Quick-change manipulator and material taking and placing mechanism

Abstract

The utility model discloses a quick-change manipulator and a material taking and placing mechanism, and belongs to the field of manipulators, the quick-change manipulator comprises a servo motor, a base, a swivel joint, an angular contact bearing seat, a rotating shaft, a mounting seat, a quick-change seat and a pneumatic clamp, the servo motor, the swivel joint and the angular contact bearing seat are all fixed on the base, and the rotating shaft is fixed on the mounting seat. The servo motor is connected with the rotating shaft through the swivel joint, the bottom end of the rotating shaft penetrates through the angular contact bearing seat to be fixedly provided with a mounting seat, the quick-change seat is detachably connected to the mounting seat, and the pneumatic clamp is detachably connected to the quick-change seat. According to the quick-change mechanical arm and the material taking and placing mechanism, the rotary connector is arranged between the servo motor and the rotary shaft, and the angular contact bearing seat is combined, so that high-precision and stable power transmission and rotary motion are achieved, vibration, noise and abrasion are reduced, pipeline winding is avoided, and the quick-change mechanical arm and the material taking and placing mechanism are convenient to use through the tool-free disassembly design of the quick-change seat and the mounting seat. The replacement efficiency of the pneumatic clamp is greatly improved, and the equipment universality and the production flexibility are enhanced.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, and particularly relates to a quick-change robotic arm and a material handling mechanism. Background Technology

[0002] In industrial automation production, robotic arms, as key components, are widely used in various automated equipment, undertaking important tasks such as precise gripping, handling, and placement of products. Pneumatic grippers are an important part of realizing the functions of robotic arms. However, existing technologies have revealed many problems that urgently need to be solved in practical applications.

[0003] In terms of rotational accuracy and stability, traditional pneumatic clamps often lack effective safeguards to ensure high-precision rotation. When the rotating shaft is directly driven by a motor, vibrations and deviations generated during motor operation are directly transmitted to the rotating shaft, resulting in severely insufficient rotational accuracy. For example, in some electronic component assembly lines with extremely high requirements for product placement angle accuracy, traditional pneumatic clamps cause deviations in the placement angle of electronic components due to insufficient rotational accuracy, leading to a significant increase in product defect rates. Moreover, during rotation, related pipelines are prone to entanglement, which not only affects the normal operation of the equipment but also leads to pipeline wear and breakage due to frequent entanglement, resulting in air leaks, signal transmission interruptions, and other malfunctions, greatly increasing equipment maintenance costs and downtime.

[0004] For support structures, existing pneumatic clamps, without specially designed stable support devices, cannot provide stable and reliable support for the rotating shaft when the rotating bearing is subjected to complex loads from the pneumatic clamp. This makes the rotating shaft prone to instability such as wobbling and misalignment during rotation. Taking pneumatic clamps in machining equipment as an example, due to unstable support, the machining accuracy will be severely affected when the rotating shaft drives the pneumatic clamp to perform machining operations on the workpiece, failing to meet the requirements of high-precision machining.

[0005] Furthermore, existing pneumatic clamps have significant flaws in their installation methods. Most are installed using screw tightening, a method that is extremely inconvenient in actual operation. When maintenance, replacement, or adjustment of the clamps is required to meet different production tasks, operators must spend considerable time and effort disassembling and installing screws. In large-scale production plants, frequent such operations can drastically reduce production efficiency, increase production costs, and severely restrict the company's production progress and economic benefits. Utility Model Content

[0006] The purpose of this invention is to provide a quick-change robotic arm and a material handling mechanism to overcome at least one of the above-mentioned defects in the prior art.

[0007] To achieve this objective, the present invention adopts the following technical solution:

[0008] This utility model provides a quick-change robotic arm, including a servo motor, a base, a rotary joint, an angular contact bearing housing, a rotating shaft, a mounting base, a quick-change base, and a pneumatic clamp. The servo motor, rotary joint, and angular contact bearing housing are all fixed to the base. The servo motor is connected to the rotating shaft through the rotary joint. The bottom end of the rotating shaft passes through the angular contact bearing housing and is fixed to the mounting base. The quick-change base is detachably connected to the mounting base, and the pneumatic clamp is detachably connected to the quick-change base.

[0009] Preferably, the two ends of the rotary joint are a fixed end and a rotating end, respectively. The rotating end rotates relative to the fixed end, and the fixed end is fixed to the base. The fixed end has at least one first air passage, and the rotating end has at least one second air passage. The first air passage and the second air passage are connected.

[0010] Preferably, the rotating shaft has at least one third air passage inside, the bottom end of the third air passage penetrates the bottom end of the rotating shaft, the side end of the third air passage penetrates the side wall of the rotating shaft, the second air passage is connected to the side end of the third air passage, the mounting base has at least one fourth air passage, the top end of the fourth air passage is connected to the bottom end of the third air passage, the quick-change base has at least one fifth air passage, the top end of the fifth air passage is connected to the bottom end of the fourth air passage, and the pneumatic clamp has at least one sixth air passage, the sixth air passage is connected to the fifth air passage.

[0011] Preferably, it also includes a rubber head, with the bottom end of the fourth air passage fixedly connected to the rubber head, and the rubber head is inserted into the fifth air passage.

[0012] Preferably, the pneumatic clamp is a thumb cylinder, a suction cup clamp, or an expansion clamp.

[0013] Preferably, the mounting base includes a base body, a ball bearing, and a rotating body. The ball bearing is mounted on the base body and can move radially along the base body. The rotating body is screwed onto the base body and is used to push the ball bearing toward the centerline of the mounting base.

[0014] Preferably, the bottom of the base has a first slot for inserting a quick-change seat, the top of the base has a second slot for inserting a rotating shaft, the side wall of the base has several receiving channels for accommodating balls, the receiving channels communicate with the first slot, the inner end of the receiving channel has a retaining ring, the bottom of the rotating body has a frustum hole, the frustum hole is located outside the receiving channel, the upper part of the quick-change seat has an annular groove, and the balls cooperate with the annular groove.

[0015] Preferably, the top of the rotating body has a first anti-slip handle, and the upper part of the quick-change seat has a second anti-slip handle.

[0016] The present invention also provides a material handling mechanism, including the aforementioned quick-change robotic arm.

[0017] Preferably, it also includes a mounting frame and a Z-axis linear module, with at least one Z-axis linear module fixed to the mounting frame, and a quick-change robot arm fixed to the moving end of the Z-axis linear module.

[0018] The beneficial effects of this utility model are as follows:

[0019] 1. By placing the rotary joint between the servo motor and the rotating shaft, combined with the angular contact bearing housing, high-precision and stable power transmission and rotational motion are achieved, reducing vibration, noise and wear, and avoiding pipeline entanglement. Furthermore, the tool-free disassembly design of the quick-change seat and mounting base greatly improves the efficiency of pneumatic fixture replacement, enhancing equipment versatility and production flexibility.

[0020] 2. The dual-air-path alternating air supply mechanism increases the stroke of the pneumatic clamp, significantly improving operational stability and response speed. By independently controlling the air supply timing, pressure, and flow rate of the two air paths, the movement speed, force, and position of the pneumatic clamp can be precisely adjusted.

[0021] 3. The rubber head is designed to have sealing, guiding and buffering functions. It can ensure precise connection between the fourth and fifth air passages and smooth air flow, and can also reduce gas pressure and vibration impact, ensuring tight air connection and stable operation.

[0022] 4. Quick-change seats and pneumatic clamps can be quickly disassembled and assembled through simple rotation and insertion actions. No additional tools are required, and the pneumatic clamps can be disassembled and replaced in seconds.

[0023] 5. The first anti-slip handle facilitates the rotation of the rotating body, and the second anti-slip handle facilitates the push-pull quick seat change.

[0024] 6. The Z-axis linear module enables the quick-change robot to move up and down, and the servo motor is used to adjust the angle of the pneumatic gripper, so as to realize the picking, placing and angle adjustment of products. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of Embodiment 1 of this utility model.

[0026] Figure 2 This is a top view of the structure of Embodiment 1 of this utility model.

[0027] Figure 3 yes Figure 2 A schematic diagram of the cross-sectional structure of AA.

[0028] Figure 4 yes Figure 3 A magnified structural diagram of B in the diagram.

[0029] Figure 5 This is a three-dimensional structural diagram of a rotary joint according to an embodiment of this utility model.

[0030] Figure 6 This is a front view structural schematic diagram of the rotating shaft in Embodiment 1 of this utility model.

[0031] Figure 7 This is a three-dimensional structural schematic diagram (first perspective) of the mounting base of Embodiment 1 of this utility model.

[0032] Figure 8 This is a three-dimensional structural schematic diagram (second perspective) of the mounting base according to Embodiment 1 of this utility model.

[0033] Figure 9 This is a three-dimensional structural diagram of an embodiment of the present utility model.

[0034] Figure 10 This is a three-dimensional structural diagram of the rotating body according to Embodiment 1 of this utility model.

[0035] Figure 11 This is a three-dimensional structural diagram of the quick-change seat according to Embodiment 1 of this utility model.

[0036] Figure 12 This is a three-dimensional structural diagram of a pneumatic clamp according to an embodiment of the present invention.

[0037] Figure 13 This is a three-dimensional structural diagram of the pneumatic clamp of Embodiment 2 of this utility model.

[0038] Figure 14 This is a schematic diagram of the main structure of Embodiment 3 of this utility model.

[0039] The labels in the attached diagram are as follows: 1-Servo motor, 2-Base, 3-Rotary joint, 4-Angular contact bearing housing, 5-Rotating shaft, 6-Mounting base, 7-Quick change base, 8-Pneumatic clamp, 31-First air passage, 32-Second air passage, 51-Third air passage, 611-Fourth air passage, 71-Fifth air passage, 81-Sixth air passage, 9-Plug, 61-Base, 62-Ball bearing, 63-Rotating body, 612-First slot, 613-Second slot, 614-Accommodation channel, 615-Retaining ring, 631-Frustum hole, 72-Annular groove, 632-First anti-slip grip, 73-Second anti-slip grip, 10-Mounting bracket, 11-Z-axis linear module. Detailed Implementation

[0040] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0041] Contents not described in detail in this specification are existing technologies known to those skilled in the art. In the description of this utility model, it should be understood that terms such as "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are used only for the convenience of describing this utility model and simplifying the description. They do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this utility model. Furthermore, terms such as "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0042] Example 1:

[0043] like Figures 1 to 12 As shown, this embodiment provides a quick-change robotic arm, including a servo motor 1, a base 2, a rotary joint 3, an angular contact bearing housing 4, a rotating shaft 5, a mounting base 6, a quick-change seat 7, and a pneumatic clamp 8. The servo motor 1, rotary joint 3, and angular contact bearing housing 4 are all fixed to the base 2. The servo motor 1 is connected to the rotating shaft 5 via the rotary joint 3. The bottom end of the rotating shaft 5 passes through the angular contact bearing housing 4 and is fixed to the mounting base 6. The quick-change seat 7 is detachably connected to the mounting base 6, and the pneumatic clamp 8 is detachably connected to the quick-change seat 7. Placing the rotary joint 3 between the servo motor 1 and the rotating shaft 5 effectively isolates the vibration of the servo motor 1 while efficiently transmitting power, ensuring high precision and stability of the rotational motion. Combined with the servo motor 1, it offers higher precision and stability compared to traditional stepper motors. The angular contact bearing housing 4 and the rotary joint 3 work together to construct a stable rotational support system. The angular contact bearing housing 4 can simultaneously withstand radial and axial loads, effectively distributing the complex forces acting on the rotating shaft 5 during operation and reducing shaft sway. The dual protection provided by the rotary joint 3 significantly improves the smoothness of the rotating shaft 5's operation, effectively reducing equipment noise and wear, extending the overall service life of the equipment, and providing a solid and reliable rotating foundation for the pneumatic clamp 8, ensuring accuracy and stability during long-term continuous operation. Furthermore, the rotary joint 3 prevents pipelines from becoming entangled. Through the detachable connection of the quick-change seat 7 and the mounting seat 6, the pneumatic clamp 8 can be quickly disassembled and replaced without any tools, significantly improving tooling and fixture replacement efficiency, reducing equipment downtime, and allowing for rapid switching of suitable pneumatic clamps 8 according to different production tasks, greatly enhancing the equipment's versatility and flexibility.

[0044] The rotary joint 3 has a fixed end and a rotating end at its two ends, with the rotating end rotating relative to the fixed end. The fixed end is fixed to the base 2 and has two first air passages 31. The rotating end has two second air passages 32, and the first air passages 31 and second air passages 32 are connected. The rotating shaft 5 has two third air passages 51 inside, with the bottom end of the third air passage 51 penetrating the bottom end of the rotating shaft 5 and the side end of the third air passage 51 penetrating the side wall of the rotating shaft 5. The second air passages 32 are connected to the side ends of the third air passages 51. The mounting base 6 has two fourth air passages 611, with the top end of the fourth air passage 611 connected to the bottom end of the third air passage 51. The quick-change base 7 has two fifth air passages 71, with the top end of the fifth air passage 71 connected to the bottom end of the fourth air passage 611. The pneumatic clamp 8 has two sixth air passages 81, with the sixth air passage 81 connected to the fifth air passages 71. The rotary joint 3 in this embodiment is model MQR2-M5. This embodiment employs a dual-air-path alternating air supply mechanism, which increases the stroke of the pneumatic clamp 8 and significantly improves its operational stability and response speed. By independently controlling the air supply timing, pressure, and flow rate of the two air paths, the movement speed, force, and position of the pneumatic clamp 8 can be precisely adjusted. In this embodiment, the pneumatic clamp 8 is a three-jaw thumb cylinder; in other embodiments, it can also be a two-jaw, four-jaw, or other thumb cylinder, or it can be a suction cup clamp or an expansion clamp.

[0045] This system also includes a rubber head 9, which is fixedly connected to the bottom end of the fourth air passage 611. The rubber head 9 is inserted into the fifth air passage 71. The rubber head 9 not only provides a seal but also acts as a guide for insertion into the fifth air passage 71, ensuring accurate alignment when the fourth air passage 611 and the fifth air passage 71 are connected, preventing misalignment that could lead to blocked airflow or a loose connection. Furthermore, the rubber head 9 has a certain degree of elasticity, which can buffer the impact forces generated by changes in gas pressure and component vibrations during airflow operation.

[0046] The mounting base 6 includes a base body 61, a ball bearing 62, and a rotating body 63. The ball bearing 62 is mounted on the base body 61 and can move radially along the base body 61. The rotating body 63 is screwed onto the outside of the base body 61 and is used to push the ball bearing 62 toward the centerline of the mounting base 6. The quick-change base 7 and the pneumatic clamp 8 can be quickly assembled and disassembled through simple rotation and insertion actions. No additional tools are required, and the pneumatic clamp 8 can be disassembled and replaced within seconds.

[0047] The base 61 has a first slot 612 at its bottom for inserting a quick-change seat 7, and a second slot 613 at its top for inserting a rotating shaft. The sidewalls of the base 61 have several receiving channels 614 for accommodating the balls 62. These channels 614 communicate with the first slot, and each receiving channel 614 has a retaining ring 615 at its inner end. The bottom of the rotating body 63 has a frustum-shaped hole 631 located outside the receiving channels 614. The upper part of the quick-change seat 7 has an annular groove 72, which the balls 62 engage with. The retaining ring 615 restricts the inward movement of the balls 62, and the rotating body 63 restricts the outward movement of the balls 62. During installation, first insert the quick-change seat 7 upwards into the first slot 612, then rotate the rotating body 63, causing it to move downwards. This causes the frustum-shaped hole 631 to move downwards, pushing the ball 62 towards the annular groove 72 through the side wall of the frustum-shaped hole 631 until the ball 62 abuts against the annular groove 72. This completes the installation of the pneumatic clamp 8. Disassembly is the reverse of installation and will not be described further.

[0048] The rotating body 63 has a first anti-slip handle 632 on its top, and the quick-change seat 7 has a second anti-slip handle 73 on its upper part. The first anti-slip handle 632 facilitates the rotation of the rotating body 63, and the second anti-slip handle 73 facilitates the pushing and pulling of the quick-change seat 7.

[0049] Example 2:

[0050] like Figure 13 As shown, the pneumatic clamp 8 in this embodiment is a suction cup clamp. This embodiment has three suction nozzles; in other embodiments, the number of suction nozzles can be one, two, four, etc.

[0051] Example 2:

[0052] like Figure 14 As shown, this embodiment provides a material handling mechanism, including a quick-change robot arm as described in Embodiment 1, a mounting frame 10, and Z-axis linear modules 11. Four Z-axis linear modules 11 are fixed to the mounting frame 10, and the quick-change robot arm is fixed to the moving end of each Z-axis linear module 11. The Z-axis linear modules 11 enable the quick-change robot arm to move up and down, and the servo motor 1, combined with the servo motor 1, enables the angle adjustment of the pneumatic gripper 8, thereby achieving the picking up and placing of products and the adjustment of their angle.

[0053] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A quick-change robotic arm, characterized in that: Includes servo motors, bases, rotary joints, angular contact bearing housings, rotary shafts, mounting bases, quick-change bases, and pneumatic clamps; The servo motor, rotary joint, and angular contact bearing housing are all fixed to the base; The servo motor is connected to the rotating shaft via a rotary joint; The bottom end of the rotating shaft is fixed to a mounting base through the angular contact bearing seat; The quick-change seat is detachably connected to the mounting base; The pneumatic clamp is detachably connected to the quick-change seat.

2. The quick-change robotic arm according to claim 1, characterized in that: The two ends of the rotary joint are a fixed end and a rotating end, respectively; The rotating end rotates relative to the fixed end; The fixed end is fixed to the base; The fixed end has at least one first air passage, and the rotating end has at least one second air passage; The first airway is connected to the second airway.

3. The quick-change robotic arm according to claim 2, characterized in that: The rotating shaft has at least one third air passage inside; The bottom end of the third airway passes through the bottom end of the rotating shaft; The side end of the third airway penetrates the side wall of the rotating shaft; The second airway is connected to the side end of the third airway; The mounting base has at least one fourth air passage; The top of the fourth airway is connected to the bottom of the third airway; The quick-change seat has at least one fifth air passage, the top end of which is connected to the bottom end of the fourth air passage. The pneumatic clamp has at least one sixth air passage, which is connected to the fifth air passage.

4. The quick-change robotic arm according to claim 3, characterized in that: It also includes the rubber head; The bottom end of the fourth airway is fixedly connected to a rubber head; The rubber nozzle is inserted into the fifth airway.

5. The quick-change robotic arm according to claim 1, characterized in that: The pneumatic clamp is a thumb cylinder, a suction cup clamp, or an expansion clamp.

6. The quick-change robotic arm according to claim 1, characterized in that: The mounting base includes a base body, ball bearings, and a rotating body; The ball bearing is mounted on the base and is capable of moving radially along the base; The rotating body is screwed onto the body and is used to push the ball towards the centerline of the mounting base.

7. The quick-change robotic arm according to claim 6, characterized in that: The bottom of the base has a first slot for inserting the quick-change seat; The top of the base has a second slot for inserting the rotating shaft; The side wall of the seat has a plurality of receiving channels for accommodating the ball bearings, and the receiving channels are in communication with the first slot. The inner end of the accommodating channel has a retaining ring; The bottom of the rotating body has a frustum hole, which is located outside the receiving channel; The upper part of the quick-change seat has an annular groove, and the ball bearing engages with the annular groove.

8. The quick-change robotic arm according to claim 6, characterized in that: The top of the rotating body has a first anti-slip hand grip; The upper part of the quick-change seat has a second anti-slip hand grip.

9. A material handling mechanism, characterized in that: Includes the quick-change robotic arm as described in any one of claims 1-8.

10. The material handling mechanism according to claim 9, characterized in that: It also includes a mounting bracket and a Z-axis linear module; The mounting bracket is fixed with at least one Z-axis linear module; The moving end of the Z-axis linear module is fixed with a quick-change robotic arm.

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