Split type mechanical hand quick release structure

Abstract

The utility model discloses a kind of split mechanical hand quick-release structure, relate to split mechanical hand technical field, including: base;Rotary receiving device, it is rotatably installed on the outside of base, and its top is equipped with mechanical hand;Driving device, it is installed in the inside of base, and is used to drive rotary receiving device and mechanical hand rotation;Counterweight adjusting device, it is installed on the top of rotary receiving device, and according to the opening degree of mechanical hand adjustment gravity center;The utility model counterweight adjusting device can according to the opening degree of mechanical hand, dynamically adjust overall gravity center, effectively avoid the equipment operation instability problem caused by gravity center deviation, improve the positioning accuracy of mechanical hand, ensure that rotary receiving device keeps balance in rotation process, reduce vibration and energy consumption, improve the stability and security of operation;By the complete separation of mechanical hand, base, rotary receiving device of rotary receiving device.

Description

Technical Field

[0001] This utility model relates to the field of split-type robotic arms, and in particular to a quick-release structure for a split-type robotic arm. Background Technology

[0002] In the field of industrial automation, robotic arms are core equipment for realizing functions such as material handling, precision assembly, and processing assistance. Their operational stability, ease of maintenance, and structural reliability directly affect production efficiency and work quality.

[0003] In terms of maintenance and replacement of robotic arms, traditional robotic arms mostly adopt an integrated rigid connection structure, with the base, rotating parts and robotic arm body fixed by multiple sets of distributed bolts or welding. When the robotic arm malfunctions and needs to be repaired or when different models of actuators are replaced according to production needs, a large number of fasteners need to be disassembled, and some connection parts are prone to corrosion and jamming due to long-term operation, making the disassembly process time-consuming and labor-intensive.

[0004] During operation, robotic arms frequently perform multi-degree-of-freedom movements such as opening, closing, and rotation, causing their center of gravity to dynamically shift with changes in the actuator's posture. When a robotic arm grasps loads of varying weights or is at a large opening angle, excessive center of gravity shift can easily occur, leading to severe vibrations during equipment operation. This not only affects the robotic arm's positioning accuracy (positioning errors can reach ±0.5mm or more) but also accelerates the wear of mechanical components, shortens the equipment's lifespan, and may even cause safety accidents due to instability. Utility Model Content

[0005] This invention provides a split-type quick-release structure for a robotic arm to solve the problem that in the prior art, when a robotic arm grasps loads of different weights or is at a large opening angle, the center of gravity tends to shift too much.

[0006] The technical problem solved by this utility model is achieved by the following technical solution:

[0007] A split-type quick-release structure for a robotic arm includes:

[0008] Base;

[0009] A rotating receiving device is rotatably mounted on the outside of the base, and a robotic arm is mounted on its top;

[0010] The drive unit, which is installed inside the base, is used to drive the rotating receiving device and the robot arm to rotate;

[0011] The counterweight adjustment device is installed on top of the rotating support device and adjusts the center of gravity according to the opening degree of the robot arm.

[0012] Optionally, the rotating receiving device includes:

[0013] The outer ring body fits around the outside of the base;

[0014] The lower flange is mounted on the top of the outer ring and is concentrically positioned with the base.

[0015] The upper flange is fixedly installed on the bottom of the robot arm and corresponds to the lower flange;

[0016] The locking assembly is mounted on the upper flange and extends downward through the outer ring body, the upper flange, and the lower flange.

[0017] Optionally, gaskets are installed between the upper flange and the lower flange, and between the outer ring body and the lower flange.

[0018] Optionally, the locking component includes:

[0019] There are two outer ring plates, which are installed on the top of the upper flange and are concentrically arranged.

[0020] A retaining ring, which engages between two outer ring plates;

[0021] Multiple bolts are provided and fixed at the bottom of the outer ring plate, passing downward through the outer ring body, the upper flange and the lower flange.

[0022] Optionally, the base includes:

[0023] Base;

[0024] The support column is fixedly installed on top of the base;

[0025] A pad, which is fitted onto the outside of the support column;

[0026] The nut is fitted onto the outside of the receiving post and contacts the rotating receiving device.

[0027] Optionally, the upper outer side of the receiving column is provided with a threaded portion that is compatible with the nut.

[0028] Optionally, multiple ball bearings are installed between the outer ring body and the pad and base.

[0029] Optionally, the counterweight adjustment device includes:

[0030] The housing is mounted on top of the upper flange and connected to the robot arm by bolts;

[0031] There are two telescopic rods, which are installed inside the housing;

[0032] The counterweight is located inside the shell and slides inside the shell under the action of the telescopic rod.

[0033] Optionally, a plurality of ball bearings are installed on the outer side of the counterweight block, which are in contact with the inner wall of the housing.

[0034] Optionally, the housing consists of two mounting frames and an directional frame communicating with the mounting frames, with the telescopic rod and counterweight installed inside the mounting frames and the directional frame, respectively.

[0035] The beneficial effects of this utility model are:

[0036] The rotating receiving device enables complete separation of the robot arm, base, and rotating receiving device. The operation is simple and quick, greatly shortening the maintenance and replacement time of the robot arm and improving production efficiency.

[0037] The counterweight adjustment device can dynamically adjust the overall center of gravity according to the opening degree of the robot arm, effectively avoiding the problem of equipment instability caused by the center of gravity shift, improving the positioning accuracy of the robot arm, ensuring that the rotating bearing device maintains balance during rotation, reducing vibration and energy consumption, and improving the stability and safety of operation.

[0038] The gaskets compensate for installation errors and ensure tight connections; the retaining rings enhance the stability of the locking components, securing multiple bolts together and preventing one bolt from loosening due to excessive force; the fit between the nut and the threaded part of the receiving post achieves axial limiting, resulting in a compact overall structure, high reliability, and long service life. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art 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 from these drawings without creative effort.

[0040] Figure 1 This is a schematic diagram of the structure of this utility model;

[0041] Figure 2 This is a schematic diagram of the drive device structure of this utility model;

[0042] Figure 3 This is a schematic diagram of the rotating bearing device of this utility model;

[0043] Figure 4 This is a schematic diagram of the locking component structure of this utility model;

[0044] Figure 5 This is a schematic diagram of the counterweight adjustment device of this utility model.

[0045] In the diagram: 100, base; 110, base plate; 120, support post; 121, threaded part; 130, pad; 140, nut; 150, ball bearing 1;

[0046] 200. Rotary bearing device; 210. Outer ring body; 220. Lower flange; 230. Upper flange; 240. Locking assembly; 241. Outer ring plate; 242. Snap ring; 243. Bolt; 250. Gasket;

[0047] 300. Drive unit;

[0048] 400. Counterweight adjustment device; 410. Housing; 411. Mounting frame; 412. Orientation frame; 420. Telescopic rod; 430. Counterweight block; 440. Ball bearing 2. Detailed Implementation

[0049] To make the technical means, creative features, objectives and effects of this utility model easier to understand, the present utility model will be further described below with reference to specific illustrations.

[0050] Reference Figure 1-5 The illustrated split-type quick-release robotic arm structure includes:

[0051] Base 100;

[0052] The rotating receiving device 200 is rotatably mounted on the outside of the base 100 and connected to the base 100 via bearings to achieve 360-degree rotation without dead angles. A robotic arm is mounted on the top of the rotating receiving device 200, which can perform multi-degree-of-freedom movements. In this embodiment, the rotating receiving device 200 can be installed and fixed normally using various existing technologies such as bolt connection, pin fixing or snap-fit.

[0053] The drive device 300 is installed inside the base 100 and is used to drive the rotating support device 200 and the robot to rotate. In this embodiment, the drive device 300 includes a motor, a reducer and a transmission mechanism. The motor provides power, the reducer converts high-speed rotation into low-speed high-torque output, and the transmission mechanism transmits power to the rotating shaft of the rotating support device 200 to drive the robot and the rotating support device 200, thereby realizing the rotational movement of the robot.

[0054] The counterweight adjustment device 400 is installed on the top of the rotating support device 200 and adjusts the center of gravity according to the opening degree of the robot arm. When the robot arm is in different opening states, the sensor detects the opening degree of the robot arm and the control system issues a command to drive the counterweight adjustment device 400, thereby changing the center of gravity position of the entire device, ensuring that the rotating support device 200 maintains balance during rotation, reducing vibration and energy consumption, and improving the stability and safety of operation.

[0055] In this utility model, the counterweight adjustment device 400 can adopt several existing structures to achieve the adjustment of the center of gravity; for example, the magnetic force of the electromagnet is used to apply a downward pressure to the rotating support device 200, and the magnitude of the magnetic force of the electromagnet is proportional to the downward pressure on the rotating support device 200, thereby adjusting the center of gravity of the rotating support device 200.

[0056] Similarly, the counterweight adjustment device 400 can also adopt the sliding counterweight structure described below. The position of the pressure applied to the rotating bearing device 200 is adjusted by sliding the counterweight structure, thereby changing the center of gravity of the rotating bearing device 200.

[0057] As can be seen from the above, the counterweight adjustment device 400 can be implemented using several existing technologies, which will not be elaborated here.

[0058] The rotating receiving device 200 enables complete separation of the robot arm, base 100, and rotating receiving device 200. The operation is simple and quick, greatly shortening the maintenance and replacement time of the robot arm and improving production efficiency.

[0059] The counterweight adjustment device 400 can dynamically adjust the overall center of gravity according to the opening degree of the robot arm, effectively avoiding the problem of unstable equipment operation caused by the center of gravity shift, improving the positioning accuracy of the robot arm, ensuring that the rotating support device 200 maintains balance during rotation, reducing vibration and energy consumption, and improving the stability and safety of operation.

[0060] The working principle of this embodiment is as follows:

[0061] In use, the base 100, the rotating support device 200 and the robot are assembled together and fixed by connecting them through the rotating support device 200.

[0062] When the robotic arm opens to move goods, the counterweight adjustment device 400 is activated simultaneously to adjust the center of gravity of the rotating receiving device 200, ensuring that the rotating receiving device 200 remains balanced during rotation.

[0063] To achieve the quick-release structure assembly, in some embodiments of this utility model, refer to Figure 3 and Figure 4 As shown, the rotating receiving device 200 includes:

[0064] The outer ring 210 is fitted on the outside of the base 100, and its inner wall is provided with a bearing that matches the outer circumferential surface of the base 100, so as to ensure that the outer ring 210 can rotate smoothly relative to the base 100 and reduce frictional resistance.

[0065] The lower flange 220 is installed on the top of the outer ring body 210 and is concentrically set with the base 100. The lower flange 220 is fixed to the top edge of the outer ring body 210 by a number of evenly distributed connecting bolts. Its bottom plane is parallel to the upper surface of the base 100 to ensure coaxiality during rotation.

[0066] The upper flange 230 is fixedly installed on the bottom of the robot and corresponds to the lower flange 220. Its shape and size are adapted to the lower flange 220 to ensure that the two can be precisely connected. The center of the upper flange 230 is also provided with a guide hole corresponding to the through hole of the lower flange 220.

[0067] Locking assembly 240, which is mounted on upper flange 230 and extends downward through outer ring 210, upper flange 230 and lower flange 220, is used to secure lower flange 220 and upper flange 230 together.

[0068] The working principle of this embodiment is as follows:

[0069] During installation, the outer ring 210 is fitted onto the outside of the base 100, and then the outer ring 210, the upper flange 230 and the lower flange 220 are spliced ​​together. Finally, the locking assembly 240 is passed through the outer ring 210, the upper flange 230 and the lower flange 220 for fixation.

[0070] In some embodiments of this utility model, reference is made to Figure 3 As shown, gaskets 250 are installed between the upper flange 230 and the lower flange 220, and between the outer ring body 210 and the lower flange 220. The gaskets 250 can compensate for installation errors and ensure tight connection.

[0071] To facilitate the disassembly and installation of the outer ring 210, upper flange 230, and lower flange 220, in some embodiments of this utility model, refer to Figure 3 and Figure 4 As shown, the locking assembly 240 includes:

[0072] There are two outer ring plates 241, which are installed on the top of the upper flange 230. The two outer ring plates 241 are concentrically arranged, that is, their central axes coincide, to ensure the stability of the structure.

[0073] The retaining ring 242 is snapped between the two outer ring plates 241. The retaining ring 242 achieves a tight connection with the outer ring plates 241 through the snapping structure, preventing them from sliding relative to each other, and at the same time plays the role of positioning and enhancing the overall rigidity.

[0074] Multiple bolts 243 are provided and fixed to the bottom of the outer ring plate 241, passing downward through the outer ring body 210, the upper flange 230 and the lower flange 220. Through the fastening action of the bolts 243, the outer ring plate 241, the retaining ring 242 and the upper and lower flanges are reliably assembled together to form an integral locking structure. This structure can effectively transmit loads, restrict the relative movement between components, and ensure the stability and safety of the equipment during operation.

[0075] The retaining ring 242 enhances the stability of the locking assembly 240, securing multiple bolts 243 together and preventing one bolt 243 from loosening due to excessive force.

[0076] To ensure the stability of the robotic arm, in some embodiments of this utility model, reference is made to... Figure 3 and Figure 4 As shown, the base 100 includes:

[0077] Base 110;

[0078] The support column 120 is fixedly installed on the top of the base 110. The support column 120 is usually made of high-strength metal material to ensure the stability and load-bearing capacity of the structure. The connection between the support column 120 and the base 110 can be welding, bolting or other mechanical fixing methods, depending on the overall design requirements and load-bearing requirements of the equipment.

[0079] The pad 130 is fitted on the outside of the support column 120. The function of the pad 130 is to provide a stable support surface, and at the same time, it can buffer vibration and impact to a certain extent, protecting the support column 120 and the components subsequently installed on it.

[0080] Nut 140 is fitted on the outside of the receiving post 120 and contacts the lower flange 220. Nut 140 is screwed onto the receiving post 120 to limit the rise of the outer ring body 210 and contacts the lower flange 220 to limit the descent of the outer ring body 210.

[0081] In some embodiments of this utility model, reference is made to Figure 3 and Figure 4 As shown, the upper outer side of the receiving post 120 is provided with a threaded part 121 that is compatible with the nut 140. Its thread parameters (such as pitch, thread angle, diameter, etc.) must be completely matched with the internal thread parameters of the nut 140 to ensure the engagement accuracy and connection strength of the two.

[0082] In order to reduce the frictional force when the outer ring 210 rotates, in some embodiments of this utility model, referring to Figure 3 and Figure 4As shown, multiple balls 150 are installed between the outer ring 210 and the pad 130 and the base 110 to enable the outer ring 210 to rotate or roll smoothly relative to the pad 130 and the base 110. The uniform distribution of the multiple balls 150 can effectively disperse the load generated by the outer ring 210 during the movement, reduce the frictional resistance between the contact surfaces, and thus improve the motion accuracy and service life of the entire mechanical structure.

[0083] In some embodiments of this utility model, reference is made to Figure 5 As shown, the counterweight adjustment device 400 includes:

[0084] The housing 410, which is mounted on top of the upper flange 230 and connected to the robot arm by bolts, protects the internal components and ensures stability during the adjustment process;

[0085] There are two telescopic rods 420 installed inside the housing 410, and their telescopic stroke can be precisely controlled electronically;

[0086] The counterweight 430, located inside the housing 410, slides within the housing 410 under the influence of the telescopic rod 420. The counterweight 430 has a large mass, and its sliding path is defined by guide rails or tracks within the housing 410, ensuring straightness and accuracy during sliding. When the telescopic rod 420 extends or retracts, the position of the counterweight 430 changes accordingly, thereby adjusting the overall weight distribution of the device to balance the load changes of the robot arm under different operating postures, improving the stability and precision of the robot arm's operation.

[0087] In some embodiments of this utility model, reference is made to Figure 5 As shown, multiple ball bearings 440 are installed on the outer side of the counterweight 430, which contact the inner wall of the housing 410. When the counterweight 430 reciprocates or rotates with the operation of the equipment, the direct friction between the counterweight and the housing is reduced, which can ensure that the counterweight remains stable when moving inside the housing, reduce the resistance to movement, and thus improve the efficiency and stability of the equipment operation.

[0088] In some embodiments of this utility model, reference is made to Figure 5 As shown, the housing 410 consists of two mounting frames 411 and an directional frame 412 connected to the mounting frames 411. The telescopic rod 420 and the counterweight 430 are respectively installed inside the mounting frames 411 and the directional frame 412.

[0089] Among them, the mounting frame 411 is a key structural component used to fix and support the telescopic pole 420, ensuring that the telescopic pole 420 can move stably and will not deviate during operation.

[0090] The directional frame 412 provides installation space and a guide path for the counterweight 430, enabling the counterweight 430 to move or remain stationary in a predetermined direction and trajectory, so as to balance or adjust the overall center of gravity of the equipment.

[0091] The working method of this utility model:

[0092] When the robot arm needs to be installed, connect the upper flange 230 to the robot arm, then align the outer ring 210, the upper flange 230 and the lower flange 220, place the gasket 250, install the locking assembly 240 and tighten the bolts 243, and finally tighten the nut 140 to complete the fixation; when the robot arm needs to be disassembled, simply loosen the nut 140 and the bolts 243 of the locking assembly 240 to separate the robot arm from the base 100.

[0093] During the operation of the robotic arm, the control system controls the extension and retraction of the telescopic rod 420 according to the degree of opening of the robotic arm, which drives the counterweight 430 to slide, dynamically adjusts the center of gravity, and ensures stable operation of the equipment.

[0094] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A split-type quick-release structure for a robotic arm, characterized in that, include: Base (100); A rotating receiving device (200) is rotatably mounted on the outside of a base (100), and a robotic arm is mounted on its top; A drive unit (300) is installed inside the base (100) and is used to drive the rotating bearing device (200) and the robot arm to rotate; A counterweight adjustment device (400) is installed on top of the rotating support device (200) and adjusts the center of gravity according to the degree of opening of the robot arm.

2. The split-type quick-release structure for a robotic arm according to claim 1, characterized in that: The rotating receiving device (200) includes: The outer ring (210) is fitted around the outside of the base (100); The lower flange (220) is mounted on top of the outer ring body (210) and is concentrically arranged with the base (100); The upper flange (230) is fixedly mounted on the bottom of the robot arm and corresponds to the lower flange (220); Locking assembly (240) is mounted on upper flange (230) and extends downward through outer ring body (210), upper flange (230) and lower flange (220).

3. The split-type quick-release structure for a robotic arm according to claim 2, characterized in that: Gaskets (250) are installed between the upper flange (230) and the lower flange (220), and between the outer ring body (210) and the lower flange (220).

4. The split-type quick-release structure for a robotic arm according to claim 2, characterized in that: The locking assembly (240) includes: There are two outer ring plates (241) installed on the top of the upper flange (230), and the two outer ring plates (241) are concentrically arranged; A retaining ring (242) is engaged between two outer ring plates (241); Bolts (243), which are provided in multiples and fixed to the bottom of the outer ring plate (241), pass downward through the outer ring body (210), the upper flange (230) and the lower flange (220).

5. The split-type quick-release structure for a robotic arm according to claim 1, characterized in that: The base (100) includes: Base (110); A support column (120) is fixedly installed on top of the base (110); A pad (130) is fitted onto the outside of the support column (120); Nut (140) is fitted on the outside of the receiving post (120) and contacts the rotating receiving device (200).

6. The split-type quick-release structure for a robotic arm according to claim 5, characterized in that: The upper outer side of the receiving column (120) is provided with a threaded part (121) that is compatible with the nut (140).

7. The split-type quick-release structure for a robotic arm according to claim 2, characterized in that: Multiple ball bearings (150) are installed between the outer ring body (210) and the rotating receiving device (200).

8. The split-type quick-release structure for a robotic arm according to claim 1, characterized in that: The counterweight adjustment device (400) includes: The housing (410) is mounted on top of the rotating receiving device (200) and connected to the robot arm by bolts; Two telescopic rods (420) are provided and installed inside the housing (410); The counterweight (430) is located inside the housing (410) and slides inside the housing (410) under the action of the telescopic rod (420).

9. The split-type quick-release structure for a robotic arm according to claim 8, characterized in that: The outer side of the counterweight (430) is equipped with multiple ball bearings (440) that contact the inner wall of the housing (410).

10. A split-type quick-release structure for a robotic arm according to claim 8, characterized in that: The housing (410) consists of two mounting frames (411) and an directional frame (412) connected to the mounting frames (411). The telescopic rod (420) and the counterweight (430) are respectively installed inside the mounting frames (411) and the directional frame (412).

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