Modular quick-change structure of industrial robot arm

Abstract

This invention proposes a modular quick-change structure for an industrial robotic arm, relating to the field of robotic arm technology. The modular quick-change structure includes a robotic arm mounting base, a tool mounting base, a planetary gear mechanism, a connecting mechanism, a second connecting base, a first connecting base, a sun gear, a gear ring, and planetary gears. The first connecting base is mounted on the robotic arm mounting base, and the gear ring is mounted on the first connecting base. The sun gear is sleeved on the first connecting shaft. The planetary gear meshes with the sun gear and the gear ring, and a second connecting shaft is mounted on the planetary gear. The second connecting base has a first annular groove, within which a movable ring is disposed. The second connecting base also has a connecting hole. The first connecting shaft can be threadedly connected to the second connecting base. Multiple second connecting shafts can be threadedly inserted into multiple movable rings. This invention enables rapid disassembly and assembly of the robotic arm and tool, improving disassembly and assembly efficiency while ensuring connection stability.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and more specifically, to a modular quick-change structure for an industrial robotic arm. Background Technology

[0002] Industrial robotic arms, due to their practicality and efficiency, have been widely used in various production fields. Quick-change end-effectors enable robotic arms to switch end-effectors in a short time to perform different tasks, greatly improving the economy and production efficiency of industrial robotic arms. Existing robotic arm tool changing structures generally use bolts or other tools for connection or disassembly. This connection and disassembly is relatively complex, requiring individual connection or disassembly of each bolt, significantly impacting assembly and disassembly efficiency. While bolted connections offer greater stability with multiple bolts, some existing connection structures have abandoned bolted connections. Although this allows for rapid assembly and disassembly, improving efficiency, it compromises connection stability. Therefore, the market needs a modular quick-change structure for industrial robotic arms that enables rapid disassembly for improved efficiency while ensuring connection stability. Utility Model Content

[0003] The purpose of this invention is to provide a modular quick-change structure for an industrial robotic arm, which enables rapid disassembly and assembly of the robotic arm and tools, improving disassembly and assembly efficiency while ensuring connection stability.

[0004] The embodiments of this utility model are implemented as follows:

[0005] This application provides a modular quick-change structure for an industrial robotic arm, including a robotic arm mounting base, a tool mounting base, and a quick-change assembly. The robotic arm mounting base is disposed at the free end of the robotic arm, the tool mounting base is used to install tools for the robotic arm, and the quick-change assembly includes a planetary gear mechanism and a connecting mechanism.

[0006] The planetary gear mechanism includes a first connecting seat, a sun gear, a ring gear, and at least one planetary gear. The first connecting seat is disposed on the robotic arm mounting base. The ring gear is disposed on the first connecting seat. A first connecting shaft is coaxially disposed inside the ring gear. The sun gear is sleeved on the first connecting shaft and is keyed to the first connecting shaft. The sun gear is located inside the ring gear. Each planetary gear is located between the sun gear and the ring gear and meshes with both the sun gear and the ring gear respectively. A second connecting shaft passes through any planetary gear and is keyed to the planetary gear.

[0007] The connecting mechanism includes a second connecting seat disposed on the tool mounting base. The second connecting seat has a first annular groove, and at least one movable ring is disposed within the first annular groove. The sidewall of any movable ring is tangent to two annular surfaces of the first annular groove and can slide freely along the circumference of the first annular groove. An axial constraint member is disposed between any movable ring and the second connecting seat, the axial constraint member constraining the movable ring to move along the axial direction of the first annular groove. The second connecting seat also has a connecting hole located inside the first annular groove and coaxial with the first annular groove.

[0008] The first connecting shaft can extend into the connecting hole and be threadedly connected to the second connecting seat. The multiple second connecting shafts can extend into the multiple movable rings one by one and be threadedly connected to the movable rings.

[0009] In some embodiments of this utility model, the axial constraint member includes a first limiting ring sleeved on the movable ring, and a first limiting groove is provided circumferentially on the inner sidewall of any of the first annular grooves. The first limiting ring is located in the first limiting groove and can slide freely along the circumferential direction of the first limiting groove.

[0010] In some embodiments of this utility model, the first connecting seat is provided with a second annular groove, and the second connecting shafts can all extend into the second annular groove. The inner sidewall of the second annular groove is provided with a second limiting groove in the circumferential direction. Each second connecting shaft is fitted with a second limiting ring, and the second limiting rings are all disposed in the second limiting groove and can slide freely along the circumferential direction of the second limiting groove.

[0011] In some embodiments of this utility model, the first connecting shaft is rotatably mounted on the first connecting seat via a thrust bearing.

[0012] In some embodiments of this utility model, a drive motor is provided on the first connecting seat, and the drive motor is connected to the end of the first connecting shaft through a coupling.

[0013] In some embodiments of this utility model, a buffer pad is provided between the first connecting seat and the second connecting seat.

[0014] In some embodiments of this utility model, an end cap is provided at one end of the gear ring away from the first connecting seat. The open end of the end cap can be fitted onto the outer wall of the gear ring. The end cap can slide freely along the circumferential direction of the outer wall of the gear ring. The first connecting shaft and any of the second connecting shafts pass through the end cap.

[0015] In some embodiments of this utility model, a connecting bearing is sleeved on the outer wall of the gear ring, the gear ring can rotate freely in the connecting bearing, and the end cap is fixedly connected to the outer wall of the connecting bearing.

[0016] Compared with the prior art, the embodiments of this utility model have at least the following advantages or beneficial effects:

[0017] This invention provides a modular quick-change structure for an industrial robotic arm. It utilizes the rotation of a first connecting shaft to drive the rotation of a sun gear, which in turn drives the rotation and revolution of planetary gears. During this process, the first connecting shaft extends into a connecting hole and directly connects with a second connecting seat via a threaded connection. Simultaneously, the second connecting shafts extend into corresponding sliding rings. Since the movable ring can only slide circumferentially along the first annular groove and does not rotate, the rotating second connecting shafts engage with the movable ring via a threaded connection, thus enabling indirect connection between the second connecting shafts and the second connecting seats. This process achieves rapid connection between the robotic arm connected to the robotic arm mounting base and the tool connected to the tool mounting base. Multiple second connecting shafts also serve as connecting components, further enhancing connection stability. Therefore, this modular quick-change structure for the industrial robotic arm enables rapid disassembly and assembly of the robotic arm and tool, improving disassembly and assembly efficiency while ensuring connection stability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this utility model and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional exploded view of an embodiment of the present utility model;

[0020] Figure 2 This is a schematic diagram of the installation structure of the planetary gear mechanism in an embodiment of this utility model;

[0021] Figure 3 This is a schematic diagram of the installation structure of the movable ring in an embodiment of this utility model;

[0022] Figure 4 This is a schematic diagram of the cross-sectional structure of the first connecting seat side in an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the cross-sectional structure of the second connecting seat side in an embodiment of this utility model;

[0024] Figure 6 This is a schematic diagram of the overall structure of this utility model after it is connected to the robotic arm;

[0025] Figure 7 This is a schematic diagram of the overall structure of this utility model embodiment after separation from the robotic arm.

[0026] Icons: 1-Robotic arm mounting base; 2-Tool mounting base; 3-Planetary gear mechanism; 301-First connecting base; 302-Sun gear; 303-Gear ring; 304-Planetary gear; 305-First connecting shaft; 306-Second connecting shaft; 4-Connecting mechanism; 401-Second connecting base; 402-First annular groove; 403-Moving ring; 404-Connecting hole; 5-First limiting ring; 6-First limiting groove; 7-Second annular groove; 8-Second limiting groove; 9-Second limiting ring; 10-Thrust bearing; 11-Drive motor; 12-Tool; 13-Buffer pad; 14-End cap; 15-Connecting bearing; 16-Robotic arm. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. The components of the embodiments of this utility model described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0028] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0029] It should be noted that similar labels and letters in the following figures indicate similar items. Therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.

[0030] Example

[0031] Please refer to Figures 1-7This embodiment provides a modular quick-change structure for an industrial robotic arm 16, including a robotic arm 16 mounting base, a tool 12 mounting base, and a quick-change assembly. The robotic arm 16 mounting base is disposed at the free end of the robotic arm 16, and the tool 12 mounting base is used to install tools 12 for the robotic arm 16. The quick-change assembly includes a planetary gear 304 mechanism and a connecting mechanism 4. The planetary gear 304 mechanism includes a first connecting seat 301, a sun gear 302, a gear ring 303, and at least one planetary gear 304. The first connecting seat 301 is disposed on the robotic arm 16 mounting base, and the gear ring 303 is disposed on the first connecting seat 301. A first connecting shaft 305 is coaxially disposed within the gear ring 303. The sun gear 302 is sleeved on the first connecting shaft 305 and is keyed to the first connecting shaft 305. The sun gear 302 is located within the gear ring 303, and each planetary gear 304 is located between the sun gear 302 and the gear ring 303, and meshes with the sun gear 302 and the gear ring 303 respectively. A second connecting shaft 306 passes through any planetary gear 304 and is keyed to the planetary gear 304. The connecting mechanism 4 includes a second connecting seat 401, which is mounted on the tool 12 mounting base. A first annular groove 402 is formed on the second connecting seat 401, and at least one movable ring 403 is disposed within the first annular groove 402. The sidewall of the movable ring 403 is tangent to the two annular surfaces of the first annular groove 402 and can slide freely circumferentially along the first annular groove 402. An axial constraint member is provided between the movable ring 403 and the second connecting seat 401 to constrain the movable ring 403 to move along the axial direction of the first annular groove 402. A connecting hole 404 is also formed on the second connecting seat 401, located inside the first annular groove 402 and coaxial with it. A first connecting shaft 305 can extend into the connecting hole 404 and is threadedly connected to the second connecting seat 401. Multiple second connecting shafts 306 can be inserted into multiple movable rings 403 one by one and threadedly connected to the movable rings 403.

[0032] The first connecting shaft 305 is the drive shaft, which drives the sun gear 302 to rotate. The sun gear 302 then drives the planetary gear 304 to rotate and revolve. During this process, the first connecting shaft 305 extends into the connecting hole 404 and is directly threadedly connected to the second connecting seat 401; simultaneously, the second connecting shafts 306 extend into their corresponding sliding rings. Since the movable ring 403 can only slide circumferentially along the first annular groove 402 and does not rotate, the rotating second connecting shafts 306 will be threadedly connected to the movable ring 403, thus allowing indirect connection between the second connecting shafts 306 and the second connecting seat 401. This process enables a quick connection between the robotic arm 16, which is connected to the robotic arm 16 mounting base, and the tool 12, which is connected to the tool 12 mounting base. The multiple second connecting shafts 306 also serve as connecting components, further improving connection stability. Therefore, the modular quick-change structure of this industrial robotic arm 16 enables rapid disassembly and assembly of the robotic arm 16 and the tool 12, improving disassembly and assembly efficiency while ensuring connection stability. After the first connecting shaft 305 rotates, it can drive the corresponding second connecting shaft 306 to rotate. In this way, the first connecting shaft 305 and the second connecting shaft 306 can be installed at the same time, which greatly improves the efficiency of disassembly and assembly.

[0033] It should be noted that the aforementioned axial constraint member is used to constrain the movable ring 403 to move along the axial direction of the first annular groove 402, preventing the movable ring 403 from disengaging from the first annular groove 402 along its axial direction. Thus, the movable ring 403 is essentially fixedly connected to the second connecting seat 401 in the axial direction. After the second connecting shaft 306 is threadedly connected to the corresponding first sliding ring, it can indirectly and securely connect the second connecting shaft 306 to the second connecting seat 401.

[0034] Please refer to Figure 1 , Figure 3 and Figure 5 In some embodiments of this example, the axial constraint member includes a first limiting ring 5 sleeved on the movable ring 403. A first limiting groove 6 is circumferentially formed on the inner wall of any first annular groove 402. The first limiting ring 5 is located within the first limiting groove 6 and can slide freely along the circumferential direction of the first limiting groove 6. The first limiting ring 5 has an arc-shaped structure, which is adapted to the first limiting groove 6 and can slide along the first limiting groove 6. The arc-shaped structure of the first limiting ring 5 prevents it from rotating, facilitating the smooth screwing of the second connecting shaft 306 into the corresponding second limiting ring 9. The first limiting groove 6 is formed on the inner wall of the first annular groove 402. Thus, after the first limiting ring 5 is placed therein, the first limiting ring is confined within it and cannot move along the axial direction of the first annular groove 402.

[0035] Please refer to Figure 4In some embodiments of this example, the first connecting seat 301 is provided with a second annular groove 7, into which the second connecting shafts 306 can extend. A second limiting groove 8 is circumferentially provided on the inner sidewall of the second annular groove 7, and a second limiting ring 9 is fitted onto each second connecting shaft 306. The second limiting rings 9 are disposed within the second limiting groove 8 and can slide freely circumferentially along the second limiting groove 8. The second annular groove 7 and the second limiting ring 9 cooperate structurally to further limit the second connecting shaft 306, ensuring that the second connecting shaft 306 is relatively fixed and constrained relative to the first connecting seat 301 in the axial direction, thus preventing the second connecting shaft 306 from separating from the first connecting seat 301.

[0036] Specifically, the second annular groove 7 has the same structure and function as the first annular groove 402, and the second limiting ring 9 has the same structure and function as the first limiting ring 5.

[0037] Please refer to Figure 4 In some embodiments of this example, the first connecting shaft 305 is rotatably mounted on the first connecting seat 301 via a thrust bearing 10. The thrust bearing 10 connects the first connecting shaft 305 to the first connecting seat 301, and allows the first connecting shaft 305 to rotate freely in the first connecting seat 301, preventing the first connecting shaft 305 from moving along the axial direction, thereby indirectly constraining the first connecting shaft 305 to the first connecting seat 301 in the axial direction.

[0038] Please refer to Figure 4 In some embodiments of this example, a drive motor 11 is provided on the first connecting seat 301, and the drive motor 11 is connected to the end of the first connecting shaft 305 via a coupling. The drive motor 11 is used to drive the first connecting shaft 305 to rotate.

[0039] Please refer to Figure 5 In some embodiments of this example, a buffer pad 13 is provided between the first connecting seat 301 and the second connecting seat 401. The buffer pad 13 can play a buffering role, preventing the first connecting seat 301 and the second connecting seat 401 from being directly blocked from contact.

[0040] Please refer to Figure 1 , Figure 3 and Figure 4 In some embodiments of this example, an end cap 14 is provided at one end of the gear ring 303 away from the first connecting seat 301. The open end of the end cap 14 can be fitted onto the outer wall of the gear ring 303, and the end cap 14 can slide freely circumferentially along the outer wall of the gear ring 303. The first connecting shaft 305 and any second connecting shaft 306 both pass through the end cap 14. The end cap 14 is equivalent to a planetary gear support and is used to mount the first connecting shaft 305. The end cap 14 will rotate with the second connecting shaft 306.

[0041] Please refer to Figure 4 In some embodiments of this utility model, in order to enable the end cap 14 to rotate with the second connecting shaft 306, a connecting bearing 15 is sleeved on the outer wall of the gear ring 303. The gear ring 303 can rotate freely in the connecting bearing 15, and the end cap 14 is fixedly connected to the outer wall of the connecting bearing 15.

[0042] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of this utility model. Various modifications and variations can be made to this utility model by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A modular quick-change structure for an industrial robotic arm, characterized in that, The system includes a robotic arm mounting base, a tool mounting base, and a quick-change assembly. The robotic arm mounting base is located at the free end of the robotic arm, the tool mounting base is used to mount tools for the robotic arm, and the quick-change assembly includes a planetary gear mechanism and a connecting mechanism. The planetary gear mechanism includes a first connecting seat, a sun gear, a ring gear, and at least one planetary gear. The first connecting seat is disposed on the robotic arm mounting base. The ring gear is disposed on the first connecting seat. A first connecting shaft is coaxially disposed inside the ring gear. The sun gear is sleeved on the first connecting shaft and is keyed to the first connecting shaft. The sun gear is located inside the ring gear. Each planetary gear is located between the sun gear and the ring gear and meshes with both the sun gear and the ring gear respectively. A second connecting shaft passes through any planetary gear and is keyed to the planetary gear. The connecting mechanism includes a second connecting seat disposed on the tool mounting base. The second connecting seat has a first annular groove, and at least one movable ring is disposed within the first annular groove. The sidewall of any movable ring is tangent to two annular surfaces of the first annular groove and can slide freely along the circumference of the first annular groove. An axial constraint member is disposed between any movable ring and the second connecting seat, the axial constraint member constraining the movable ring to move along the axial direction of the first annular groove. The second connecting seat also has a connecting hole located inside the first annular groove and coaxial with the first annular groove. The first connecting shaft can extend into the connecting hole and be threadedly connected to the second connecting seat. The multiple second connecting shafts can extend into the multiple movable rings one by one and be threadedly connected to the movable rings.

2. The modular quick-change structure of the industrial robotic arm according to claim 1, characterized in that, The axial constraint member includes a first limiting ring sleeved on the movable ring. A first limiting groove is provided circumferentially on the inner sidewall of any of the first annular grooves. The first limiting ring is located in the first limiting groove and can slide freely along the circumferential direction of the first limiting groove.

3. The modular quick-change structure of the industrial robotic arm according to claim 1, characterized in that, The first connecting seat has a second annular groove, and the second connecting shafts can all extend into the second annular groove. The inner sidewall of the second annular groove has a second limiting groove in the circumferential direction. Each second connecting shaft is fitted with a second limiting ring. The second limiting rings are all set in the second limiting groove and can slide freely along the circumferential direction of the second limiting groove.

4. The modular quick-change structure of the industrial robotic arm according to claim 1, characterized in that, The first connecting shaft is rotatably mounted on the first connecting seat via a thrust bearing.

5. The modular quick-change structure of the industrial robotic arm according to claim 4, characterized in that, A drive motor is provided on the first connecting seat, and the drive motor is connected to the end of the first connecting shaft through a coupling.

6. The modular quick-change structure of the industrial robotic arm according to claim 1, characterized in that, A buffer pad is provided between the first connecting seat and the second connecting seat.

7. The modular quick-change structure of the industrial robotic arm according to claim 1, characterized in that, An end cap is provided at one end of the gear ring away from the first connecting seat. The open end of the end cap can be fitted onto the outer wall of the gear ring. The end cap can slide freely along the circumferential direction of the outer wall of the gear ring. The first connecting shaft and any of the second connecting shafts pass through the end cap.

8. The modular quick-change structure of the industrial robotic arm according to claim 7, characterized in that, A connecting bearing is fitted on the outer wall of the gear ring, and the gear ring can rotate freely within the connecting bearing. The end cap is fixedly connected to the outer wall of the connecting bearing.

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