A robotic arm insert gripper with quick change disc

Abstract

The utility model discloses a kind of quick-change disc's robot arm insert gripper, it is related to robot arm technical field, including male disc and female disc, the inside of male disc and female disc is equipped with multiple connecting holes, the side of male disc is equipped with switch cable, the side of male disc is equipped with positioning slot, the inside of positioning slot is provided with winding element;The winding element includes positioning shell, rotating lever and torsion block, the inside of positioning shell is fixed in positioning slot, rotating lever is arranged in the inside of positioning shell, the side of positioning shell is provided with cover, torsion block is arranged in one end of rotating lever, the surface of rotating lever is rotatably connected with cover.The utility model has beneficial effect for: by the positioning shell of being set in the inside of male disc, and cooperate rotating lever to conveniently wind up redundant switch cable, and cooperate wire slot to conveniently hide and bind cable, prevent robot arm from posture change, or when disc appears pipeline bending or influence movement path due to disorder and disorder.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robotic arm insert gripper with a quick-change disc. Background Technology

[0002] The quick-change disc robotic arm insert gripper is a robotic end effector that integrates rapid tool change functionality (quick-change disc). Designed for high-precision, highly flexible insert assembly tasks, it acts as an intermediate hub between the robotic arm and the end tool. The quick-change disc achieves tool switching within seconds through mechanical locking mechanisms (such as double-cone self-centering and pneumatic / electric locking pins) and multi-channel interfaces. For example, WOMMER's electric quick-change disc supports ±0.02mm repeatability, while the IPR quick-change disc features a modular design, compatible with various robot brands. Some high-end models can even achieve ±0.005mm accuracy, ensuring pose consistency after tool changes.

[0003] Existing robotic arm insert grippers are generally equipped with quick-change discs. Tool changes are usually achieved through the cooperation of male disc 1 and female disc. However, the quick-change disc often has proximity switch cables and other wiring. Since the back of the quick-change disc is mostly a flat structure, these cables can only be coiled directly on the surface of the quick-change disc. This is not only difficult to store neatly, but also prone to tangling, pulling, or even damage to the cables during disc changing operations or changes in the posture of the robotic arm, affecting the stable operation of the quick-change system. Utility Model Content

[0004] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the present invention.

[0005] To solve the above-mentioned technical problems, this utility model provides the following technical solution: A robotic arm insert gripper with a quick-change disc includes a male disc and a female disc. The male and female discs have multiple connection holes inside. A switch cable is installed on one side of the male disc, and a positioning groove is provided on one side of the male disc. A winding component is provided inside the positioning groove. The winding component includes a positioning shell, a rotating rod, and a torsion block. The positioning shell is fixed inside the positioning groove, the rotating rod is disposed inside the positioning shell, a cover plate is provided on one side of the positioning shell, and the torsion block is disposed at one end of the rotating rod.

[0006] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: the surface of the rotating rod is rotatably connected to the cover plate, and the torsion block is fixed to one end of the rotating rod.

[0007] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, the positioning shell has two notches on one side, and the public disc has two cable management grooves on one side.

[0008] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: an L-shaped plate is fixedly connected to one side of the rotating rod, and a circular groove is formed on the surface of the rotating rod.

[0009] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, the circular grooves are arranged in an array, and the surface of the twisted block is provided with anti-slip grooves.

[0010] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: a card plate is fixedly connected to one side of the L-shaped plate, and the card plate has grooves arranged in an array inside.

[0011] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: the interior of the cover plate is concave, and the two sides of the cover plate are fixedly connected to a first extension plate.

[0012] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: a second extension plate is fixedly connected to both sides of the positioning shell, and the first extension plate and the second extension plate are fixed together by screws.

[0013] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: an elastic sheet is fixedly connected to the bottom of the rotating rod surface, and an inner circular shell is provided on the surface of the elastic sheet.

[0014] As a preferred embodiment of the robot arm insert gripper with quick-change disc described in this utility model, wherein: the bottom of the inner circular shell is fixed to the public disc, and the elastic sheet is arranged in a ring array.

[0015] The beneficial effects of this utility model are as follows: by setting a positioning shell inside the public plate, and cooperating with the rotating rod, it is convenient to wind up the excess switch cables, and with the reasonable cable groove, it is convenient to hide and bind the cables, so as to prevent the pipeline from bending or affecting the movement path due to disorder and mess when the robotic arm changes posture or changes plates. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this utility model, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Among them: Figure 1 This is an overall structural diagram of the insert gripper of a robot arm with a quick-change disc.

[0017] Figure 2 Another perspective view of the overall structure of the insert gripper of a robotic arm with a quick-change disc.

[0018] Figure 3 This is a diagram of the disk flipping structure of the insert gripper of a robot arm with a quick-change disk.

[0019] Figure 4 This is a structural diagram of the winding component of a robotic arm insert gripper with a quick-change disc.

[0020] Figure 5 A structural diagram showing the unfolded structure of the cover plate of the insert gripper of a robot arm with a quick-change disc.

[0021] Figure 6 This is a structural diagram showing the unfolded structure of the rotating rod of the insert gripper of a robot arm with a quick-change disc.

[0022] The following are the labeling elements in the diagram: 1. Male disc; 2. Female disc; 3. Connecting hole; 4. Switch cable; 5. Positioning groove; 6. Rewinding component; 601. Positioning shell; 602. Rotating rod; 603. Cover plate; 604. Twist block; 605. Notch; 606. Cable management groove; 607. L-shaped plate; 608. Circular groove; 609. Anti-slip groove; 610. Clamping plate; 611. Groove; 612. First extension plate; 613. Second extension plate; 614. Elastic sheet; 615. Inner circular shell. Detailed Implementation

[0023] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings.

[0024] Many specific details are set forth in the following description in order to provide a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art can make similar extensions without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places in this specification does not necessarily refer to the same embodiment, nor is it a single or selective embodiment that excludes other embodiments.

[0026] Example 1: Reference Figures 1-6 This is the first embodiment of the present invention. This embodiment provides a robot arm insert gripper with a quick-change disc, including a male disc 1 and a female disc 2, both of which have multiple connection holes 3 inside. A switch cable 4 is installed on one side of the male disc 1, and a positioning groove 5 is provided on one side of the male disc 1. A winding member 6 is provided inside the positioning groove 5.

[0027] With the cooperation of male plate 1 and female plate 2, male plate 1 is installed on the robotic arm, while female plate 2 is placed in the plate replacement area for use. The connection hole 3 is used for air pressure pipes or water flow pipes to realize the installation between male plate 1 and female plate 2. This is existing technology, which can be clearly understood by those skilled in the art, and will not be described in detail here.

[0028] The winding component 6 includes a positioning shell 601, a rotating rod 602, and a twisting block 604. The positioning shell 601 is fixed inside the positioning groove 5, the rotating rod 602 is disposed inside the positioning shell 601, a cover plate 603 is disposed on one side of the positioning shell 601, and the twisting block 604 is disposed at one end of the rotating rod 602.

[0029] The positioning shell 601 facilitates the installation and fixation of the rotating rod 602, while the torsion block 604 allows workers to rotate the rotating rod 602 to wind up the cable.

[0030] Example 2: Reference Figures 4-6 This is the second embodiment of the present invention, which is based on the previous embodiment.

[0031] Specifically, the surface of the rotating rod 602 is rotatably connected to the cover plate 603, and the torsion block 604 is fixed to one end of the rotating rod 602.

[0032] The cover plate 603 facilitates the limiting rotation of the rotating rod 602, while the torsion block 604 and the fixing of the rotating rod 602 facilitate the rotation of the rotating rod 602 for use, increasing the handheld area.

[0033] Specifically, the positioning shell 601 has two notches 605 on one side, and the public plate 1 has two cable management grooves 606 on one side.

[0034] The notch 605 and cable management groove 606 on the positioning shell 601 are used for cable routing and winding.

[0035] Specifically, an L-shaped plate 607 is fixedly connected to one side of the rotating rod 602, and a circular groove 608 is formed on the surface of the rotating rod 602.

[0036] The L-shaped plate 607 works in conjunction with the circular groove 608 on the rotating rod 602. The L-shaped plate 607 is used to limit the wire harness, and the circular groove 608 makes it easy for the wire harness to fit against the surface of the rotating rod 602 for winding.

[0037] Specifically, the circular grooves 608 are arranged in an array, and the surface of the twisted block 604 is provided with anti-slip grooves 609.

[0038] The circular groove 608 is provided for the upper and lower arrays to facilitate the winding of the switch cable 4. The anti-slip groove 609 is provided to prevent the operator from slipping when rotating the toggle block 604.

[0039] Specifically, a card plate 610 is fixedly connected to one side of the L-shaped plate 607, and the card plate 610 has grooves 611 arranged in an array inside.

[0040] The design of the clamp plate 610 and the groove 611 facilitates the winding of the cable in conjunction with the circular groove 608, and the clamp plate 610 is made of rubber, which makes it easy to wind the cable.

[0041] Example 3: Reference Figures 4-6 This is the third embodiment of the present invention, which is based on the first two embodiments.

[0042] Specifically, the cover plate 603 has a concave interior design, and the cover plate 603 is fixedly connected to the two sides of the first extension plate 612.

[0043] The cover plate 603 is recessed to provide rotatable space for the rotating rod 602 and the torsion block 604. The first extension plate 612 is fixed to both sides of the cover plate 603 to facilitate fixed installation with the positioning shell 601.

[0044] Specifically, the positioning shell 601 has a second extension plate 613 fixedly connected to both sides, and the first extension plate 612 and the second extension plate 613 are fixed together by screws.

[0045] The second extension plate 613 facilitates screw fixing with the first extension plate 612, and facilitates installation and fixing between the positioning shell 601 and the cover plate 603.

[0046] Specifically, an elastic sheet 614 is fixedly connected to the bottom of the surface of the rotating rod 602, and an inner circular shell 615 is provided on the surface of the elastic sheet 614.

[0047] By setting the elastic sheet 614 and the inner round shell 615, when the rotating rod 602 rotates, it will continuously drive the elastic sheet 614 to squeeze the inner round shell 615 to wind up the switch cable 4, and the snapping between the elastic sheet 614 and the inner round shell 615 will achieve the effect of fixing the position after winding.

[0048] Specifically, the bottom of the inner circular shell 615 is fixed to the public disk 1, and the elastic sheet 614 is arranged in a ring array.

[0049] By fixing the inner circular shell 615 to the public disk 1, the possibility of synchronous rotation of the inner circular shell 615 and the elastic sheet 614 can be prevented. The circular array of elastic sheets 614 can achieve multiple rotation position positioning effects and realize stepless positioning.

[0050] In use, first, the switch cable 4 on the male disk 1 is threaded through the cable management groove 606 between the rotating rod 602 and the L-shaped plate 607. Then, the cover plate 603 is closed and secured with screws between the first extension plate 612 and the second extension plate 613. Next, the cable is extended out to the position of the notch 605. Then, the torsion block 604 is rotated to drive the rotating rod 602 to rotate. As the rotating rod 602 rotates, the L-shaped plate 607, together with the clamping plate 610 and the groove 611, will coil and position the switch cable 4 to prevent excess cable from dangling outside the male disk 1. Then, the male disk 1 is fixed to the robotic arm and used with the female disk 2 to realize disk changing. It should be noted that the switching between male disk 1 and female disk 2 is completed in four steps: "unlocking, separating, docking, and locking". When the robot needs to change tools, the control system first disconnects the air and electrical connections between male and female disks 2; then, the unlocking mechanism uses mechanical levers, electromagnetic force, or hydraulic drive to loosen the mechanical locking device of female disk 2, separating male disk 1 from female disk 2; after the robot removes the old male disk 1, it moves the new male disk 1 to the docking position of female disk 2 and aligns it precisely; finally, the locking mechanism of female disk 2, such as a steel ball spring self-resetting mechanism or a rotary push-pull structure, is activated again to firmly lock male disk 1 and female disk 2, while automatically connecting the air and electrical circuits to complete the switching.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and are not intended to limit it. Although this utility model has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solution of this utility model without departing from the spirit and scope of the technical solution of this utility model, and all such modifications or substitutions should be covered within the scope of the claims of this utility model.

Claims

1. A robotic arm insert gripper with a quick-change disc, comprising a male disc (1) and a female disc (2), characterized in that: The male disk (1) and female disk (2) are provided with multiple connection holes (3), a switch cable (4) is installed on one side of the male disk (1), a positioning groove (5) is provided on one side of the male disk (1), and a winding component (6) is provided inside the positioning groove (5). The winding component (6) includes a positioning shell (601), a rotating rod (602), and a twisting block (604). The positioning shell (601) is fixed inside the positioning groove (5). The rotating rod (602) is located inside the positioning shell (601). A cover plate (603) is provided on one side of the positioning shell (601). The twisting block (604) is located at one end of the rotating rod (602).

2. The robotic arm insert gripper with quick-change disc as described in claim 1, characterized in that: The surface of the rotating rod (602) is rotatably connected to the cover plate (603), and the torsion block (604) is fixed to one end of the rotating rod (602).

3. The robotic arm insert gripper with quick-change disc as described in claim 1, characterized in that: The positioning shell (601) has two notches (605) on one side, and the public plate (1) has two cable management grooves (606) on one side.

4. The robotic arm insert gripper with quick-change disc as described in claim 1, characterized in that: An L-shaped plate (607) is fixedly connected to one side of the rotating rod (602), and a circular groove (608) is formed on the surface of the rotating rod (602).

5. The robotic arm insert gripper with a quick-change disc as described in claim 4, characterized in that: The circular grooves (608) are arranged in an array, and the surface of the twisted block (604) is provided with anti-slip grooves (609).

6. The robotic arm insert gripper with a quick-change disc as described in claim 4, characterized in that: A card plate (610) is fixedly connected to one side of the L-shaped plate (607), and the card plate (610) has grooves (611) arranged in an array inside.

7. The robotic arm insert gripper with quick-change disc as described in claim 1, characterized in that: The cover plate (603) has a concave interior design, and the cover plate (603) is fixedly connected to the two sides of the cover plate (603) with a first extension plate (612).

8. The robotic arm insert gripper with a quick-change disc as described in claim 7, characterized in that: The positioning shell (601) is fixedly connected to two sides with a second extension plate (613), and the first extension plate (612) and the second extension plate (613) are fixed together by screws.

9. The robotic arm insert gripper with a quick-change disc as described in claim 1, characterized in that: An elastic sheet (614) is fixedly connected to the bottom of the surface of the rotating rod (602), and an inner circular shell (615) is provided on the surface of the elastic sheet (614).

10. The robotic arm insert gripper with a quick-change disc as described in claim 9, characterized in that: The bottom of the inner circular shell (615) is fixed to the public disk (1), and the elastic sheet (614) is arranged in a ring array.

Images