Quick-changeable wrist block

Abstract

The utility model provides a wrist block body of quick replacement relates to mechanical arm accessory technical field, include: tail end support arm, one side installation of tail end support arm connects the seat, and the other side of tail end support arm sets up a hinged groove, one side installation of connecting seat connects the main part of a block, and one side of block main part sets up a threading groove, and one side installation of block main part connects the control seat of an arm, and one side of arm control seat sets up a group of symmetrical distribution's rotation hole. The control frame is arranged between the block main part and the tail end support arm, and the spring drive type cooperation of control frame and locking block realizes the quick locking of block main part and tail end support arm, and the locking and unlocking of block main part and tail end support arm can be completed without tools, and the dismounting time of block main part and tail end support arm is greatly shortened, solves the problem that the traditional block main part and tail end support arm help bolt connection.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm accessories technology, and in particular to a wrist block that can be quickly replaced. Background Technology

[0002] In the field of robotic arm technology, the wrist block is a key component of the end effector of a robotic arm, used to connect the forearm of the robotic arm to the end tool, such as a gripper or welding torch. Its ease of assembly and disassembly, connection stability, and the protection of its associated cables directly affect the working efficiency and service life of the robotic arm. However, existing wrist blocks have the following shortcomings in practical applications: Traditional wrist block connections to the robotic arm body and end effector rely on bolt fastening. When replacing them, tools are needed to disassemble or install bolts one by one, and the disassembly and assembly time for a single connection is often about five minutes. For scenarios that require frequent replacement of end effectors, such as multi-process switching on automated production lines, this method will result in excessive downtime of the robotic arm, which will seriously restrict production efficiency. Existing electromagnetically driven locking structures often experience locking misalignment due to unstable guidance, which can easily lead to axial and radial displacement. When the robotic arm is operating at high speed or under load, relative displacement between the wrist block and the connecting seat can easily occur, affecting the stability of the gripper connection. Utility Model Content

[0003] This utility model relates to a quick-replaceable wrist block. The quick-replaceable wrist block is designed so that the main body of the block and the tail arm can be quickly assembled and disassembled through the cooperation of the control frame and the locking block. The arm control seat is accurately connected and locked by the docking rod and the electromagnetic locking structure. At the same time, the protective block protects the cable safety. The overall structure takes into account replacement efficiency, connection strength and operation convenience, and is suitable for robotic arm operation scenarios that require frequent replacement of end tools.

[0004] This utility model provides a quick-replaceable wrist block, specifically including: a tail-end support arm, a connecting seat installed on one side of the tail-end support arm, a hinge groove opened on the other side of the tail-end support arm, a block body installed on one side of the connecting seat, a wire-passing groove opened on one side of the block body, an arm control seat installed on one side of the block body, a set of symmetrically distributed rotating holes opened on one side of the arm control seat, an electromagnetic control body installed on the outer side of the arm control seat, a power cord provided on one side of the electromagnetic control body, and a set of symmetrically distributed control frames installed on the outer side of the block body.

[0005] Furthermore, the outer side of the block body is provided with two sets of guide rods distributed in the same direction. The guide rods are cylindrical structures. The control frame has a set of sliding holes corresponding to the guide rods. There are two sliding holes in each set. The guide rods pass through the interior of the sliding holes. A snap ring with an annular groove is installed at the end of one of the guide rods. A support spring is installed on the outer side of the guide rod. The support spring is located between the snap ring and the control frame.

[0006] Furthermore, a set of evenly distributed locking blocks are provided on one side of the bottom position of the control frame. The locking blocks are cylindrical structures and the control frame is an integral structure. Two sets of evenly distributed locking grooves are opened at the edge of the connecting seat. The locking grooves correspond to the locking blocks, and the locking blocks extend into the interior of the locking grooves.

[0007] Furthermore, the control frame has an arc structure, and a pressing strip is provided on one side of the control frame.

[0008] Furthermore, a T-shaped groove is opened at the upper and lower positions of the inner side of the wire-passing groove of the main body of the block. A protective block is installed on the inner side of the wire-passing groove. Two stabilizing blocks corresponding to the T-shaped groove are provided on one side of the protective block. The stabilizing blocks extend into the interior of the T-shaped groove. A clamping groove is opened on the inner side of the protective block.

[0009] Furthermore, a set of ear plates is provided on one side of the block body and the arm control seat, and a mounting hole is opened at the center of each ear plate. A horizontal connecting rod is installed on the inner side of the ear plate of the arm control seat, and the connecting rod passes through the ear plate of the block body.

[0010] Furthermore, a sliding groove with a T-shaped structure is formed on the inner side of the electromagnetic control body. A locking frame is installed on one side of the electromagnetic control body, and a sliding block is provided on one side of the locking frame. The sliding block corresponds to the sliding groove. A positioning rod is installed on the inner side of the sliding groove. The electromagnetic control body, the positioning rod, and the locking frame cooperate to form a locking structure. One side of the positioning rod extends into the interior of the arm control seat. A support spring is installed on the outer side of the positioning rod. An annular groove with a cylindrical sleeve shape is formed on one side of the docking rod. A locking groove is formed on the upper and lower sides of one side of the locking frame. The locking groove and the annular groove engage.

[0011] This invention provides a quickly replaceable wrist block, which has the following advantages: In this invention, a control frame is provided between the main block and the tail support arm. The control frame and the locking block are spring-driven to achieve quick locking of the main block and the tail support arm. Locking and unlocking of the main block and the tail support arm can be completed without tools, greatly reducing the assembly and disassembly time of the main block and the tail support arm.

[0012] An electromagnetic control unit, positioning rod, and locking frame are installed between the block body and the arm control seat. The electromagnetic drive design of the electromagnetic control unit and the locking frame enables the block body and the arm connection seat to lock and unlock quickly, which greatly shortens the disassembly and assembly time of the block body and the arm control seat. The overall replacement efficiency is improved by more than 80% compared with the traditional bolt connection.

[0013] A protective block is installed to protect the power cord. Specifically, the power cord inside the tail arm and the main body of the block is passed through the clamping groove and held and positioned by the rubber material of the protective block. In addition, the rubber clamping groove can buffer the vibration and external force of the power cord, avoid wear caused by the friction between the cable and the metal edge, and prevent poor contact from affecting the movement of the robotic arm.

[0014] In summary, this device combines quick replacement, stable connection, and safety protection, making it particularly suitable for scenarios in automated production lines where frequent switching of end tools is required, significantly reducing downtime and improving production efficiency. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings of the embodiments will be briefly described below.

[0016] The accompanying drawings described below are only related to some embodiments of the present invention and are not intended to limit the scope of the present invention.

[0017] In the attached diagram: Figure 1 This invention provides a schematic diagram of the axial structure of the wrist block after assembly. Figure 2 This utility model illustrates Figure 1 A schematic diagram of the axonal structure from the rear view; Figure 3 A schematic diagram of the axial side structure of a partially cut section of the locking structure of this utility model is shown; Figure 4 The diagram shows an axial side view of the cross-sectional structure of the arm control seat and locking structure of this utility model. Figure 5 A schematic diagram of the axonometric structure of the control frame half-section structure of this utility model is shown; Figure 6 A schematic diagram of the axial side structure of the wrist block splitting structure of this utility model is shown; Figure 7 A schematic diagram of the axonometric structure of a partially cut section of the control frame of this utility model is shown; Figure 8 This utility model illustrates Figure 1 A magnified structural diagram at point A.

[0018] List of reference numerals 1. Tail-end support arm; 101. Connecting seat; 2. Main block; 201. Protective block; 202. Guide rod; 203. Connecting rod; 3. Arm control seat; 4. Control frame; 401. Locking block; 5. Locking structure; 501. Electromagnetic control main body; 502. Positioning rod; 503. Locking frame. Detailed Implementation

[0019] 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, not all, of the embodiments of this utility model. Based on the described 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] Example 1: Please refer to Figures 1 to 8 : This utility model proposes a quick-replaceable wrist block, comprising: a tail support arm 1, a connecting seat 101 mounted on one side of the tail support arm 1, a hinge groove formed on the other side of the tail support arm 1, a block body 2 mounted on one side of the connecting seat 101, a wire-passing groove formed on one side of the block body 2, and T-shaped grooves formed at the upper and lower positions of the wire-passing groove on the inner side of the block body 2. A protective block 201 is mounted on the inner side of the wire-passing groove. The protective block 201 is made of rubber material according to actual needs. Two stabilizing blocks corresponding to the T-slot are provided on one side of the 201. The stabilizing blocks extend into the interior of the T-slot. The T-slot and the stabilizing blocks cooperate to achieve quick installation and positioning of the protective block 201. A clamping groove is opened on the inner side of the protective block 201. The power cord inside the tail arm 1 and the block body 2 is passed through the inside of the clamping groove. The power cord is clamped and positioned by the rubber material of the protective block 201. In addition, the rubber clamping groove can buffer the vibration and external force of the power cord, avoid wear caused by the friction between the cable and the metal edge, and prevent poor contact from affecting the movement of the robotic arm. In this embodiment, an arm control seat 3 is installed on one side of the block body 2. A set of symmetrically distributed rotating holes are opened on one side of the arm control seat 3. The rotating holes are used to install the positioning pins of the gripper. A set of ear plates are respectively provided on the edge of one side of the block body 2 and the arm control seat 3. An installation hole is opened at the center of the ear plate. A transverse docking rod 203 is installed on the inner side of the ear plate of the arm control seat 3. The docking rod 203 is stably installed inside the ear plate through the friction surface. The docking rod 203 passes through the ear plate of the block body 2. At this time, the docking rod 203 completes the circumferential positioning and quick docking of the block body 2 and the arm control seat 3. At the same time, it can withstand a certain torque force to ensure the connection stability. In this embodiment, an electromagnetic control body 501 is mounted on the outer side of the arm control base 3. A power cord is provided on one side of the electromagnetic control body 501. A sliding groove with a T-shaped structure is formed on the inner side of the electromagnetic control body 501. A locking frame 503 is mounted on one side of the electromagnetic control body 501. The locking frame 503 is made of iron. A sliding block is provided on one side of the locking frame 503, corresponding to the sliding groove. A positioning rod 502 is installed on the inner side of the sliding groove. The electromagnetic control body 501, the positioning rod 502, and the locking frame 503 cooperate with each other. The locking structure 5 is composed of a positioning rod 502 extending into the arm control seat 3 on one side. A support spring is installed on the outer side of the positioning rod 502. After the electromagnetic control body 501 is de-energized, the support spring pushes the locking frame 503 to move closer to the arm control seat 3. An annular groove is formed on one side of the connecting rod 203. The annular groove is cylindrical. A locking groove is formed on the upper and lower sides of one side of the locking frame 503. The locking groove and the annular groove engage. Specifically, the sliding groove cooperates with the sliding block to provide guidance for the locking frame 503. When the electromagnetic control body 501 is de-energized... A support spring pushes the locking groove of the locking frame 503 to engage with the annular groove of the docking rod 203, achieving automatic locking between the block body 2 and the arm control seat 3. The cooperation of a set of positioning rods 502 with the locking groove further enhances the movement stability of the locking frame 503. After the electromagnetic control body 501 is energized, it attracts the locking frame 503 and moves it outward, at which point the block body 2 and the arm control seat 3 quickly unlock. A set of symmetrically distributed control frames 4 are installed on the outer side of the block body 2. Two sets of guide rods 202 distributed in the same direction are provided on the outer side of the block body 2. The guide rods 202 are cylindrical structures. 4. A set of sliding holes corresponding to the guide rod 202 are made. There are two sliding holes in each set. The guide rod 202 passes through the inside of the sliding hole. Specifically, the guide rod 202 cooperates with the sliding hole to provide a stable sliding guide for the control frame 4, ensuring that the control frame 4 can only move in a straight line and ensuring the accuracy of locking and unlocking actions. A snap ring with an annular groove is installed at the end of one of the guide rods 202. A support spring is installed on the outer side of the guide rod 202. The support spring is located between the snap ring and the control frame 4. The elastic force of the support spring continuously pushes the control frame 4 to return to its original position inward.

[0021] In this embodiment, a set of evenly distributed locking blocks 401 are provided on one side of the bottom of the control frame 4. The locking blocks 401 are cylindrical structures and are integral with the control frame 4. Two sets of evenly distributed locking grooves are provided on the edge of the connecting seat 101. The locking grooves correspond to the locking blocks 401, and the locking blocks 401 extend into the interior of the locking grooves. Specifically, in conjunction with the support spring of the guide rod 202, the locking blocks 401 are kept embedded in the locking grooves to ensure the stability of the connection between the block body 2 and the connecting seat 101. The cooperation of the locking blocks 401 with the locking grooves and springs achieves... The quick locking of the block body 2 and the connecting seat 101 prevents relative rotation or axial displacement between the two during the operation of the robotic arm. The control frame 4 has an arc structure and a pressing bar on one side. By placing your hand between the two pressing bars and applying a pressing force, you can press the pressing bars of the control frame 4 outwards at the same time. At this time, the control frame 4 moves outwards at the same time. The operator can drive the two control frames 4 to move simultaneously with one hand, causing the locking block 401 to disengage from the locking groove in a synchronized manner, thereby realizing the quick unlocking of the block body 2 and the connecting seat 101 and shortening the unlocking time of the block body 2 and the connecting seat 101.

[0022] Example 2, based on Example 1, such as Figures 1-7 As shown, a standard model of electromagnetic control body 501 is selected according to actual needs. The standard model of electromagnetic control body 501 reduces the equipment manufacturing cost, facilitates procurement and maintenance, and improves the compatibility and practicality of the device.

[0023] The working principle of this embodiment: The operator presses the pressing strips on both sides of the control frame 4 with one hand, applying pressure outwards at the same time. This causes the control frame 4 to slide along the guide rod 202 and compress the support spring. While maintaining the pressing state, the block body 2 is brought close to the connecting seat 101, so that the locking block 401 at the bottom of the control frame 4 is aligned with the locking groove on the edge of the connecting seat 101. The operator releases the pressure on the control frame 4. At this time, the locking block 401 automatically inserts into the locking groove under the pushing force of the support spring, completing the rapid assembly and locking of the tail arm 1 and the block body 2. With the electromagnetic control body 501 powered on, align the ear plate of the arm control seat 3 with the ear plate of the block body 2, and align the docking rod 203 with the mounting hole of the ear plate; push the arm control seat 3 to allow the docking rod 203 to pass through the mounting hole, completing the rapid assembly of the block body 2 and the arm control seat 3. Then, with the electromagnetic control body 501 powered off, the support spring pushes the locking frame 503 to move along the T-shaped sliding groove toward the arm control seat 3 until the locking groove of the locking frame 503 engages with the annular groove of the docking rod 203; completing the rapid locking of the block body 2 and the arm control seat 3. The rubber protective block 201 is embedded into the T-shaped groove of the cable passage through the stabilizing block. Following the conventional wiring steps, the power cable inside the tail support arm 1 and the block body 2 is passed through the clamping groove of the protective block 201. The elastic rubber protective block 201 is used to clamp and position the cable. When the electromagnetic control body 501 is powered on, the electromagnetic force attracts the iron locking frame 503 to move outward against the support spring force, so that the locking groove of the locking frame 503 disengages from the annular groove of the docking rod 203; at this time, the arm control seat 3 is unlocked, so that the docking rod 203 exits the ear plate mounting hole of the block body 2, and the block body 2 and the arm control seat 3 are separated. The operator squeezes the pressing strips on both sides of the control frame 4 with one hand, applying pressure outwards at the same time, causing the control frame 4 to slide along the guide rod 202 and compress the support spring, so that the locking block 401 is simultaneously disengaged from the locking groove of the connecting seat 101; while maintaining the pressing state, the block body 2 is disassembled from one side of the connecting seat 101. Following the installation and docking steps described above, reconnect the new block body 2 with the tail arm 1 and the arm control seat 3.

Claims

1. A quick-replaceable wrist block, characterized in that, include: The tail end support arm (1), the block body (2) and the arm control seat (3) are provided. A connecting seat (101) is installed on one side of the tail end support arm (1), and a hinge groove is opened on the other side of the tail end support arm (1). A block body (2) is installed on one side of the connecting seat (101), and a wire groove is opened on one side of the block body (2). An arm control seat (3) is installed on one side of the block body (2). A set of symmetrically distributed rotating holes is opened on one side of the arm control seat (3). An electromagnetic control body (501) is installed on the outer side of the arm control seat (3). A power line is provided on one side of the electromagnetic control body (501). A set of symmetrically distributed control frames (4) is installed on the outer side of the block body (2).

2. The wrist block that can be quickly replaced according to claim 1, characterized in that, The outer side of the block body (2) is provided with two sets of guide rods (202) distributed in the same direction. The control frame (4) has a set of sliding holes corresponding to the guide rods (202). There are two sliding holes in each set. The guide rods (202) pass through the interior of the sliding holes. A snap ring with an annular groove is installed at the end of one of the guide rods (202). A support spring is installed on the outer side of the guide rod (202). The support spring is located between the snap ring and the control frame (4).

3. The wrist block that can be quickly replaced according to claim 1, characterized in that, The bottom of the control frame (4) has a set of evenly distributed locking blocks (401) on one side. The locking blocks (401) and the control frame (4) are an integral structure. Two sets of evenly distributed locking grooves are opened at the edge of the connecting seat (101). The locking grooves correspond to the locking blocks (401), and the locking blocks (401) extend into the interior of the locking grooves.

4. The wrist block that can be quickly replaced according to claim 1, characterized in that, A pressing strip is provided on one side of the control frame (4).

5. A quick-replaceable wrist block according to claim 1, characterized in that, The main body of the block (2) has a T-shaped groove on the upper and lower positions of the inner side of the wire groove. A protective block (201) is installed on the inner side of the wire groove. Two stabilizing blocks corresponding to the T-shaped groove are provided on one side of the protective block (201). The stabilizing blocks extend into the interior of the T-shaped groove. A clamping groove is opened on the inner side of the protective block (201).

6. The wrist block that can be quickly replaced according to claim 1, characterized in that, The block body (2) and the arm control seat (3) are provided with a set of ear plates at the edge position on one side, and an installation hole is opened at the center position of the ear plate. A horizontal docking rod (203) is installed on the inner side of the ear plate of the arm control seat (3), and the docking rod (203) passes through the ear plate of the block body (2).

7. A quick-replaceable wrist block according to claim 1, characterized in that, A sliding groove is provided on the inner side of the electromagnetic control body (501), and a locking frame (503) is installed on one side of the electromagnetic control body (501). A sliding block is provided on one side of the locking frame (503), and the sliding block corresponds to the sliding groove. A positioning rod (502) is installed on the inner side of the sliding groove. The electromagnetic control body (501), the positioning rod (502), and the locking frame (503) cooperate with each other to form a locking structure (5).

8. A quick-replaceable wrist block according to claim 7, characterized in that, One side of the positioning rod (502) extends into the interior of the arm control seat (3). A support spring is installed on the outer side of the positioning rod (502). An annular groove is opened on one side of the docking rod (203). A locking groove is opened on the upper and lower sides of one side of the locking frame (503). The locking groove and the annular groove engage.

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