

[0060] In this embodiment, since two limiting and blocking members arranged along the third direction are provided on the second sliding member 220, two notches 323 are correspondingly provided at one end of the first sliding member 320 in the first direction to match the two limiting and blocking members.

[0061] Example 2:

[0062] Embodiment 2 also provides a robotic arm, including the aforementioned robotic arm changing device.

[0063] By incorporating the aforementioned robotic arm changing device into the robotic arm, the robotic arm gains all the advantages of the aforementioned robotic arm changing device, which will not be elaborated upon here.

[0064] While the present invention has been disclosed above, it is not limited thereto. Any person skilled in the art can make various modifications and alterations without departing from the spirit and scope of the present invention; therefore, the scope of protection of the present invention should be determined by the scope defined in the claims.

[0065] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprising" or any other variations thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0066] In the above embodiments, descriptions of directions such as "up" and "down" are based on the accompanying drawings.

[0067] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention.

[0068] Therefore, this invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robotic arm changing device, characterized in that, The device includes a locking assembly (100), a robotic arm mounting assembly (200), and an end-effector mounting assembly (300). The robotic arm mounting assembly (200) is used to mount on the robotic arm body, and the end-effector mounting assembly (300) is used to mount an end-effector. The robotic arm mounting assembly (200) and the end-effector mounting assembly (300) are slidably connected along a first direction. The locking assembly (100) is sequentially inserted into the robotic arm mounting assembly (200) and the end-effector mounting assembly (300), and the locking assembly (100) is configured to prevent the locking assembly (100) from disengaging from the end-effector mounting assembly (300) along a second direction perpendicular to the first direction after it is inserted through the robotic arm mounting assembly (200) into the end-effector mounting assembly (300).

2. The robotic arm changing device according to claim 1, characterized in that, The end-effector mounting assembly (300) includes a fixedly connected end-effector mounting plate (310) and a first slider (320). The dimension of the end of the first slider (320) away from the end-effector mounting plate (310) in a third direction is greater than the dimension of the end of the first slider (320) connected to the end-effector mounting plate (310) in the third direction. The third direction is perpendicular to the first direction and perpendicular to the second direction. The robotic arm mounting assembly (200) includes a fixedly connected robotic arm connector (210) and a second slider (220). The second slider (220) is adapted to the first slider (320).

3. The robotic arm changing device according to claim 2, characterized in that, The locking assembly (100) includes a press-type spring positioning pin (110), which includes a radial extension (111) that can extend radially along the press-type spring positioning pin (110). The end tool mounting assembly (300) is provided with a positioning space, which includes a first through hole (321) and a receiving portion (311) located at one end of the first through hole (321). The inner diameter of the receiving portion (311) is larger than the inner diameter of the first through hole (321) and is used to receive the radial extension (111). The second slider (220) is provided with a second through hole (221). The first through hole (321) and the second through hole (221) are arranged opposite to each other and are both passed through by the press-type spring positioning pin (110). The diameter of the first through hole (321) is smaller than the outer diameter of the radial extension (111) when it pops out.

4. The robotic arm changing device according to claim 3, characterized in that, The second through hole (221) is arranged on the second slider (220) along the first direction.

5. The robotic arm changing device according to claim 3, characterized in that, The second sliding member (220) is provided with a threaded through hole (222) extending along the third direction, and a set screw is threadedly connected in the threaded through hole (222), and the set screw abuts against the pressing spring positioning pin (110).

6. The robotic arm changing device according to claim 2, characterized in that, The robotic arm changing device further includes an elastic positioning element (400), which includes a positioning body (410) and an axially extending portion (420) that can extend out of the positioning body (410) along the second direction under elastic action. The positioning body (410) is fixedly connected to the second sliding member (220). The first sliding member (320) is provided with a positioning recess (322), which is correspondingly provided with the elastic positioning element (400), and the axially extending portion (420) abuts against the positioning recess (322).

7. The robotic arm changing device according to claim 6, characterized in that, The elastic positioning element (400) is arranged in a rectangle on the second sliding element (220).

8. The robotic arm changing device according to any one of claims 2-7, characterized in that, The second slider (220) is fixedly connected to a limiting stop at one end in the first direction. The limiting stop is used to block the movement of the first slider (320) relative to the second slider (220).

9. The robotic arm changing device according to claim 8, characterized in that, The first sliding member (320) has a notch (323) at one end in the first direction, and the notch (323) accommodates the limiting blocking member.

10. A robotic arm, characterized in that, The robotic arm includes the robotic arm changing device according to any one of claims 1-9.

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