A manual square quick exchange device for a robot arm

Abstract

The utility model discloses a kind of manual square quick exchange devices for mechanical arm, it includes body side and clamp side.Body side includes body, grab hook, stop shaft, lock pin, sliding slot seat, pull rod, lock pin elastic element, grab hook pin, sliding slot pin, pull rod elastic element, handle and side cover, body is square shell structure, side cover is fixed in the side of body and forms the internal mounting cavity of body, stop shaft is fixed in the middle of internal mounting cavity along the width direction of body, its outer wall is provided with annular groove, grab hook is provided with two, symmetrically distributed in the two sides of stop shaft, and by grab hook pin and body rotationally connected, the hook portion of grab hook is towards downwards, sliding slot seat is slidably arranged in the inside of body and located below stop shaft.The utility model is designed by pure mechanical structure, realizes the quick locking and loosening of clamp, while guaranteeing operation convenience and locking reliability, reduce labor intensity, adapt complex operation scene.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm auxiliary equipment technology, specifically to a manual square quick-change device for robotic arms suitable for automation of molded plastic products, parts and automotive welding, etc., which enables the rapid assembly and disassembly of robotic arms with different fixtures, thereby improving the efficiency and safety of automated operations. Background Technology

[0002] In the field of industrial automation, especially in scenarios such as mold plastic product molding, parts processing, and automotive welding, robotic arms have become core equipment for gripping molded products and completing welding operations due to their advantages of high efficiency, stability, and adaptability to harsh environments. To meet the processing and gripping needs of different workpieces, robotic arms need to frequently change to adaptable grippers. Therefore, the quick-change device, as a key component connecting the robotic arm and the gripper, directly affects the operating efficiency and ease of operation of the automated production line.

[0003] Currently, most quick-change devices for robotic arms rely on electric or pneumatic drives, which are not only costly but also prone to failure in harsh operating environments such as dust and high temperatures, making maintenance difficult. Some manual changers suffer from poor locking stability and cumbersome operation—requiring multiple adjustments by a single person when changing grippers, preventing convenient two-handed handling. This increases the operator's workload and can lead to improper gripper installation due to positioning errors, affecting subsequent operational accuracy and even posing safety hazards. Therefore, developing a simple, easy-to-operate, stable-locking, and environmentally friendly manual quick-change device is crucial for addressing the current pain points in robotic arm gripper replacement. Utility Model Content

[0004] The purpose of this utility model is to overcome the above-mentioned technical deficiencies and provide a manual square quick-change device for robotic arms. Through a purely mechanical structure design, it can quickly lock and release the clamps while ensuring ease of operation and locking reliability, reducing labor intensity, and adapting to complex work scenarios.

[0005] To achieve the above-mentioned technical objectives, the present invention provides a manual square quick-change device for a robotic arm, comprising a body side and a clamp side.

[0006] The main body includes a main body, a grab hook, a stop shaft, a locking pin, a sliding seat, a pull rod, a locking pin elastic element, a grab hook pin, a sliding pin, a pull rod elastic element, a handle, and a side cover; the main body has a square shell structure; the side cover is fixed to one side of the main body and forms an internal mounting cavity of the main body; the stop shaft is fixed in the middle of the internal mounting cavity along the width direction of the main body, and its outer wall has an annular groove; two grab hooks are provided, symmetrically distributed on both sides of the stop shaft, and are rotatably connected to the main body through the grab hook pin, with the hook part of the grab hook facing downward; The slide seat is slidably disposed on the inner side of the body and located below the stop shaft; the top of the slide seat is fixedly connected to the lower thread of the stop shaft through a threaded hole; inclined guide grooves are provided on both sides of the slide seat; one end of the slide pin is fixedly connected to the lower end of the hook, and the other end is slidably embedded in the guide groove.

[0007] Compared with the prior art, the beneficial effects of this utility model include: 1. Easy to operate and reduces labor intensity: When locking, simply press the side of the clamp to automatically complete the locking. When releasing, simply pull down the handle to keep the hook open. Operators can pick up and put down the clamp with both hands without the need for multiple adjustments by a single person, which greatly simplifies the operation steps and reduces labor intensity.

[0008] 2. Stable locking and high safety: The planar fit between the gripper and the positioning pin, combined with the elastic limit of the locking pin spring and the pull rod spring, ensures stable connection of the device in the locked state and prevents the clamp from loosening during the operation of the robotic arm; at the same time, the gripper automatically resets after the clamp side is disengaged, effectively preventing positioning deviation caused by the gripper not resetting during the next installation, thus improving operational safety.

[0009] 3. High versatility and adaptability to various fixtures: The body side and fixture side adopt a standardized square structure design. Only the installation interface of the fixture side body needs to be adjusted according to different fixtures to adapt to the various operation requirements of the robotic arm. There is no need to replace the entire exchange device, which improves the versatility of the equipment. Attached Figure Description

[0010] Figure 1 This is a schematic diagram of the front view of the main body structure provided by this utility model; Figure 2 This is a schematic diagram of the clamp side front view and AA cross-sectional view structure provided by this utility model; Figure 3 This is a schematic diagram of the internal structure and CC cross-section of the body side and the clamp side when they are locked together, provided by this utility model. Figure 4 This is a schematic diagram of the internal structure and BB cross-section of the body side and the clamp side when they are released, provided by this utility model; In this attached figure, the reference numerals are as follows: Body side 1, clamp side 2, body 1-1, gripper hook 1-2, stop shaft 1-3, locking pin 1-4, slide seat 1-5, pull rod 1-6, locking pin elastic element 1-7, gripper hook pin 1-8, slide pin 1-9, pull rod elastic element 1-10, handle 1-11, side cover 1-12, body 2-1, positioning pin 2-2, and slider 2-3. Detailed Implementation

[0011] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0012] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0013] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0014] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 This embodiment provides a manual square quick-change device for a robotic arm, including a body side 1 and a clamp side 2.

[0015] Furthermore, the main body side 1 includes a main body 1-1, a grab hook 1-2, a stop shaft 1-3, a locking pin 1-4, a slide seat 1-5, a pull rod 1-6, a locking pin elastic element 1-7, a grab hook pin 1-8, a slide pin 1-9, a pull rod elastic element 1-10, a handle 1-11, and a side cover 1-12.

[0016] Furthermore, the clamp side 2 includes a clamp side body 2-1, a positioning pin 2-2, and a slider 2-3.

[0017] Furthermore, the main body 1-1 has a square shell structure, that is, a groove is formed in the middle of the main body 1-1, and the side cover 1-12 is fixed to one side of the main body 1-1 and forms the internal mounting cavity 1-1A of the main body 1-1. Furthermore, the stop shaft 1-3 is fixed to the middle of the internal mounting cavity 1-1A along the width direction of the body 1-1, and its outer wall is provided with an annular groove 1-3A. Two grab hooks 1-2 are provided, symmetrically distributed on both sides of the stop shaft 1-3, and are rotatably connected to the body 1-1 through the grab hook pin 1-8, with the hook part of the grab hook 1-2 facing downward.

[0018] Furthermore, the slide seat 1-5 is slidably disposed inside the body 1-1 and below the stop shaft 1-3. The top end of the slide seat 1-5 is threadedly connected to the lower end of the stop shaft 1-3 through a threaded hole. Inclined guide grooves 1-5A are formed on both sides of the slide seat 1-5. One end of the slide pin 1-9 is fixedly connected to the lower end of the hook 1-2, and the other end is slidably embedded in the guide groove 1-5A. Specifically, when the hook 1-2 rotates around the hook pin 1-8, the end of the hook 1-2 fixedly connected to the slide pin 1-9 moves along the guide groove 1-5A.

[0019] Furthermore, the upper end of the pull rod 1-6 is fixedly connected to the slide seat 1-5 through a threaded hole on the lower end face of the slide seat 1-5; the lower end of the pull rod 1-6 passes through the lower cover of the body 1-1 and is fixedly connected to the handle 1-11. The elastic element 1-10 of the pull rod is sleeved on the outer peripheral wall of the pull rod 1-6, and its two ends abut against the lower end face of the slide seat 1-5 and the inner side of the lower cover of the body 1-1, respectively. Specifically, under the pre-tightening force of the elastic element 1-10, the slide seat 1-5 is lifted by the elastic element 1-10, so that the end of the grab hook 1-2 fixedly connected to the slide pin 1-9 is located at the innermost side of the guide groove 1-5A. At the same time, the center lines of the two grab hooks 1-2 form an angle.

[0020] Furthermore, preferably, the elastic element 1-10 of the pull rod is selected as a spring, and two elastic elements 1-10 are provided, which are symmetrically distributed about the pull rod 1-6.

[0021] Furthermore, the locking pin 1-4 is built into the internal mounting cavity 1-1A. The locking pin 1-4 slides along the thickness direction of the body 1-1 and passes through the side cover 1-12. A central hole is provided at the center of the locking pin 1-4. The locking pin 1-4 is sleeved on the stop shaft 1-3 through the central hole. The diameter of the central hole is larger than the cross-sectional diameter of the stop shaft 1-3. That is, when the axis of the stop shaft 1-3 is collinear with the axis of the central hole, there will be no motion interference between the stop shaft 1-3 and the locking pin 1-4.

[0022] Furthermore, one end of the locking pin elastic element 1-7 abuts against one end of the locking pin 1-4, and the other end abuts against the inner side of the body 1-1. Specifically, under the pre-tightening force of the locking pin elastic element 1-7, the inner wall of the central hole is tightly pressed against the outer wall of the stop shaft 1-3. When the stop shaft 1-3 moves up and down so that the annular groove 1-3A is arranged opposite to the central hole, under the pre-tightening force of the locking pin elastic element 1-7, the locking pin 1-4 is engaged in the annular groove 1-3A, preventing the stop shaft 1-3 from continuing to move.

[0023] Furthermore, the clamp-side body 2-1 is a square structure adapted to the side of the body 1-1, with an L-shaped cross-section. Two positioning pins 2-2 are provided, which are vertically fixed to the lower end face of the top of the clamp-side body 2-1 and correspond to the positioning hole on the top of the body 1-1.

[0024] Furthermore, the outer wall of the positioning pin 2-2 is provided with a plane for the gripper 1-2 to hook, and the slider 2-3 is fixed to one side of the clamp side body 2-1, corresponding to the outer end of the locking pin 1-4.

[0025] Specifically, during the locking process between the body side 1 and the clamp side 2: Furthermore, the positioning pin 2-2 on the clamp side 2 is aligned with the positioning hole on the top of the body side 1 and inserted. During the insertion process, the top of the positioning pin 2-2 slides along the inclined surface of the hook 1-2. The positioning pin 2-2 on the clamp side 2 will slide and open the hook 1-2 in the body side 1 along the inclined surface. At this time, continue to press the clamp side 2 downward. Under the reaction force of the elastic element 1-10 of the pull rod, the hook 1-2 will tightly hook the plane of the positioning pin 2-2 on the clamp side 3 through the movement of the slide seat 1-5 and the slide pin 1-9, thus completing the locking action between the body side 1 and the clamp side 2.

[0026] Specifically, during the process of releasing and resetting the body side 1 and the clamp side 2: Furthermore, by pulling down the handle 1-11, the handle 1-11 causes the pull rod 1-6 and the slide seat 1-5 to slide downwards against the elastic force of the pull rod elastic element 1-10. The guide groove 1-5A of the slide seat 1-5 drives the hook 1-2 to open outwards through the slide pin 1-9, disengaging it from the plane of the positioning pin 2-2. Continue pulling down the handle 1-11 until the locking pin 1-4 is engaged in the annular groove 1-3A of the stop shaft 1-3 under the action of the locking pin elastic element 1-7. At this time, the slide seat 1-5 and the pull rod 1-6 are limited, and the hook 1-2 remains open. The operator can lift the clamp side 2 with both hands to complete the disassembly of the clamp. During the lifting process of the clamp side 2, the slider 2-3 contacts and presses the outer end of the locking pin 1-4, causing the locking pin 1-4 to overcome the elastic force of the locking pin elastic element 1-7 and disengage from the annular groove 1-3A of the stop shaft 1-3; at this time, the pull rod elastic element 1-10 releases its elastic force, pushing the slide seat 1-5 to reset upwards, and the slide seat 1-5 drives the gripper 1-2 to rotate inwards to the initial position through the slide pin 1-9, preparing for the next clamp installation and avoiding installation errors caused by the gripper 1-2 not resetting.

[0027] In this embodiment, when applied in an automotive welding scenario, the main body 1 is fixedly connected to the end effector of the robotic arm via bolts, and the clamping side 2 is equipped with a welding-specific clamp. For locking, the operator aligns the positioning pin 2 of the clamping side 2 with the positioning hole of the main body 1 and presses it down to automatically lock the clamping mechanism, allowing the robotic arm to drive the clamping mechanism for welding operations. When changing the clamp, pulling down the handle opens the gripping hooks 1-2, and the old clamping side 2 is removed with both hands. The slider 2-3 of the new clamping side 2 automatically triggers the gripping hooks 1-2 to reset when lifted for installation. The entire replacement process is short, significantly improving efficiency compared to traditional manual devices, and requires no professional personnel, effectively reducing production line downtime.

[0028] Working principle: The manual square quick exchange device for robotic arms provided by this utility model includes a main body side 1 and a clamp side 2. The main body 1 includes a main body 1-1, a grab hook 1-2, a stop shaft 1-3, a locking pin 1-4, a sliding seat 1-5, a pull rod 1-6, a locking pin elastic element 1-7, a grab hook pin 1-8, a sliding seat pin 1-9, a pull rod elastic element 1-10, a handle 1-11, and a side cover 1-12; the main body 1-1 has a square shell structure; the side cover 1-12 is fixed to one side of the main body 1-1 and forms an internal mounting cavity 1-1A of the main body 1-1; the stop shaft 1-3 is fixed in the middle of the internal mounting cavity 1-1A along the width direction of the main body 1-1, and its outer wall has an annular groove 1-3A; there are two grab hooks 1-2, symmetrically distributed on both sides of the stop shaft 1-3, and rotatably connected to the main body 1-1 through the grab hook pin 1-8, with the hook part of the grab hook 1-2 facing downward; The slide seat is slidably disposed on the inner side of the body and located below the stop shaft; the top of the slide seat is fixedly connected to the lower thread of the stop shaft through a threaded hole; inclined guide grooves are provided on both sides of the slide seat; one end of the slide pin is fixedly connected to the lower end of the hook, and the other end is slidably embedded in the guide groove.

[0029] Specifically, the locking process is as follows: Align the positioning pin 2-2 on the clamp side 2 with the positioning hole at the top of the body side 1 and insert it. During the insertion process, the top of the positioning pin 2-2 slides along the inclined surface of the hook 1-2. The positioning pin 2-2 on the clamp side 2 will slide and open the hook 1-2 in the body side 1 along the inclined surface. At this time, continue to press the clamp side 2 downward. Under the reaction force of the elastic element 1-10 of the pull rod, the hook 1-2 will tightly hook the plane of the positioning pin 2-2 on the clamp side 3 through the movement of the slide seat 1-5 and the slide pin 1-9, thus completing the locking action between the body side 1 and the clamp side 2.

[0030] Release and reset process: Pull the handle 1-11 down. The handle 1-11 drives the pull rod 1-6 and the slide seat 1-5 to slide down against the elastic force of the pull rod elastic element 1-10. The guide groove 1-5A of the slide seat 1-5 drives the hook 1-2 to open outward through the slide pin 1-9, disengaging it from the plane of the positioning pin 2-2. Continue to pull the handle 1-11 down until the locking pin 1-4 is engaged in the annular groove 1-3A of the stop shaft 1-3 under the action of the locking pin elastic element 1-7. At this time, the slide seat 1-5 and the pull rod 1-6 are limited, and the hook 1-2 remains open. The operator can lift the clamp side 2 with both hands to complete the disassembly of the clamp. During the lifting process of the clamp side 2, the slider 2-3 contacts and presses the outer end of the locking pin 1-4, causing the locking pin 1-4 to overcome the elastic force of the locking pin elastic element 1-7 and disengage from the annular groove 1-3A of the stop shaft 1-3; at this time, the pull rod elastic element 1-10 releases its elastic force, pushing the slide seat 1-5 to reset upwards, and the slide seat 1-5 drives the gripper 1-2 to rotate inwards to the initial position through the slide pin 1-9, preparing for the next clamp installation and avoiding installation errors caused by the gripper 1-2 not resetting.

[0031] The specific embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any other corresponding changes and modifications made based on the technical concept of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A manually operated square quick-change device for a robotic arm, characterized in that, The device includes a body side and a clamp side. The body side includes a body, a grab hook, a stop shaft, a locking pin, a slide seat, a pull rod, a locking pin elastic element, a grab hook pin, a slide pin, a pull rod elastic element, a handle, and a side cover. The body has a square shell structure. The side cover is fixed to one side of the body and forms an internal mounting cavity of the body. The stop shaft is fixed in the middle of the internal mounting cavity along the width direction of the body, and its outer wall has an annular groove. There are two grab hooks, symmetrically distributed on both sides of the stop shaft, and rotatably connected to the body through the grab hook pin. The hooks of the grab hooks face downwards. The slide seat is slidably disposed on the inner side of the body and located below the stop shaft; the top of the slide seat is fixedly connected to the lower thread of the stop shaft through a threaded hole; inclined guide grooves are provided on both sides of the slide seat; one end of the slide pin is fixedly connected to the lower end of the hook, and the other end is slidably embedded in the guide groove.

2. The manual square quick-change device for robotic arms according to claim 1, characterized in that, The upper end of the pull rod is fixedly connected to the slide seat through a threaded hole on the lower end face of the slide seat; the lower end of the pull rod passes through the lower cover of the body and is fixedly connected to the handle; the elastic element of the pull rod is sleeved on the outer peripheral wall of the pull rod, and its two ends abut against the lower end face of the slide seat and the inner side of the lower cover of the body, respectively.

3. The manual square quick-change device for robotic arms according to claim 2, characterized in that, The locking pin is built into the internal mounting cavity; the locking pin slides along the thickness direction of the body and passes through the side cover, and a central hole is provided at the center of the locking pin. The locking pin is sleeved on the stop shaft through the central hole, and the diameter of the central hole is larger than the cross-sectional diameter of the stop shaft; one end of the locking pin elastic element abuts against one end of the locking pin, and the other end abuts against the inner side of the body.

4. The manual square quick-change device for robotic arms according to claim 3, characterized in that, The clamp side includes a clamp side body, a positioning pin, and a slider; the clamp side body is a square structure adapted to the body side, with an L-shaped cross-section; two positioning pins are provided, which are vertically fixed to the lower end face of the top of the clamp side body and correspond to the positioning hole on the top of the body.

5. The manual square quick-change device for robotic arms according to claim 4, characterized in that, The outer wall of the positioning pin is provided with a plane for the gripper hook to hook; the slider is fixed to one side of the clamp body and corresponds to the outer end of the locking pin.

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