Multi-shaft mechanical arm switching assembly

Abstract

The utility model discloses a multi-shaft mechanical arm switching assembly, which relates to the technical field of multi-shaft mechanical arms and comprises a tail end arm connector and an actuator connecting seat. The tail end arm connector is provided with an outer cylinder, an inner cylinder and a pressure cavity, the pressure cavity is connected with a two-position three-way electromagnetic valve, the outer cylinder is provided with a guide pipe, and a piston in the guide pipe is connected with a positioning ball head; the actuator connecting seat comprises a sleeve and a base, and a guide groove in the inner wall of the sleeve is communicated with a spherical groove matched with the positioning ball head; in mechanical connection, the positioning ball head is matched with the spherical groove, the guide pipe is in sliding connection with the guide groove, the connection is rapid and stable, and the operation precision of the mechanical arm is guaranteed; a magnetic connector is adopted for circuit connection, automatic alignment and adsorption are achieved, and signal transmission is stable and reliable; in the aspect of an oil path, a pressure cavity and an electromagnetic valve control a positioning ball head to act, an annular rubber bag assists sealing, and the defects of a traditional rigid pipeline are overcome; in addition, the assembly is convenient to install and maintain, and can adapt to various end effectors.

Description

Technical Field

[0001] This utility model relates to the field of multi-axis robotic arm technology, and in particular to a multi-axis robotic arm adapter assembly. Background Technology

[0002] In the field of multi-axis robotic arm technology, the connection methods between multi-axis robotic arms and end effectors in existing technologies mainly fall into the following categories: common mechanical connection methods include bolt connections and snap-fit ​​connections; bolt connections require tightening each bolt individually, which is cumbersome and time-consuming, and is extremely inefficient in scenarios where the end effector needs to be replaced frequently; although snap-fit ​​connections are relatively easy to install, the connection stability is poor, and it is easy to loosen or even fall off when the robotic arm moves at high speed or is subjected to large external forces.

[0003] Currently, on industrial production lines, if multi-axis robotic arms frequently change their end effectors, such as switching from grippers to spray guns for different processes, using bolted connections will greatly extend equipment downtime and reduce production efficiency. In view of this, we propose a multi-axis robotic arm adapter component. Utility Model Content

[0004] The main purpose of this invention is to provide a multi-axis robotic arm adapter assembly, which can effectively solve the problems in the background art.

[0005] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0006] A multi-axis robotic arm adapter assembly includes: an end effector connector and an actuator connector.

[0007] The end arm connector includes an outer cylinder and an inner cylinder. A pressure chamber is provided between the inner ring of the outer cylinder and the outer ring of the inner cylinder. A two-position three-way solenoid valve is fixedly connected to one side of the top of the pressure chamber. Two or more evenly distributed guide tubes are fixedly connected to the outer wall of the outer cylinder. A piston is sealed and telescopically connected in each guide tube. A limit plate is coaxially connected to the upper end of the inner end face of the piston. The limit plate is set in the pressure chamber. A positioning ball head with a spherical surface protruding outward is fixedly connected to the outer end face of the piston.

[0008] The actuator connector includes a sleeve and a base. The base is coaxially mounted on the lower end of the sleeve. Several guide grooves are provided on the inner wall of the sleeve. Several guide tubes in the end arm connector are slidably installed in several guide grooves in the sleeve. Each guide groove is connected to a spherical groove. The inner cavity of the spherical groove and the outer wall of the positioning ball head fit together.

[0009] Preferably, a connecting frame is installed in the inner cylinder, a first connecting wire is fixedly connected in the connecting frame, a circular male magnetic connector is fixedly connected to the lower end of the first connecting wire, the circular male magnetic connector is fixedly connected to the lower end of the connecting frame, a circular female magnetic connector is fixedly installed on the base, and a second connecting wire is fixedly connected below the circular female magnetic connector.

[0010] Preferably, a first annular cover plate is sealed between the lower end faces of the outer cylinder and the inner cylinder, and a second annular cover plate is sealed around the upper end of the inner cylinder. The lower edge of the outer ring of the second annular cover plate fits against the outer ring of the top end of the outer cylinder, and two or more bolts are threaded between the first annular cover plate and the second annular cover plate.

[0011] Preferably, two or four first circular guide tubes are fixedly installed on both sides of the connecting frame, and two or four second circular guide tubes are fixedly installed on the base. The top ends of several second circular guide tubes in the actuator connecting seat are respectively fitted and connected to the lower ends of several first circular guide tubes in the end arm connecting head.

[0012] Preferably, an annular rubber bladder is provided on the lower periphery of the first circular conduit, and the outer wall of the annular rubber bladder is fitted to the lower inner wall of the connecting frame. A fixed conduit is fixedly connected between the inner cavities of several annular rubber bladders, and the inner cavity of the fixed conduit is connected to the pressure chamber.

[0013] Preferably, the area of ​​the spherical surface of the positioning ball head is less than one-third of the total area of ​​the spherical surfaces of a ball of the same diameter.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. This utility model achieves fast and accurate docking by matching the positioning ball head of the end arm connector with the spherical groove of the actuator connector seat, and the sliding connection between the guide tube and the guide groove. The positioning ball head is reasonably designed to retract under external force and can fit tightly during connection, making the mechanical connection stable and ensuring the operating accuracy of the robotic arm. In industrial production, it can avoid the end actuator shaking from affecting the processing quality.

[0016] 2. This utility model adopts a circular magnetic connector, which automatically aligns and adsorbs using magnetic force to quickly complete the circuit connection, ensuring that the first connecting wire and the second connecting wire are conductive. Compared with the traditional plug-in interface, it is less affected by vibration and environment, and the signal transmission is stable. It can effectively reduce equipment failures caused by poor contact, ensure stable transmission of electrical signals between the multi-axis robotic arm and the end effector, and improve the reliability of equipment operation.

[0017] 3. In this utility model, the pressure chamber, in conjunction with a two-position three-way solenoid valve, controls the hydraulic oil to achieve the extension and retraction of the positioning ball head, completing the mechanical connection and separation actions; at the same time, the pressure can be transmitted to the annular rubber bladder to cause it to expand, assisting in sealing and enhancing connection stability; this design avoids the torsion, wear and leakage problems that are prone to occur in rigid pipe connections, reduces maintenance costs, improves system safety and stability, and is suitable for working scenarios with high requirements for sealing and connection strength.

[0018] 4. This utility model ensures the simplicity of the connection process between the multi-axis robotic arm and the end effector by using an end arm connector and actuator connector that are easy to install and disassemble. When the end effector needs to be replaced, it is only necessary to control the two-position three-way solenoid valve to change the pressure, which can easily separate and connect the components, saving time and labor costs. Moreover, each component is relatively independent, making it easy to check and replace when a fault occurs, thus reducing the difficulty of maintenance.

[0019] 5. This utility model can be widely used in scenarios where multi-axis robotic arms are paired with different end effectors, such as grippers, spray guns, cameras, etc.; stable connection and reliable signal transmission enable multi-axis robotic arms to work efficiently under different working conditions, meet the diverse needs of industrial production, logistics handling, inspection and other fields, and improve the versatility and practicality of multi-axis robotic arms. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the end arm connector in this utility model. Figure 1 ;

[0022] Figure 3 This is a schematic diagram of the structure of the end arm connector in this utility model. Figure 2 ;

[0023] Figure 4 This is a cross-sectional view of the end arm connector in this utility model;

[0024] Figure 5 This is a schematic diagram of the actuator connecting seat in this utility model;

[0025] Figure 6 This is a cross-sectional view of the actuator connecting seat in this utility model.

[0026] In the picture:

[0027] 1. End arm connector; 101. Outer cylinder; 102. Inner cylinder; 103. Pressure chamber; 104. Two-position three-way solenoid valve; 105. Guide tube; 106. Piston; 107. Limiting plate; 108. Positioning ball head; 109. First annular cover plate; 110. Second annular cover plate; 111. Bolt; 112. Connecting frame; 113. First connecting wire; 114. Circular male magnetic connector; 115. First circular guide tube; 116. Circular rubber bladder; 117. Fixing guide tube;

[0028] 2. Actuator connector; 201. Sleeve; 202. Base; 203. Guide groove; 204. Spherical groove; 205. Circular female magnetic connector; 206. Second connecting wire; 207. Second circular conduit. Detailed Implementation

[0029] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0030] like Figures 1-6 As shown, the multi-axis robotic arm adapter assembly includes an end-effector connector 1 and an actuator connector 2. The top end of the outer cylinder 101 in the end-effector connector 1 is fixedly connected to the end of the end-effector in the multi-axis robotic arm. The base 202 in the actuator connector 2 is fixedly connected to the housing of the end-effector used by the multi-axis robotic arm, such as a gripper, spray gun, or camera.

[0031] refer to Figure 2 , Figure 3 and Figure 4 The end arm connector 1 includes an outer cylinder 101 and an inner cylinder 102. A pressure chamber 103 is provided between the inner ring of the outer cylinder 101 and the outer ring of the inner cylinder 102. A two-position three-way solenoid valve 104 is fixedly connected to one side of the top of the pressure chamber 103. Two or more evenly distributed guide tubes 105 are fixedly connected to the outer wall of the outer cylinder 101. A piston 106 is sealed and telescopically connected in each guide tube 105. A limit plate 107 is coaxially connected to the upper end of the inner end face of the piston 106. The limit plate 107 is set in the pressure chamber 102. Inside the force chamber 103, a positioning ball head 108 with a spherical surface protruding outward is fixedly connected to the outer end face of the piston 106. The limiting plate 107 is mainly used to limit the position of the piston 106 so that the piston 106 will never extend out of the guide tube 105. Only the spherical surface of the positioning ball head 108 can extend or retract into the positioning ball head 108. The area of ​​the spherical surface of the positioning ball head 108 is less than one-third of the total area of ​​the spherical surface of a sphere of the same diameter, so that it can retract into the guide tube 105 when subjected to external force.

[0032] A first annular cover plate 109 is sealed between the lower end faces of the outer cylinder 101 and the inner cylinder 102, and a second annular cover plate 110 is sealed between the upper outer periphery of the inner cylinder 102. The lower edge of the outer ring of the second annular cover plate 110 and the top outer ring of the outer cylinder 101 are in contact with each other. Two or more bolts 111 are threaded between the first annular cover plate 109 and the second annular cover plate 110.

[0033] A connecting frame 112 is installed in the inner cylinder 102. A first connecting wire 113 is fixedly connected in the connecting frame 112. A circular male magnetic connector 114 is fixedly connected to the lower end of the first connecting wire 113. The circular male magnetic connector 114 is fixedly connected to the lower end of the connecting frame 112. Two or four first circular conduits 115 are fixedly installed on both sides of the connecting frame 112. An annular rubber bladder 116 is provided on the lower periphery of the first circular conduit 115. The outer wall of the annular rubber bladder 116 is fitted to the lower inner wall of the connecting frame 112. A fixed conduit 117 is fixedly connected between the inner cavities of several annular rubber bladders 116. The inner cavity of the fixed conduit 117 is connected to the pressure chamber 103. The inner ring of the annular rubber bladder 116 is mainly located on the periphery of the interlocking connection position of the first circular conduit 115 and the second circular conduit 207. The expansion of the inner ring of the annular rubber bladder 116 can increase the sealing and stability between the first circular conduit 115 and the second circular conduit 207.

[0034] refer to Figure 5 and Figure 6 The actuator connecting seat 2 includes a sleeve 201 and a base 202. The base 202 is coaxially mounted on the lower end of the sleeve 201. The inner wall of the sleeve 201 is provided with a number of guide grooves 203. A number of guide tubes 105 in the end arm connector 1 are slidably installed in the number of guide grooves 203 in the sleeve 201. Each guide groove 203 is connected to a spherical groove 204. The inner cavity of the spherical groove 204 and the outer wall of the positioning ball head 108 fit together.

[0035] A circular female magnetic connector 205 is fixedly installed on the base 202. A second connecting wire 206 is fixedly connected to the bottom of the circular female magnetic connector 205. Two or four second circular conduits 207 are fixedly installed on the base 202. The top ends of several second circular conduits 207 in the actuator connector 2 are respectively engaged and connected to the lower ends of several first circular conduits 115 in the end arm connector 1.

[0036] It should be added that one end of the two-position three-way solenoid valve 104 is connected to one side of the top of the pressure chamber 103 to control the inlet and outlet of hydraulic oil in the pressure chamber 103. The other two ends of the two-position three-way solenoid valve 104 are connected to the hydraulic oil source, that is, the output pipeline of the hydraulic pump on the multi-axis robotic arm, to provide pressurized oil to the pressure chamber 103, and the other end is connected to the return oil pipeline. When the solenoid valve is switched to a specific position, the oil in the pressure chamber 103 can flow back to the oil tank through this pipeline. When the valve core of the two-position three-way solenoid valve 104 changes the passage, the hydraulic oil source is connected to the pressure chamber 103, the pressure in the pressure chamber 103 increases, and pushes the piston 106 to move outward. The positioning ball head 108 is embedded in the spherical groove 204 to achieve connection. When the valve core of the two-position three-way solenoid valve 104 changes position to connect the pressure chamber 103 to the return oil pipeline, the pressure in the pressure chamber 103 decreases, and the end arm connector 1 and actuator connector 2 can be separated under the action of external force.

[0037] In this embodiment, when the end arm connector 1 and the actuator connector 2 are connected, the end arm connector 1 is brought close to the actuator connector 2. The circular male magnetic connector 114 and the circular female magnetic connector 205 are automatically aligned and attracted under the action of magnetic force, completing the circuit connection, so that the first connecting wire 113 and the second connecting wire 206 are connected, realizing the electrical signal transmission between the robotic arm and the end actuator.

[0038] Then, the two-position three-way solenoid valve 104 is energized to switch the circuit. Hydraulic oil flows from the hydraulic oil source into the pressure chamber 103 through the solenoid valve. The increased pressure pushes the piston 106 to slide outward in the guide tube 105. The limiting plate 107 acts as a limit plate in the pressure chamber 103 to prevent the piston 106 from coming out. The piston 106 drives the positioning ball head 108 to move outward and embed into the spherical groove 204 in the guide groove 203 of the actuator connecting seat 2 sleeve 201, completing the mechanical connection. At the same time, the pressure in the pressure chamber 103 is transmitted through the fixed conduit 11. 7. The pressure is transmitted to the annular rubber bladder 116, causing it to expand, further assisting in sealing and enhancing connection stability. When separation is required, the two-position three-way solenoid valve 104 is de-energized, the pressure chamber 103 is connected to the return oil line, the pressure decreases, and the actuator connecting seat 2 can be pulled out from the end arm connecting head 1. When the actuator connecting seat 2 is pulled out, the moving spherical groove 204 can push the positioning ball head 108, pushing the piston 106 inward toward the pressure chamber 103, thereby realizing the positioning ball head 108 disengaging from the spherical groove 204 and achieving separation.

[0039] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A multi-axis robotic arm adapter assembly, comprising: The utility model relates to a terminal arm connector (1) and executor connecting seat (2) are connected, terminal arm connector (1) includes outer cylinder (101) and inner cylinder (102), the inner circle of outer cylinder (101) and the outer circle of inner cylinder (102) are provided with pressure chamber (103) between, one side fixed communication of pressure chamber (103) top end has two three -way solenoid valve (104), the outer wall of outer cylinder (101) is fixedly connected with two or more than even distribution's guide pipe (105), each guide pipe (105) is sealedly telescopic connection has piston (106) in, the inside end surface of piston (106) is coaxially connected with limit stop (107) upper end, limit stop (107) sets up in pressure chamber (103), the outside end surface of piston (106) is fixedly connected with the positioning ball head (108) of spherical outward convexity. Executor connecting seat (2) includes sleeve (201) and base (202), base (202) is coaxially installed in the lower end of sleeve (201), a plurality of guide grooves (203) are arranged on the inner wall of sleeve (201), a plurality of guide pipes (105) in terminal arm connector (1) are respectively slidingly installed in a plurality of guide grooves (203) in sleeve (201), each guide groove (203) is communicated with a spherical recess (204), the inner cavity of spherical recess (204) and the outer wall of positioning ball head (108) are matched with each other. A connecting frame (112) is installed in the inner cylinder (102), a first connecting wire (113) is fixedly connected in the connecting frame (112), a circular male magnetic connector (114) is fixedly connected to the lower end of the first connecting wire (113), the circular male magnetic connector (114) and the lower end of the connecting frame (112) are fixedly connected, a circular female magnetic connector (205) is fixedly installed on the base (202), a second connecting wire (206) is fixedly connected below the circular female magnetic connector (205). A first annular cover plate (109) is sealingly connected between the lower end surfaces of the outer cylinder (101) and the inner cylinder (102), a second annular cover plate (110) is sealingly connected to the upper end of the inner cylinder (102), the outer circle edge below the second annular cover plate (110) and the top end outer circle of the outer cylinder (101) are matched with each other, two or more than bolts (111) are threadedly connected between the first annular cover plate (109) and the second annular cover plate (110).

2. The multi-axis robotic arm adapter assembly of claim 1, wherein: Two or four first circular conduits (115) are fixedly installed on both sides of the connecting frame (112), two or four second circular conduits (207) are fixedly installed on the base (202), the top ends of a plurality of second circular conduits (207) in the executor connecting seat (2) are respectively embeddedly connected with the lower ends of a plurality of first circular conduits (115) in the terminal arm connector (1).

3. The multi-axis robotic arm adapter assembly of claim 1, wherein: ​ 4. The multi-axis robotic arm adapter assembly of claim 2, wherein: ​ 5. The multi-axis robotic arm adapter assembly of claim 4, wherein: The lower end of the first circular conduit (115) is provided with annular rubber capsules (116), the outer wall of the annular rubber capsules (116) is fitted on the inner wall of the lower end of the connecting frame (112), the inner cavities of a plurality of the annular rubber capsules (116) are fixedly connected with a fixed conduit (117), and the inner cavity of the fixed conduit (117) is connected with the pressure cavity (103).

6. The multi-axis robotic arm adapter assembly of claim 1, wherein: The area of the spherical curved surface of the positioning ball head (108) is less than one third of the total area of the spherical curved surface of a sphere with the same diameter.

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