Modular robotic arm quick change mechanism

Abstract

The utility model discloses a modularization robot arm quick change mechanism, it includes base assembly, docking disc and locking assembly. Base assembly is equipped with central shaft sleeve and guide groove, and docking disc realizes radial sliding through the cooperation of sliding block and guide groove, and locking assembly adopts rotary ring and elastic dog to realize the locking or release of docking disc. Limiting ring and magnet block enhance stability, and spring piece promotes reliability. The application can realize the quick and accurate replacement of end effector, simplify the operation process, improve work efficiency, have the characteristics of compact structure and strong universality simultaneously, be applicable to various industrial automation scenes, have higher practical value and popularization prospect.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a modular robot arm quick-change mechanism. Background Technology

[0002] In the field of industrial automation, modular robotic arms are increasingly widely used, but tool changes typically rely on manual operation or complex mechanical interfaces. Since different tasks require different end effectors, frequent tool changes significantly impact work efficiency. Existing quick-change mechanisms are mostly structurally fixed and lack versatility, necessitating customized components for specific scenarios, increasing cost and maintenance complexity. Furthermore, the installation and commissioning of traditional quick-change devices are complex, demanding high levels of operator skill, and prone to connection failures or instability due to inaccurate positioning. These factors limit the flexibility and efficiency of robotic arms in multi-task switching scenarios. Utility Model Content

[0003] The purpose of this utility model is to provide a modular robot arm quick-change mechanism, which solves the problems mentioned in the background art.

[0004] This invention is implemented as follows: a modular robot arm quick-change mechanism, which mainly consists of a base assembly, a docking plate disposed on the base assembly, and a locking assembly mounted on the docking plate. The base assembly serves as the main structure, and the docking plate and locking assembly are both assembled on the base assembly through specific connection methods to achieve rapid switching of the end effector.

[0005] A further technical solution of this utility model is: the base assembly includes a central bushing and a plurality of guide grooves evenly distributed along the circumference. The central bushing has a threaded hole inside for fixed connection with the drive shaft of the robot arm. The inner side of the guide groove is provided with a slide rail, the slide rail having a "T" shaped cross section for guiding the movement direction of the docking plate.

[0006] A further technical solution of this utility model is as follows: the docking plate is connected to the guide groove of the base assembly via a slider. The slider has a protrusion on its outer side, which is embedded in the slide rail within the guide groove, allowing the docking plate to slide radially on the base assembly. A through hole is provided at the center of the docking plate, the diameter of which is slightly larger than the outer diameter of the central bushing of the base assembly, to ensure that the docking plate can be accurately aligned with the central bushing of the base assembly.

[0007] A further technical solution of this utility model is as follows: the locking assembly includes a rotating ring and multiple elastic claws. The rotating ring is sleeved on the outer side of the mating disc and connected to the outer wall of the base assembly via a bearing. One end of each elastic claw is hinged to the inner side of the rotating ring, and the other end is provided with a hook whose shape matches the groove on the edge of the mating disc. When the rotating ring rotates, the elastic claws open or close accordingly, thereby locking or releasing the mating disc.

[0008] A further technical solution of this utility model is: the edge of the docking plate is provided with multiple positioning holes, the number of positioning holes being the same as the number of elastic claws, and the inner wall of each positioning hole is provided with a tapered chamfer to guide the insertion of the hook. The depth of the positioning hole is slightly greater than the length of the hook to ensure that the hook will not wobble after being fully embedded.

[0009] A further technical solution of this utility model is as follows: a limiting ring is provided at the bottom of the base assembly, the inner diameter of which matches the outer diameter of the docking plate, to limit the axial movement range of the docking plate. Multiple magnets are provided on the upper surface of the limiting ring, the positions of which correspond to the positioning holes of the docking plate, for initial adsorption and positioning of the docking plate during the docking process.

[0010] A further technical solution of this utility model is: the outer side of the rotating ring is provided with multiple operating handles, the operating handles being arc-shaped to facilitate the operator in applying torque. The ends of the operating handles are provided with anti-slip textures to increase friction and prevent slippage.

[0011] A further technical solution of this utility model is: a spring plate is provided in the middle of the elastic claw, one end of the spring plate is fixed to the body of the elastic claw, and the other end abuts against the inner wall of the rotating ring. The elastic force of the spring plate keeps the elastic claw in a closed state when it is not subjected to external force, thereby enhancing the reliability of the locking assembly.

[0012] The beneficial effects of this utility model are as follows: This modular robot arm quick-change mechanism achieves efficient end effector replacement through the coordinated design of the base assembly, docking plate, and locking assembly. The guide groove and slide rail structure of the base assembly ensures precise positioning of the docking plate, avoiding connection failures caused by inaccurate positioning. The elastic claw and rotating ring design in the locking assembly simplifies the operation process, allowing tool replacement without complex adjustments, significantly improving work efficiency. Furthermore, the combined use of the limit ring and magnetic block further enhances the stability and ease of use of the device, reducing the technical requirements for operators. The overall structure is compact, highly versatile, and suitable for various industrial automation scenarios, possessing high practical value and promising prospects for widespread application. Attached Figure Description

[0013] Figure 1This is a schematic diagram of the overall structure of the present invention, showing the assembly relationship of the base assembly, the docking plate and the locking assembly, as well as the layout of each major component.

[0014] Figure 2 This is a cross-sectional view of the present invention, which shows in detail the connection between the central bushing, guide groove, slide rail and the slider of the docking plate of the base assembly, and also shows the working state of the rotating ring and elastic pawl in the locking assembly.

[0015] Figure 3 This is a top view of the present invention, which focuses on showing the distribution of positioning holes on the docking plate, the position of the limiting ring, and the arrangement of the magnet blocks. The shape of the operating handle and the anti-slip texture design are also marked.

[0016] The attached figures are labeled as follows:

[0017] 1. Base assembly; 2. Connecting plate; 3. Locking assembly; 4. Central bushing; 5. Guide groove; 6. Slide rail; 7. Slider; 8. Rotary ring; 9. Elastic claw; 10. Positioning hole; 11. Limit ring; 12. Magnet block; 13. Operating handle. Detailed Implementation

[0018] This utility model discloses a modular robot arm quick-change mechanism, comprising a base assembly 1, a docking plate 2, and a locking assembly 3, the specific structure and connection relationship of which are as follows: Figures 1 to 3 As shown, the base assembly 1 serves as the main structure, with a central bushing 4 located at its center. The inner wall of the central bushing 4 has threaded holes for fixed connection with the drive shaft of the robot arm. Multiple guide grooves 5 are evenly distributed circumferentially on the outer side of the base assembly 1. The number of guide grooves 5 is designed to be even to ensure balanced force distribution. Each guide groove 5 has a slide rail 6 on its inner side. The slide rail 6 has a "T"-shaped cross-section and is used to guide the movement direction of the docking plate 2 and limit its trajectory.

[0019] The mating disc 2 is connected to the base assembly 1 via a slider 7 that engages with the guide groove 5. The slider 7 is fixed to the outer side of the mating disc 2, and its outer side has a protrusion that embeds into the slide rail 6 within the guide groove 5, allowing the mating disc 2 to slide radially on the base assembly 1. A through hole is located at the center of the mating disc 2, the diameter of which is slightly larger than the outer diameter of the central bushing 4 of the base assembly 1, ensuring accurate alignment of the mating disc 2 with the central bushing 4 of the base assembly 1. The edge of the mating disc 2 also has multiple positioning holes 10, the number of which matches the number of elastic claws 9 in the locking assembly 3. Each positioning hole 10 has a tapered chamfer on its inner wall to guide the insertion of the hooks on the elastic claws 9. The depth of the positioning holes 10 is slightly greater than the length of the hooks to ensure that there is no wobbling after the hooks are fully engaged.

[0020] The locking assembly 3 consists of a rotating ring 8 and multiple elastic claws 9. The rotating ring 8 is fitted onto the outer side of the mating disc 2 and connected to the outer wall of the base assembly 1 via bearings, allowing the rotating ring 8 to rotate freely. One end of each elastic claw 9 is hinged to the inner side of the rotating ring 8, and the other end has a hook whose shape matches the positioning hole 10 on the edge of the mating disc 2. When the rotating ring 8 rotates, the elastic claw 9 opens or closes accordingly, thereby locking or releasing the mating disc 2. To enhance the reliability of the locking assembly 3, a spring plate is provided in the middle of the elastic claw 9. One end of the spring plate is fixed to the body of the elastic claw 9, and the other end abuts against the inner wall of the rotating ring 8. The elasticity of the spring plate keeps the elastic claw 9 closed when no external force is applied, thus preventing loosening caused by external vibration. Multiple operating handles 13 are provided on the outer side of the rotating ring 8. The operating handles 13 are arc-shaped, making it easy for the operator to apply torque. The ends of the operating handles 13 have anti-slip textures to increase friction and prevent slippage.

[0021] A limiting ring 11 is provided at the bottom of the base assembly 1. The inner diameter of the limiting ring 11 matches the outer diameter of the docking plate 2, which is used to limit the axial movement range of the docking plate 2. Multiple magnet blocks 12 are provided on the upper surface of the limiting ring 11, and the positions of the magnet blocks 12 correspond to the positioning holes 10 of the docking plate 2. During the docking process, the magnet blocks 12 can initially attract and position the docking plate 2, thereby reducing the amount of manual adjustment required.

[0022] In actual use, the base assembly 1 is first fixedly connected to the drive shaft of the robot arm through the threaded hole of its central bushing 4, ensuring a stable connection between the base assembly 1 and the robot arm. Then, the end effector to be installed is fixed onto the docking plate 2, and the slider 7 of the docking plate 2 is aligned with the guide groove 5 of the base assembly 1. At this time, the protrusion of the slider 7 is embedded in the slide rail 6 within the guide groove 5, and the docking plate 2 slides along the track of the slide rail 6 to the center position of the base assembly 1. During this process, the magnet 12 will attract the docking plate 2, initially positioning it on the base assembly 1.

[0023] Next, the operator applies torque via the operating handle 13 on the rotating ring 8, causing the rotating ring 8 to rotate around the outer wall of the base assembly 1. As the rotating ring 8 rotates, the elastic claws 9 open, and their hooks gradually insert into the positioning holes 10 on the edge of the mating disc 2. Because the inner wall of the positioning hole 10 has a tapered chamfer, the hooks can smoothly enter the positioning hole 10 and eventually be fully embedded. When all the hooks of the elastic claws 9 are embedded in the corresponding positioning holes 10, the mating disc 2 is firmly locked onto the base assembly 1, completing the installation process of the end effector.

[0024] When the end effector needs to be replaced, rotate the operating handle 13 on the rotating ring 8 in the reverse direction to disengage the hook of the elastic pawl 9 from the positioning hole 10 of the docking plate 2, thus releasing the locking state of the docking plate 2. Then, slide the docking plate 2 along the track of the slide rail 6 out of the base assembly 1 to remove the current end effector. Repeating the above steps allows for the quick installation of a new end effector.

[0025] This invention ensures precise positioning of the docking plate 2 through the guide groove 5 and slide rail 6 structure of the base assembly 1. Meanwhile, the elastic claw 9 and rotating ring 8 in the locking assembly 3 simplify the operation process and significantly improve tool change efficiency. The combined use of the limit ring 11 and magnet block 12 further enhances the stability and ease of use of the device, reducing the technical requirements for operators. The overall structure is compact, suitable for various industrial automation scenarios, and has high practical value.

[0026] To enable those skilled in the art to fully understand and implement this utility model, the specific implementation principle of this utility model is further supplemented below with a specific application scenario.

[0027] In industrial automated production lines, modular robotic arms require frequent changes of end effectors to perform different tasks, such as switching from workpiece gripping to welding operations. First, the base assembly 1 is fixedly connected to the drive shaft of the robotic arm via the threaded hole of its central bushing 4, ensuring a stable connection between the base assembly 1 and the robotic arm. At this point, the threaded hole on the inner wall of the central bushing 4 tightly engages with the external thread of the drive shaft, forming a rigid connection, thus ensuring that the base assembly 1 will not loosen or shift during the operation of the robotic arm.

[0028] Subsequently, the end effector to be installed is fixed onto the docking plate 2, and the slider 7 of the docking plate 2 is aligned with the guide groove 5 of the base assembly 1. The protrusion of the slider 7 is embedded in the slide rail 6 within the guide groove 5. The "T"-shaped cross-section design of the slide rail 6 restricts the movement trajectory of the slider 7, allowing it to slide only radially. During this process, the magnet 12 on the bottom limiting ring 11 of the base assembly 1 will attract the docking plate 2, initially positioning the docking plate 2 and reducing the amount of manual adjustment. The attraction force of the magnet 12 not only guides the docking plate 2 to quickly align with the center position of the base assembly 1, but also provides a certain degree of stability during the docking process, preventing docking failure due to external interference.

[0029] After the mating plate 2 slides along the slide rail 6 to the center position of the base assembly 1, the operator applies torque through the operating handle 13 on the rotating ring 8, causing the rotating ring 8 to rotate around the outer wall of the base assembly 1. The rotation of the rotating ring 8 causes the elastic claw 9 to open, and the hook of the elastic claw 9 gradually inserts into the positioning hole 10 on the edge of the mating plate 2. Because the inner wall of the positioning hole 10 has a tapered chamfer, the hook can be guided when it contacts the positioning hole 10, smoothly enters the hole, and finally fully embeds. The spring plate in the middle of the elastic claw 9 is compressed when the rotating ring 8 rotates, and its elasticity ensures that the hook remains in a stable locked state after being embedded in the positioning hole 10, thereby achieving a firm lock on the mating plate 2. This design effectively avoids loosening caused by external vibration or impact, improving the reliability of the device.

[0030] When the end effector needs to be replaced, the operator reverses the operating handle 13 on the rotary ring 8, causing the hook of the elastic pawl 9 to disengage from the positioning hole 10 of the docking plate 2, thus releasing the locking state of the docking plate 2. Then, the docking plate 2 is slid out of the base assembly 1 along the track of the slide rail 6, allowing the current end effector to be removed. Repeating the above steps allows for the quick installation of a new end effector. The entire replacement process requires no complex adjustments or additional tools, significantly improving work efficiency.

[0031] This invention ensures precise positioning of the docking plate 2 through the guide groove 5 and slide rail 6 structure of the base assembly 1, while simplifying the operation process through the elastic claw 9 and rotating ring 8 in the locking assembly 3. The design of the guide groove 5 and slide rail 6 not only restricts the movement trajectory of the docking plate 2 but also ensures its stability during sliding, avoiding connection failure due to inaccurate positioning. The spring plate design of the elastic claw 9 enhances the reliability of the locking assembly 3, while the adsorption effect of the magnet 12 further reduces the amount of manual adjustment. The overall structure is compact, suitable for various industrial automation scenarios, and has high practical value.

[0032] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A modular robot arm quick-change mechanism, characterized in that, The modular robot arm quick-change mechanism mainly consists of a base assembly (1), a docking plate (2) set on the base assembly (1), and a locking assembly (3) installed on the docking plate (2); The base assembly (1) includes a central bushing (4) and a plurality of guide grooves (5) evenly distributed along the circumference. The central bushing (4) has a threaded hole inside, and the guide grooves (5) have a slide rail (6) on the inner side. The docking plate (2) is connected to the guide groove (5) of the base assembly (1) through the slider (7). The slider (7) has a protrusion on its outer side and a through hole at the center of the docking plate (2). The locking assembly (3) includes a rotating ring (8) and multiple elastic claws (9). The rotating ring (8) is sleeved on the outside of the docking plate (2) and connected to the outer wall of the base assembly (1) through a bearing. One end of the elastic claw (9) is hinged to the inside of the rotating ring (8), and the other end is provided with a hook.

2. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The edge of the docking plate (2) is provided with a plurality of positioning holes (10), the number of positioning holes (10) is the same as the number of elastic claws (9), and the inner wall of each positioning hole (10) is provided with a tapered chamfer.

3. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The base assembly (1) has a limiting ring (11) at its bottom. The inner diameter of the limiting ring (11) matches the outer diameter of the docking plate (2). The upper surface of the limiting ring (11) is provided with a plurality of magnet blocks (12). The position of the magnet blocks (12) corresponds to the positioning hole (10) of the docking plate (2).

4. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The outer side of the rotating ring (8) is provided with multiple operating handles (13), the operating handles (13) are arc-shaped, and the end of the operating handles (13) is provided with anti-slip texture.

5. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The elastic claw (9) has a spring plate in the middle. One end of the spring plate is fixed to the body of the elastic claw (9), and the other end abuts against the inner wall of the rotating ring (8).

6. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The slide rail (6) has a "T" shaped cross section, and the protrusion of the slider (7) is embedded in the slide rail (6).

7. The modular robot arm quick-change mechanism according to claim 1, characterized in that: The diameter of the through hole of the docking plate (2) is slightly larger than the outer diameter of the central bushing (4) of the base assembly (1).

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