A quick-change fixture device for robotic arms

Abstract

This utility model relates to the field of quick-change design technology for robotic arms, and more particularly to a quick-change fixture device for robotic arms. It includes a robotic arm connecting seat connected to the end effector of the robotic arm, a fixture connecting plate connected to a fixture, and a quick-change assembly installed between the robotic arm connecting seat and the fixture connecting plate. The quick-change assembly includes a mounting block, a mounting base, a plug rod, and a drive unit. The mounting block is installed on the upper part of the fixture connecting plate, and the side wall of the mounting block has a slot for inserting the plug rod. The mounting base is installed on the lower part of the robotic arm connecting seat, and the mounting base has a mounting groove for inserting the mounting block in the connected state. The plug rod is located in the mounting groove. The drive unit is connected to the plug rod and is used to drive the plug rod into the slot in the connected state and to drive the plug rod out of the slot in the disassembled state.

Description

Technical Field

[0001] This utility model relates to the field of quick-change design technology for robotic arms, and in particular to a quick-change fixture device for robotic arms. Background Technology

[0002] In the field of industrial automation production, robotic arms, as core execution equipment, are widely used in various operations such as assembly, handling, welding, and inspection. Because different processes require different functional fixtures (such as gripping fixtures, positioning fixtures, and inspection fixtures), robotic arms need to frequently change fixtures to meet production demands.

[0003] Currently, the mainstream connection methods for robotic jigs are mainly divided into two categories: one is direct bolt fixing, which requires manual disassembly and installation of bolts using tools during replacement, and a single replacement usually takes 5-15 minutes. This is not only inefficient, but also prone to decreased connection stability due to bolt wear and stripping. The other is a simple snap-fit ​​quick-change structure, which eliminates the bolt disassembly and installation steps, but the load-bearing capacity of the snap-fit ​​is limited (usually only able to withstand a load of 5-10kg), and the snap-fit ​​is prone to deformation and loosening after long-term use. It cannot meet the operational requirements of heavy jigs (such as automotive parts assembly jigs, where the load often reaches 20-50kg). At the same time, the simple snap-fit ​​structure lacks precise positioning design, and the coaxiality and repeatability of the jig after replacement have large deviations (usually 0.5-2mm), which can easily lead to product assembly errors and distorted test data.

[0004] In addition, some high-end quick-change devices rely on hydraulic or pneumatic drives. Although they can achieve high loads and fast switching speeds, they have the following drawbacks: First, hydraulic / pneumatic systems require auxiliary equipment such as pump stations and air pipes, resulting in complex structures and large space requirements, making them difficult to adapt to miniaturized robotic arms or compact production layouts. Second, problems such as hydraulic oil leakage and unstable air pressure can affect the reliability of the device, leading to higher maintenance costs (annual maintenance costs are approximately 3-5 times that of mechanical structures). Third, in scenarios with high cleanliness requirements (such as electronic component assembly and food processing), hydraulic oil leakage can also cause product contamination, limiting its application scope.

[0005] Therefore, the industry urgently needs a robotic quick-change fixture device that is simple in structure, has strong load-bearing capacity, accurate positioning, low maintenance cost, and can be adapted to different load fixtures, in order to solve the problems of low efficiency, poor stability and limited applicability of existing connection methods, and improve the flexibility and production efficiency of automated production lines. Utility Model Content

[0006] The present invention adopts the following technical solution:

[0007] A quick-change fixture device for a robotic arm includes a robotic arm connecting seat connected to the end of the robotic arm, a fixture connecting plate connected to a fixture, and a quick-change assembly installed between the robotic arm connecting seat and the fixture connecting plate.

[0008] The quick-change assembly includes a mounting block, a mounting base, a plug rod, and a drive unit. The mounting block is mounted on the upper part of the fixture connecting plate, and the side wall of the mounting block is provided with a slot for inserting the plug rod. The mounting base is mounted on the lower part of the robot arm connecting base, and the mounting base is provided with a mounting groove for inserting the mounting block in the connected state. The plug rod is located in the mounting groove. The drive unit is connected to the plug rod and is used to drive the plug rod into the slot in the connected state and to drive the plug rod out of the slot in the disassembled state.

[0009] Preferably, the drive unit includes a connecting rod, a first gear, a second gear, and a gear ring; the connecting rod is located outside the mounting base, and one end of the connecting rod passes through the mounting base and is connected to the insert rod; a first rack is provided on one side of the connecting rod; the first gear is located outside the mounting base and abuts against the first rack; the second gear is located below the first gear and is connected to the first gear and the mounting base; the gear ring is arranged around the outside of the mounting base, and the gear ring meshes with the second gear.

[0010] Preferably, the drive unit further includes a first drive wheel, a second drive wheel, a drive belt, and a drive motor; the first drive wheel is connected to the gear ring; the second drive wheel is located on one side of the first drive wheel and is connected to the first drive wheel via the drive belt; the drive motor is installed in the robot arm connecting seat and is connected to the second drive wheel for driving the second drive wheel to rotate.

[0011] Preferably, the upper part of the mounting base is provided with a guide rod; the fixture connecting plate is provided with a guide groove corresponding to the guide rod.

[0012] This invention utilizes a drive unit to quickly engage / disengage the insert rod and slot, eliminating the need for manual bolt removal and reducing fixture replacement time to less than 30 seconds. Compared to traditional bolt-fixing methods, this represents a 10-30 times increase in efficiency, effectively reducing production line downtime. It is particularly suitable for flexible production scenarios involving multiple product types and small batches. Furthermore, the quick-change assembly employs a rigid mechanical structure (the mounting block, mounting base, and insert rod are all made of high-strength alloy materials, such as 45# steel with heat treatment). The insert rod and slot have a surface contact fit, providing a load-bearing capacity of 50-100kg, meeting the requirements for heavy-duty fixture operations. Simultaneously, the gear ring-gear- The rack and pinion transmission structure enables stable locking of the insertion rod, preventing loosening after long-term use. The connection repeatability accuracy can reach 0.05-0.1mm, ensuring operational precision. At the same time, it adopts pure mechanical transmission combined with motor drive, eliminating the need for hydraulic / pneumatic auxiliary equipment. The overall size is reduced by 40%-60% compared to hydraulic quick-change devices, and it is compatible with various sizes of robotic arms. The guide rod of the mounting base cooperates with the guide groove of the fixture connecting plate to achieve quick alignment of the mounting block and the mounting groove, avoiding errors caused by manual alignment. Even novice operators can quickly complete fixture changes. Attached Figure Description

[0013] Figure 1 This is a connection diagram of a quick-change fixture device for a robotic arm according to the present invention;

[0014] Figure 2 This is a schematic diagram of the structure of the robot arm connecting seat in a quick-change fixture device for a robot arm according to this utility model;

[0015] Figure 3 This is a schematic diagram of the fixture connecting plate in a quick-change fixture device for a robotic arm according to this utility model;

[0016] Figure 4 This is a partial structural diagram;

[0017] Figure 5 for Figure 4 A schematic diagram of the structure with the mounting base removed;

[0018] Figure 6 This is a schematic diagram of the mounting base. Detailed Implementation

[0019] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0020] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and 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 a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0021] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0022] Please see Figures 1 to 6 A quick-change fixture device for a robotic arm includes a robotic arm connecting seat 10 connected to the end of the robotic arm, a fixture connecting plate 20 connected to a fixture, and a quick-change assembly 30 installed between the robotic arm connecting seat 10 and the fixture connecting plate 20.

[0023] The quick-change assembly 30 includes a mounting block 301, a mounting base 302, a plug rod 303, and a drive unit. The mounting block 301 is mounted on the upper part of the fixture connecting plate 20, and the side wall of the mounting block 301 is provided with a slot 305 for inserting the plug rod 303. The mounting base 302 is mounted on the lower part of the robot arm connecting base 10, and the mounting base 302 is provided with a mounting groove 304 for inserting the mounting block 301 in the connected state. The plug rod 303 is located in the mounting groove 304. The drive unit is connected to the plug rod 303 and is used to drive the plug rod 303 into the slot 305 in the connected state and to drive the plug rod 303 out of the slot 305 in the disassembled state.

[0024] Specifically, in this embodiment, the lower part of the fixture connecting plate 20 is provided with a first threaded hole for connecting various types of intermediate work fixtures, and the upper part of the robot arm connecting seat 10 is provided with a second threaded hole for installing the robot arm connecting seat 10 on the end of the robot arm. When it is necessary to install the fixture connecting plate 20 and the robot arm connecting seat 10, the mounting block 301 is aligned and inserted into the mounting groove 304. At this time, the slot 305 of the mounting block 301 is aligned with the insertion rod 303, and then the drive unit drives the insertion rod 303 to be inserted into the slot 305, thereby stably positioning the mounting block 301 in the mounting groove 304. When it is necessary to separate the fixture connecting plate 20 and the robot arm connecting seat 10, and in the disassembled state, the drive unit drives the insertion rod 303 to leave the slot 305. Through the above settings, the fixture connecting plate 20 and the robot arm connecting seat 10 can be quickly and efficiently assembled and disassembled, thereby improving industrial efficiency.

[0025] In one specific embodiment, the drive unit includes a connecting rod 306, a first gear 307, a second gear 308, and a gear ring 309. The connecting rod 306 is located outside the mounting base 302, and one end of the connecting rod 306 passes through the mounting base 302 and is connected to the insertion rod 303. A first rack is provided on one side of the connecting rod 306. The first gear 307 is located outside the mounting base 302 and abuts against the first rack. The second gear 308 is located below the first gear 307 and is connected to the first gear 307 and the mounting base 302. The gear ring 309 is arranged around the outside of the mounting base 302, and the gear ring 309 meshes with the second gear 308. Specifically, in this embodiment, the upper part of the second gear 308 is connected to the first gear 307, and its bottom is rotatably connected to the mounting base 302. During operation, the gear ring 309 is rotated by an external drive, which in turn drives the second gear 308 to rotate. The second gear 308 drives the first gear 307 to rotate, which in turn drives the connecting rod 306 to move. Depending on the rotation direction of the gear ring 309, the connecting rod 306 drives the insertion rod 303 to be inserted into or removed from the slot 305 as needed, thus completing the switching between the connected and disassembled states. Furthermore, in this embodiment, the mounting base 302 is provided with a connecting groove 310 for the connecting rod 306 to pass through. One end of the connecting rod 306 passes through the connecting groove 310 and connects to the insertion rod 303. Furthermore, a slide rail is provided on one side of the connecting rod 306, and the connecting groove 310 has a corresponding groove, allowing the connecting rod 306 to slide within the connecting groove 310, thereby improving the stability of the connecting rod 306 during movement.

[0026] In one specific embodiment, the drive unit further includes a first transmission wheel 311, a second transmission wheel 312, a transmission belt 313, and a drive motor 314; the first transmission wheel 311 is connected to the gear ring 309; the second transmission wheel 312 is disposed on one side of the first transmission wheel 311 and is connected to the first transmission wheel 311 through the transmission belt 313; the drive motor 314 is installed in the robot arm connecting seat 10 and is connected to the second transmission wheel 312, for driving the second transmission wheel 312 to rotate. Specifically, in this embodiment, the drive motor 314 drives the second transmission wheel 312 to rotate, which in turn drives the first transmission wheel 311 to rotate through the transmission belt 313, so that it drives the gear ring 309 to rotate; furthermore, in this embodiment, the outer periphery of the mounting seat 302 is provided with an annular groove for mounting the first transmission wheel 311, and the upper and lower ends of the first transmission wheel 311 are slidably connected in the annular groove, thereby ensuring the stability of the first transmission wheel 311 when rotating. Furthermore, the drive motor is a servo motor with electromagnetic braking, which realizes self-locking function, has strong compatibility, low assembly difficulty, and the electromagnetic braking has fast response speed and high locking reliability.

[0027] In one specific embodiment, the upper part of the mounting base 302 is provided with a guide rod 315; the fixture connecting plate 20 is provided with a guide groove 316 corresponding to the guide rod 315. Specifically, in this embodiment, during operation, the cooperation between the guide rod 315 and the guide groove 316 allows the mounting block 301 to be inserted into the mounting groove 304 at a preset position, thereby aligning the slot 305 with the insertion rod 303.

[0028] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A quick-change fixture device for a robotic arm, characterized in that: It includes a robot arm connector connected to the end effector of a robot arm, a fixture connector plate connected to a fixture, and a quick-change assembly installed between the robot arm connector and the fixture connector plate; The quick-change assembly includes a mounting block, a mounting base, a plug rod, and a drive unit. The mounting block is mounted on the upper part of the fixture connecting plate, and the side wall of the mounting block is provided with a slot for inserting the plug rod. The mounting base is mounted on the lower part of the robot arm connecting base, and the mounting base is provided with a mounting groove for inserting the mounting block in the connected state. The plug rod is located in the mounting groove. The drive unit is connected to the plug rod and is used to drive the plug rod into the slot in the connected state and to drive the plug rod out of the slot in the disassembled state.

2. The quick change tool changer device of claim 1, wherein: The drive unit includes a connecting rod, a first gear, a second gear, and a gear ring; the connecting rod is located outside the mounting base, and one end of the connecting rod passes through the mounting base and is connected to the insert rod; a first rack is provided on one side of the connecting rod; the first gear is located outside the mounting base and abuts against the first rack; the second gear is located below the first gear and is connected to the first gear and the mounting base; the gear ring is arranged around the outside of the mounting base, and the gear ring meshes with the second gear.

3. The quick change tooling device of claim 2, wherein: The drive unit further includes a first drive wheel, a second drive wheel, a drive belt, and a drive motor; the first drive wheel is connected to a gear ring; the second drive wheel is located on one side of the first drive wheel and is connected to the first drive wheel via the drive belt; the drive motor is installed in the robot arm connecting seat and is connected to the second drive wheel to drive the second drive wheel to rotate.

4. The quick change gripper device for a robot according to claim 1, wherein: The upper part of the mounting base is provided with a guide rod; the fixture connecting plate is provided with a guide groove corresponding to the guide rod.

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