Floating quick-change mechanical hand

Abstract

The utility model discloses a kind of floating quick-change mechanical hands, belong to the field of mechanical hand, a kind of floating quick-change mechanical hand, including servo motor, base, swivel joint, angular contact bearing seat, rotating shaft, mounting seat, quick-change seat, spring, guide rail, sliding block, moving seat and pneumatic clamp, servo motor, swivel joint and angular contact bearing seat are all fixed in base, servo motor is connected with rotating shaft by swivel joint, the bottom end of rotating shaft is fixed with mounting seat by passing angular contact bearing seat, quick-change seat is detachably connected in mounting seat, quick-change seat is fixed with guide rail, sliding block is slidably connected in guide rail, moving seat is detachably fixed in sliding block, pneumatic clamp is detachably fixed in moving seat, the bottom end of spring is connected with moving seat, the top end of spring is connected with quick-change seat. The utility model has the advantages of buffering protection, high-precision operation, convenient installation, easy maintenance and high versatility.

Description

Technical Field

[0001] This utility model belongs to the field of robotic arms, and in particular relates to a floating quick-change robotic arm. Background Technology

[0002] In industrial automated production, robotic arms are widely used as key components 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, seriously affecting the accuracy, efficiency, and stability of production.

[0003] Traditional pneumatic clamps suffer from significant shortcomings in rotational accuracy and stability. When the rotating shaft is directly driven by a motor, vibrations and deviations generated during motor operation are directly transmitted to the shaft, resulting in severely insufficient rotational accuracy. For example, in electronic component assembly lines, insufficient rotational accuracy leads to deviations in the placement angle of electronic components, significantly increasing the product defect rate. Furthermore, during rotation, related pipelines are prone to entanglement, which not only affects normal equipment operation but may also cause pipeline wear and breakage, leading to air leaks, signal transmission interruptions, and other malfunctions, increasing equipment maintenance costs and downtime.

[0004] Existing pneumatic clamps also have shortcomings in their support structure and installation methods. Without a specially designed stable support device, the rotating shaft is prone to instability such as swaying and displacement when subjected to complex loads. For example, the unstable support of pneumatic clamps in machining equipment affects the machining accuracy and fails to meet the requirements of high-precision machining. In addition, most pneumatic clamps use a screw-locking installation method. When repairing, replacing, or adjusting, operators need to spend a lot of time and effort to disassemble and install the screws, which will greatly reduce production efficiency and increase production costs in large-scale production.

[0005] Furthermore, existing robotic arms lack cushioning capabilities, which can lead to rigid compression of pneumatic grippers with other objects during use, resulting in damage to the grippers. These combined issues pose challenges to existing robotic arms in terms of production quality, maintenance costs, and production efficiency, necessitating the design of a floating, quick-change robotic arm with high-precision rotary support, anti-pipeline entanglement, easy installation, and cushioning protection. Utility Model Content

[0006] The purpose of this invention is to propose a floating quick-change robotic arm 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 floating quick-change manipulator, including a servo motor, a base, a rotary joint, an angular contact bearing housing, a rotating shaft, a mounting base, a quick-change seat, a spring, a guide rail, a slider, a movable seat, 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 seat is detachably connected to the mounting base and is fixed to the guide rail. The slider is slidably connected to the guide rail. The movable seat is detachably fixed to the slider. The pneumatic clamp is detachably fixed to the movable seat. The bottom end of the spring is connected to the movable seat, and the top end of the spring is connected to the quick-change seat.

[0009] Preferably, it also includes a stop block, which is disposed at the lower part of the guide rail and located below the slider.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] Preferably, the quick-change seat includes a quick-change part, a connecting part, and a protective part. The top end of the fifth air passage penetrates the top wall of the quick-change part, and the side end of the fifth air passage penetrates the side wall of the lower part of the quick-change part. An annular groove is provided on the outer side wall of the upper part of the quick-change part. The protective part and the quick-change part are connected by the connecting part. A guide rail is provided on the connecting part. The bottom end of the quick-change part is lower than the top end of the guide rail. The pneumatic clamp passes through the protective part.

[0015] Preferably, it also includes a Z-axis linear module, with the base fixed to the moving end of the Z-axis linear module.

[0016] Preferably, the top of the rotating body has a non-slip hand grip.

[0017] Preferably, the pneumatic clamp is a thumb cylinder, a suction cup clamp, or an expansion clamp.

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

[0019] 1. The pneumatic clamp is given buffering capacity through springs, guide rails and sliders, and high-precision power transmission is achieved by using a rotary joint and servo motor. A dual-effect support system is constructed with angular contact bearing housing and rotary joint. At the same time, the rotary joint avoids pipeline entanglement. With quick-change seat and mounting seat, the pneumatic clamp can be quickly replaced. It has the advantages of buffer protection, high-precision operation, convenient installation, easy maintenance and high versatility.

[0020] 2. The stop block acts as a physical barrier to prevent the slider from detaching from the guide rail from below. Combined with the quick-change mechanism, it prevents the slider from detaching from the guide rail from above, thereby reducing the risk of failure and damage to the slider, guide rail, and other related components.

[0021] 3. 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.

[0022] 4. The protective part can protect the pneumatic clamp, prevent the pneumatic clamp from being interfered with or damaged by external factors during operation, and improve the service life of the pneumatic clamp.

[0023] 5. The non-slip handle makes it easy to rotate the rotating body. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the main structure of this utility model.

[0025] Figure 2 This is a three-dimensional structural diagram of the present invention.

[0026] Figure 3 This is a top view of the structure of this utility model.

[0027] Figure 4 yes Figure 3 Schematic diagram of the cross-sectional structure along the AA direction.

[0028] Figure 5 yes Figure 4 A magnified structural diagram of B in the diagram.

[0029] Figure 6 This is a three-dimensional structural diagram of the quick-change seat and its structure (spring not shown).

[0030] Figure 7 This is a three-dimensional structural diagram of the quick-change part of this utility model.

[0031] Figure 8 This is a three-dimensional structural diagram of the rotary joint of this utility model.

[0032] Figure 9 This is a three-dimensional structural diagram of the rotating shaft of this utility model.

[0033] Figure 10 This is a three-dimensional structural diagram (first-person view) of the mounting base of this utility model.

[0034] Figure 11 This is a three-dimensional structural diagram (second perspective) of the mounting base of this utility model.

[0035] Figure 12 This is a three-dimensional structural diagram of the base of this utility model.

[0036] Figure 13 This is a three-dimensional structural diagram of the rotating body of this utility model.

[0037] Figure 14 This is a three-dimensional structural diagram of the pneumatic clamp of this utility model.

[0038] 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-Spring, 9-Guide rail, 10-Slider, 11-Moving base, 12-Pneumatic clamp, 13-Stop, 31-Fixed end, 32-Rotating end, 33-First air passage, 34-Second air passage, 51-Third air passage, 61-Fourth air passage, 71-Fifth air passage, 121-Sixth air passage, 62-Base body, 63-Ball bearing, 64-Rotating body, 621-First slot, 622-Second slot, 623-Accommodation channel, 624-Retaining ring, 641-Frustum hole, 72-Annular groove, 73-Quick change part, 74-Connecting part, 75-Protective part, 14-Z-axis linear module, 642-Anti-slip handheld part. Detailed Implementation

[0039] The present invention will now be further described in conjunction with the accompanying drawings and specific embodiments.

[0040] 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.

[0041] like Figures 1 to 14 As shown, the floating quick-change manipulator provided in this embodiment includes a servo motor 1, a base 2, a rotary joint 3, an angular contact bearing seat 4, a rotating shaft 5, a mounting base 6, a quick-change seat 7, a spring 8, a guide rail 9, a slider 10, a movable seat 11, and a pneumatic clamp 12. The servo motor 1, the rotary joint 3, and the angular contact bearing seat 4 are all fixed to the base 2. The servo motor 1 is connected to the rotating shaft 5 through the rotary joint 3. The bottom end of the rotating shaft 5 passes through the angular contact bearing seat 4 and is fixed to the mounting base 6. The quick-change seat 7 is detachably connected to the mounting base 6 and is fixed to the guide rail 9. The slider 10 is slidably connected to the guide rail 9. The movable seat 11 is detachably fixed to the slider 10. The pneumatic clamp 12 is detachably fixed to the movable seat 11. The bottom end of the spring 8 is connected to the movable seat 11, and the top end of the spring 8 is connected to the quick-change seat 7.

[0042] The pneumatic clamp 12 is equipped with spring 8, guide rail 9 and slider 10 to provide a buffer, preventing rigid compression with other objects during use and protecting the pneumatic clamp.

[0043] A rotary joint 3 is inserted between the servo motor 1 and the rotary shaft 5, which not only enables efficient power transmission but also effectively isolates the vibration of the servo motor 1 during operation, providing a reliable guarantee for the high precision and stability of the rotary motion. Compared with traditional stepper motors, the servo motor 1 further improves the system's operational quality with its superior control precision and dynamic response performance.

[0044] The angular contact bearing housing 4 and the rotary joint 3 form a dual-effect support system: the angular contact bearing housing 4 has radial and axial composite load-bearing capacity, which can accurately distribute the complex load during the operation of the rotating shaft 5 and significantly suppress shaft sway; the rotary joint 3, through a flexible connection design, works in synergy with the bearing housing to greatly reduce equipment operating noise and mechanical wear, effectively extend the entire life cycle of the equipment, and ensure that the pneumatic clamp 12 maintains high-precision operation during long-term continuous operation.

[0045] The rotary joint 3 effectively avoids the risk of pipeline entanglement, ensuring the safety of system operation. Simultaneously, the detachable connection between the quick-change base 7 and the mounting base 6 allows for rapid disassembly and replacement of the pneumatic clamp 12 without the need for any tools, significantly reducing equipment downtime. Users can flexibly switch between compatible pneumatic clamps 12 according to different production needs, significantly improving the equipment's versatility and production flexibility. The pneumatic clamp 12 can be replaced directly along with the quick-change base 7, or it can be replaced separately, depending on the specific circumstances.

[0046] This also includes a stop 13, which is located at the lower part of the guide rail 9 and below the slider 10. If the stop 13 is not installed when the slider 10 moves at a high speed or under a heavy load, it may lose control and detach from the guide rail 9, causing damage to the slider 10, the guide rail 9, or other related components. The stop 13 acts as a physical barrier, preventing the slider 10 from detaching from the guide rail 9 and reducing the risk of equipment failure.

[0047] The rotary joint 3 has a fixed end 31 and a rotating end 32 at its two ends. The rotating end 32 rotates relative to the fixed end 31. The fixed end 31 is fixed to the base 2. The fixed end 31 has two first air passages 33, and the rotating end 32 has two second air passages 34. The first air passages 33 and the second air passages 34 are connected. The rotating shaft 5 has two third air passages 51 inside. The bottom end of the third air passage 51 passes through the bottom end of the rotating shaft 5, and the side end of the third air passage 51 passes through the side wall of the rotating shaft 5. The second air passages 34 are connected to the side ends of the third air passages 51. The mounting base 6 has two fourth air passages 61. The top end of the fourth air passage 61 is connected to the bottom end of the third air passage 51. The quick-change base 7 has two fifth air passages 71. The top end of the fifth air passage 71 is connected to the bottom end of the fourth air passage 61. The pneumatic clamp 12 has two sixth air passages 121. The sixth air passages 121 are connected to the fifth air passages 71. The rotary joint 3 in this embodiment is model MQR2-M5. The dual-air-path alternating air supply mechanism increases the stroke of the pneumatic clamp 12, 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 12 can be precisely adjusted. In this embodiment, the pneumatic clamp 12 is a three-jaw thumb cylinder. In other embodiments, it can also be a two-jaw, four-jaw, or other thumb cylinders with different numbers of jaws, or it can be a suction cup clamp or an expansion clamp, etc.

[0048] The mounting base 6 includes a base body 62, a ball bearing 63, and a rotating body 64. The ball bearing 63 is mounted on the base body 62 and can move radially along the base body 62. The rotating body 64 is screwed onto the outside of the base body 62 and is used to push the ball bearing 63 toward the centerline of the mounting base 6. The quick-change base 7 and the pneumatic clamp 12 can be quickly assembled and disassembled through simple rotation and insertion / removal actions, without the need for additional tools, and the pneumatic clamp 12 can be disassembled and replaced within seconds.

[0049] The base 62 has a first slot 621 at its bottom for inserting the quick-change seat 7, and a second slot 622 at its top for inserting the rotating shaft 5. The sidewalls of the base 62 have several receiving channels 623 for accommodating the balls 63. These channels 623 communicate with the first slot 621, and the inner end of each channel 623 has a retaining ring 624. The bottom of the rotating body 64 has a frustum-shaped hole 641 located outside the receiving channels 623. The upper part of the quick-change seat 7 has an annular groove 72, which the balls 63 engage with. The retaining ring 624 restricts the inward movement of the balls 63, and the rotating body 64 restricts the outward movement of the balls 63. During installation, first insert the quick-change seat 7 upwards into the first slot 621, then rotate the rotating body 64 to move it downwards, thereby causing the frustum hole 641 to move downwards. The ball bearing 63 is pushed towards the annular groove 72 through the side wall of the frustum hole 641 until the ball bearing 63 abuts against the annular groove 72, completing the installation of the pneumatic clamp 12. Disassembly is the reverse of installation and will not be described further here.

[0050] The quick-change seat 7 includes a quick-change part 73, a connecting part 74, and a protective part 75. The top end of the fifth air passage 71 penetrates the top wall of the quick-change part 73, and the side end of the fifth air passage 71 penetrates the lower side wall of the quick-change part 73. An annular groove 72 is arranged around the upper outer side wall of the quick-change part 73. The protective part 75 and the quick-change part 73 are connected by the connecting part 74. The guide rail 9 is disposed on the connecting part 74. The bottom end of the quick-change part 73 is lower than the top end of the guide rail 9. The pneumatic clamp 12 passes through the protective part 75. The protective part 75 can protect the pneumatic clamp 12, preventing it from being interfered with or damaged by external factors during operation, and improving the service life of the pneumatic clamp 12. The upward movement of the moving seat 11 is limited by the bottom end of the quick-change part 73, preventing the slider 10 from disengaging from above the guide rail 9.

[0051] It also includes a Z-axis linear module 14, with the base 2 fixed to the moving end of the Z-axis linear module 14. The Z-axis linear module 14 can drive the pneumatic gripper 12 to move up and down, enabling it to approach, grip, and remove items.

[0052] The rotating body 64 has a non-slip handle 642 on its top. The non-slip handle 642 facilitates the rotation of the rotating body 64.

[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 floating quick-change robotic arm, characterized in that: Includes servo motors, bases, rotary joints, angular contact bearing housings, rotary shafts, mounting bases, quick-change bases, springs, guide rails, sliders, moving 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 quick-change seat is fixed with a guide rail, the slider is slidably connected to the guide rail, and the movable seat is detachably fixed to the slider; The pneumatic clamp is detachably fixed to the movable base; The bottom end of the spring is connected to the movable seat, and the top end of the spring is connected to the quick-change seat.

2. The floating quick-change robotic arm according to claim 1, characterized in that: It also includes stops; The stop block is located at the lower part of the guide rail and below the slider.

3. The floating 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.

4. The floating quick-change robotic arm according to claim 3, 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.

5. The floating quick-change robotic arm according to claim 4, 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.

6. The floating quick-change robotic arm according to claim 5, 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.

7. The floating quick-change robotic arm according to claim 6, characterized in that: The quick-change seat includes a quick-change part, a connecting part, and a protective part; The top end of the fifth air passage penetrates the top wall of the quick-change part, and the side end of the fifth air passage penetrates the side wall of the lower part of the quick-change part. The annular groove is disposed on the outer side wall of the upper part of the quick-change part; The protective section and the quick-change section are connected by a connecting section; The guide rail is disposed on the connecting part, and the bottom end of the quick-change part is lower than the top end of the guide rail; The pneumatic clamp passes through the protective section.

8. The floating quick-change robotic arm according to claim 1, characterized in that: It also includes a Z-axis linear module; The base is fixed to the moving end of the Z-axis linear module.

9. The floating quick-change robotic arm according to claim 5, characterized in that: The top of the rotating body has a non-slip hand grip.

10. The floating 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.

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