CN111618897A

CN111618897A - Claw changing mechanism capable of automatically correcting transverse deviation and manipulator equipment

Info

Publication number: CN111618897A
Application number: CN202010339874.5A
Authority: CN
Inventors: 傅峰峰; 江志强; 刘楚奇; 陈伟俊
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Life Intelligent Technology Co Ltd
Priority date: 2020-04-26
Filing date: 2020-04-26
Publication date: 2020-09-04

Abstract

The invention provides a claw replacing mechanism capable of automatically correcting transverse deviation, which comprises two connecting pieces fixedly arranged on a mechanical arm and a mechanical claw respectively, wherein the two connecting pieces are longitudinally and relatively close to each other so as to be clamped, the first connecting piece is provided with a first clamping block, the second connecting piece is provided with a second clamping block, the first clamping block and the second clamping block are transversely clamped by the transverse relative movement of the first connecting piece and the second connecting piece, transverse correcting inclined planes are arranged at clamping interfaces of the first clamping block and the second clamping block, the first connecting piece and the second connecting piece are guided by the transverse correcting inclined planes in the transverse relative movement process, and the positions are transversely and relatively finely adjusted so as to align the first clamping block and the second clamping block. Therefore, even if the first clamping block and the second clamping block have position deviation in the transverse direction, the transverse correction inclined surface can be used for transversely and relatively finely adjusting the first connecting piece and the second connecting piece in the clamping process so as to enable the first clamping block and the second clamping block to be aligned with each other, and therefore the claw replacing mechanism has low requirement on the control precision of mechanical hand equipment and high applicability.

Description

Claw changing mechanism capable of automatically correcting transverse deviation and manipulator equipment

Technical Field

The invention relates to the technical field of mechanical devices, in particular to a claw changing mechanism capable of automatically correcting transverse deviation and a manipulator device.

Background

In order to improve the production efficiency and competitiveness, many enterprises currently adopt advanced manipulator equipment to assist the production process, wherein the manipulator equipment is an automatic operation device which can imitate certain action functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program, and the manipulator equipment mainly comprises a mechanical arm and a mechanical claw arranged on the mechanical arm. For satisfying the production demand of different kind products, mechanical hand equipment need be equipped with different gripper, and traditional mechanical hand equipment adopts the screw with gripper fixed mounting on the arm, dismantles the screw in order to change when needing to change the gripper, so traditional mechanical hand equipment loading and unloading are long consuming time to lead to production efficiency to hang down.

Disclosure of Invention

The invention aims to solve the technical problem of how to shorten the time consumption for loading and unloading the mechanical hand equipment.

The inventor imagines a claw changing mechanism, which includes two connecting pieces fixedly mounted on a mechanical arm and a mechanical claw respectively, wherein the two connecting pieces are longitudinally close to each other for clamping, the first connecting piece is provided with a first clamping block, the second connecting piece is provided with a second clamping block, and the first and second connecting pieces move transversely relative to each other to make the first and second clamping blocks move transversely for clamping, so that the first and second connecting pieces move transversely relative to each other to complete the mounting and dismounting between the mechanical arm and the mechanical claw, thereby making the mechanical arm device have short time for mounting and dismounting. However, before the first and second engaging blocks are laterally engaged, the first and second engaging blocks need to be aligned with each other, and if there is a positional deviation in the lateral direction of the first and second engaging blocks, the first and second engaging blocks will block each other and cannot be engaged with each other, so that the gripper changing mechanism has a high requirement for the control accuracy of the robot device, and has low applicability. The present inventors provide the following technical solutions to solve the above technical problems:

the claw replacing mechanism capable of automatically correcting the transverse deviation comprises two connecting pieces fixedly mounted on a mechanical arm and a mechanical claw respectively, the two connecting pieces are longitudinally and relatively close to each other so as to be clamped, a first clamping block is arranged on the first connecting piece, a second clamping block is arranged on the second connecting piece, the first clamping block and the second clamping block are transversely clamped through transverse relative movement of the first connecting piece and the second connecting piece, a transverse correcting inclined plane is arranged at a clamping interface of the first clamping block and the second clamping block, the first connecting piece and the second connecting piece are guided by the transverse correcting inclined plane in the transverse relative movement process, and transverse relative fine adjustment is carried out on the positions of the first connecting piece and the second connecting piece so that the first clamping block and the second clamping block are aligned with.

Preferably, the transverse relative movement of the first and second connecting members is a transverse relative rotation, and the transverse relative fine adjustment is a radial relative fine adjustment.

Preferably, there are at least two sets of the first and second clamping blocks, and each set of the clamping blocks is distributed around the circumference.

Preferably, the first clamping block is a clamping head protruding transversely, the second clamping block is a clamping groove, and the first connecting piece and the second connecting piece make the transverse relative motion to enable the clamping head to transversely enter the clamping groove to be clamped.

Preferably, the lateral correction slope is provided on the second link.

Preferably, said guiding in particular: the first clamping block is guided by the transverse correction inclined plane.

Preferably, the claw changing auxiliary element is used in claw changing, the second connecting element and the claw changing auxiliary element are detachably fixed to each other, and the second connecting element is fixed to the claw changing auxiliary element so as not to move transversely along with the first connecting element in claw changing.

Preferably, it has the breach to hold the usefulness that the second connecting piece put into to open on the claw replacement auxiliary, the claw replacement auxiliary stretches out two fixed columns upwards respectively in breach both sides, and both sides on the second connecting piece are equipped with two solid fixed rings respectively, and solid fixed ring cover realizes on the fixed column the second connecting piece is fixed on the claw replacement auxiliary.

Preferably, the first connecting member is a connecting member fixedly mounted on the robot arm, and the second connecting member is a connecting member fixedly mounted on the gripper.

Preferably, the claw changing auxiliary part is provided with at least two mounting positions, and different mounting positions are used for fixing a second connecting piece with different mechanical claws.

The invention also provides manipulator equipment which comprises a manipulator and a mechanical claw and further comprises the claw changing mechanism, wherein the mechanical claw is arranged on the manipulator by using the claw changing mechanism.

The invention has the following beneficial effects: because the first connecting piece and the second connecting piece move transversely and relatively to each other to enable the first clamping block and the second clamping block to be clamped in a transverse moving mode, the first connecting piece and the second connecting piece move transversely and relatively to each other to complete the mounting and dismounting between the mechanical arm and the mechanical claw, and therefore the time consumed by the mechanical arm device during mounting and dismounting is short. And because the clamping interfaces of the first clamping block and the second clamping block are provided with the transverse correction inclined surfaces, and the positions of the first connecting piece and the second connecting piece are transversely and relatively finely adjusted under the guidance of the transverse correction inclined surfaces in the transverse relative movement process so as to align the first clamping block and the second clamping block, even if the first clamping block and the second clamping block have position deviation in the transverse direction, the transverse correction inclined surfaces can be used for transversely and relatively finely adjusting the first connecting piece and the second connecting piece so as to align the first clamping block and the second clamping block, so that the claw replacing mechanism has low requirement on the control precision of the mechanical hand equipment and high applicability.

Drawings

FIG. 1 is a schematic view of a robot apparatus;

FIG. 2 is an exploded view of the pawl changing mechanism according to embodiment 1;

fig. 3 is a first perspective view of the arm joint of embodiment 1;

fig. 4 is a second perspective view of the arm joint according to embodiment 1;

FIG. 5 is a schematic view of the claw coupling piece of embodiment 1 after the base and the mounting cover are separated from each other;

FIG. 6 is a block diagram of the pawl changing aid;

FIG. 7 is an exploded view of the pawl changing mechanism according to embodiment 2;

fig. 8 is a structural view of the arm joint of embodiment 2;

fig. 9 is a schematic view of the arm joint according to embodiment 2, in which the cover and the clip are separated from each other;

FIG. 10 is a structural view of a claw coupling member of embodiment 2;

FIG. 11 is a plan view of the claw coupling member of embodiment 2;

FIG. 12 is a schematic view of the check motor driving the telescoping head to extend out of the closed end of the third snap-in groove.

Description of reference numerals: 101-a robotic arm; 102-a gripper; 103-claw changing mechanism; 104-jaw change aid; 1-an arm joint; 2-claw connection; 3-a through hole; 4-a mounting member; 5-a transverse hole; 6-cover body; 7-a shaft column; 8-a first clamping block; 8 a-a first end of a first clamping block; 8 b-a second end of the first clamping block; 9-pits; 10-electrically connecting the female terminal; 11-a magnetic induction sensor; 12-a positioning column; 13-a base; 14-mounting a cover; 15-clamping holes; 16-positioning holes; 17-a rotation slot; 18-a positioning groove; 19-electrically connecting the male terminal; 20-an attracting magnet; 21-a position magnet; 22-wave ball screw; 23-a fixed ring; 24-a notch; 25-fixed column; 26-a first bayonet joint; 27-a second bayonet joint; 28-a third bayonet joint; 29-a conductive male terminal; 30-signal male terminals; 31-a back-up motor; 32-a telescopic head; 33-wire guides; 34-a clamping groove; 35-a card interface; 36-closed end; 37-transverse correction slope; 38-longitudinal correction slope; 39-a conductive plate; 40-a conductive female terminal; 41-a guide ramp; 42-a signal plate; 43-signal female terminals; 44-longitudinally modified slope on upper groove wall of the snap groove.

Detailed Description

Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The controller mentioned below comprises a memory and a processor connected to each other, the memory having stored therein a computer program which, when executed by the processor, implements the functionality of the controller.

Example 1

The robot apparatus is shown in fig. 1 and includes a robot arm 101 and a gripper 102 for gripping an object, the gripper 102 to be used being mounted on the robot arm 101 by a gripper changing mechanism 103 so that the robot arm 101 can drive the gripper 102 to move, wherein the gripper changing mechanism 103 includes a gripper changing auxiliary 104, and the gripper 102 not used being placed on the gripper changing auxiliary 104. As shown in fig. 2, the gripper changing mechanism 103 includes two connectors, namely an arm connector 1 and a jaw connector 2, wherein the arm connector 1 is fixedly mounted on the robot arm 101, and the jaw connector 2 is fixedly mounted on the robot gripper 102, so that the arm connector 1 and the jaw connector 2 are longitudinally close to each other for mutual assembly, that is, the robot gripper 102 is mounted on the robot arm 101. The specific mounting structure between the arm joint 1 and the robot arm 101 is as follows: four through holes 3 are formed at the top end of the arm connecting piece 1, and the mechanical arm 101 is provided with screw holes at positions corresponding to the through holes 3, so that the top end of the arm connecting piece 1 is attached to the mechanical arm 101, the through holes 3 of the arm connecting piece 1 are aligned with the screw holes of the mechanical arm 101, and then screws (not shown in the figure) are screwed into the through holes 3, so that the screws penetrate through the through holes 3 and are screwed into the screw holes of the mechanical arm 101, and the arm connecting piece 1 is fixedly arranged on the mechanical arm 101. The specific mounting structure between the claw part connecting piece 2 and the mechanical claw 102 is as follows: the lower end of the claw attachment 2 is provided with two attachment members 4, each attachment member 4 being provided with a transverse bore 5, and the gripper 102 being provided with a transverse attachment bar (not shown) such that, after the attachment members 4 of the claw attachment 2 have been inserted into the gripper 102, the attachment bars are caused to traverse the transverse bores 5, thereby fixedly attaching the claw attachment 2 to the gripper 102.

As shown in fig. 3 and 4, the arm joint 1 includes a circular cover 6 and a spindle post 7 provided at the center of the bottom of the cover 6, and the through hole 3 is opened in the cover 6. A first clamping block 8 made of iron material is arranged at the position, close to the bottom end, of the shaft column 7, the first clamping block 8 is provided with a first end 8a and a second end 8b which respectively transversely protrude out of two sides of the shaft column 7, the bottoms of the two

ends

8a and 8b of the first clamping block 8 are respectively provided with two longitudinal concave pits 9 with downward openings, and the first clamping block 8 is provided with two electric connection female terminals 10 and a magnetic induction sensor 11, wherein, a first electric connection female terminal 10 and a magnetic induction sensor 11 are arranged on a first end 8a of the first clamping block 8, a second electric connection female terminal 10 is arranged on a second end 8b of the first clamping block 8, and the front end of the first electrical connection female terminal 10 is exposed at the first side of the first clamping block 8, the front end of the second electrical connection female terminal 10 and the trigger end of the magnetic induction sensor 11 are exposed at the second side of the first clamping block 8, that is, the trigger end of the magnetic induction sensor 11 is oriented opposite to the front end of the first electrical connection female terminal 10. In this embodiment, two positioning posts 12 are further disposed at the bottom of the cover 6.

As can be seen from fig. 2, a wire hole 33 is formed in the top center of the arm link 1, and wires (not shown) are connected to the rear ends of the two electrical connection female terminals 10 and the magnetic induction sensor 11 shown in fig. 3 and 4, and the wires pass through the wire hole 33 after passing through the inside of the first engaging piece 8 and the inside of the shaft post 7. Before the arm joint 1 is fixedly mounted on the robot arm 101, these wires are connected to the robot arm 101 so that: the rear ends of the two electrical connection female terminals 10 are electrically connected to the robot arm 101, and the magnetic induction sensor 11 is electrically connected to the robot arm 101. The front end of the female electrical connection terminal 10 is butted with other electrical connection terminals to achieve electrical connection, the rear end of the female electrical connection terminal 10 specifically refers to the other end electrically connected with the front end, and the rear end can be disposed on any surface of the female electrical connection terminal 10.

The claw part connecting piece 2 comprises a circular base 13 and a mounting cover 14 as shown in fig. 5, and the mounting cover 14 and the circular base 13 form a second clamping block after being mounted on the circular base. The mounting cover 14 is provided with a clamping hole 15 and two positioning holes 16, wherein the clamping hole 15 is used for the first clamping block 8 on the arm connecting piece 1 to pass through, and the two positioning holes 16 are respectively used for the two positioning columns 12 on the arm connecting piece 1 to pass through; the base 13 is provided with a rotating groove 17 and two positioning grooves 18, wherein the rotating groove 17 is used for enabling the first clamping block 8 on the arm connecting piece 1 to transversely rotate after extending into the first clamping block, and the two positioning grooves 18 are respectively used for enabling the two positioning columns 12 to transversely rotate after extending into the first clamping block. The first side of the rotating groove 17 is provided with an electric connection male terminal 19 and an adsorption magnet 20, the second side is provided with an electric connection male terminal 19, an adsorption magnet 20 and a positioning magnet 21, positions of the bottom of the rotating groove 17 corresponding to the four pits 9 at the bottom of the first clamping block 8 are respectively provided with a bead screw 22, the bead screws 22 are arranged at two ends of the rotating groove 17 to respectively align to the pits 9 at the bottom of two ends of the first clamping block 8, the bead screws 22 are conventional devices, and detailed structures thereof are not repeated herein. Two longitudinal grooves (not shown) are further formed at two ends of the bottom of the mounting cover 14, and after the mounting cover 14 is mounted on the base 13, two wave ball screws 22 at the same end are aligned with the same longitudinal groove. A fixing ring 23 is projected on each of opposite sides of the mounting cover 14, and as shown in fig. 6, the claw changing auxiliary 104 is provided with two notches 24 for receiving the claw connecting pieces 2, and two fixing posts 25 are projected upward on both sides of each notch 24. After the claw connecting piece 2 is fixedly arranged on the mechanical claw 102, the mechanical claw 102 can be driven to extend into the notch 24 and then sleeved on the fixed column 25 through the fixing ring 23, so that the claw connecting piece 2 drives the mechanical claw 102 to be fixed on the fixed column 25 and cannot rotate. Preferably, the fixing ring 23 may not protrude out of the mounting cover 14, so that the first engaging block 8, the engaging hole 15 and the rotating groove 17 need to be adaptively reduced in size to avoid the fixing ring 23, and a portion of the base 13 located below the fixing ring 23 is left empty, and a distance between two fixing posts 25 located on two sides of the same notch 24 of the claw changing auxiliary 104 is correspondingly reduced, so that after the claw connecting member 2 with the mechanical claw 102 extends into the notch 24, the empty portion of the base 13 is engaged in the notch 24 of the claw changing auxiliary 104, so that the claw connecting member 2 can still be sleeved on the fixing posts 25 through the fixing ring 23.

The two male electrical connection terminals 19 are electrically connected to the gripper 102 by connecting wires (not shown) to the gripper 102 before the claw connector 2 is fixedly mounted on the gripper 102, and the rear ends of the two male electrical connection terminals 19 are electrically connected to the gripper 102. The front end of the male electrical connection terminal 19 is butted with the female electrical connection terminal 10 to achieve electrical connection, the rear end of the male electrical connection terminal 19 specifically refers to the other end electrically connected with the front end, and the rear end can be arranged on any surface of the male electrical connection terminal 19.

The robot arm 101 is electrically connected with a controller (not shown in the figure) which electrically connects the two electrical connection female terminals 10 on the arm joint 1 and the magnetic induction sensor 11 via the robot arm 101. When the mechanical claw 102 needs to be installed on the mechanical arm 101, the claw-changing auxiliary part 104 is fixed on an external fixed platform (not shown in the figure), the claw part connecting part 2 is used for placing the mechanical claw 102 on the claw-changing auxiliary part 104, then the controller controls the related circuit to enable the mechanical arm 101 to drive the arm connecting part 1 to longitudinally approach the claw part connecting part 2 until the positioning column 12 extends into the positioning groove 18 from the positioning hole 16 for positioning, then the first clamping block 8 on the arm connecting part 1 extends into the rotating groove 17 from the clamping hole 15, at this time, the triggering end of the magnetic induction sensor 11 on the first clamping block 8 aligns with the in-position magnet 21 in the rotating groove 17, the magnetic induction sensor 11 sends out an in-position related signal to the controller, and after receiving the signal, the related circuit is controlled to enable the mechanical arm 101 to drive the arm connecting part 1 to rotate clockwise, at this time, the claw part connecting piece 2 is sleeved on the fixing column 25 by the fixing ring 23 and cannot rotate along with the arm part connecting piece 1, the arm part connecting piece 1 drives the first clamping block 8 to rotate clockwise in the rotating groove 17 and drives the two positioning columns 12 to rotate clockwise in the positioning grooves 18, and therefore the first clamping block 8 is clamped in a second clamping block formed by the base 13 and the mounting cover 14. In the process of rotating and clamping the first clamping block 8, the wave ball screw 22 at the bottom of the rotating groove 17 is longitudinally pressed downwards and compressed inwards by the first clamping block 8 until the concave pit 9 at the bottom of the first clamping block 8 is aligned with the wave ball screw 22, then the wave ball screw 22 extends out and is clamped in the concave pit 9 at the bottom of the first clamping block 8, so as to push the first clamping block 8 upwards to the groove of the mounting cover 14, so that the first clamping block 8 is clamped in the groove, at the moment, the clamping state is locked by the propping force generated by the wave ball screw 22, since the first clamping block 8 is made of iron material, the two attracting magnets 20 respectively attract the two ends of the first clamping block 8, therefore, the clamping state is further locked, the first clamping block 8 and the second clamping block are not easy to loosen, the mechanical claw 102 is not easy to fall off from the mechanical arm 101, and the installation process between the mechanical arm 101 and the mechanical claw 102 is completed. The controller may then control associated circuitry to cause the robot arm 101 to move with the gripper 102 out of the swap assist member 104 to grasp the object.

The magnetic induction sensor 11 may be changed to other position switches, such as a pressure sensor, a travel switch, etc., which are not described herein. After the installation between the mechanical arm 101 and the mechanical claw 102 is completed, the two electric connection female terminals 10 on the first clamping block 8 are respectively butted with the front ends of the two electric connection male terminals 19 in the rotating groove 17, so that the electric connection between the mechanical arm 101 and the mechanical claw 102 is completed along the belt, and thus, a connecting wire does not need to be additionally assembled and disassembled between the mechanical arm 101 and the mechanical claw 102, and the time consumed for assembling and disassembling the mechanical arm equipment is short.

When the mechanical claw 102 needs to be replaced, the controller controls the related circuit to enable the mechanical arm 101 to drive the mechanical claw 102 to extend into the notch 25 of the claw changing auxiliary piece 104 until the fixing ring 23 on the claw connecting piece 2 is sleeved on the fixing column 25 of the claw changing auxiliary piece 104, then the controller controls the related circuit to enable the mechanical arm 101 to drive the arm connecting piece 1 to move downwards slightly in the longitudinal direction so that the first clamping block 8 compresses the bead screw 22 and leaves the groove of the mounting cover 14, the controller controls the related circuit to enable the mechanical arm 101 to apply a driving force for rotating anticlockwise to the arm connecting piece 1, at the moment, the claw connecting piece 2 cannot rotate along with the arm connecting piece 1 under the action of the fixing column 25, the driving force applied to the arm connecting piece 1 by the mechanical arm 101 is large enough so that the first clamping block 8 can be separated from the locking force of the bead screw 22 and the adsorption force of the adsorption magnet 20, and the arm connecting piece 1 drives the first clamping, the two positioning columns 12 are driven to rotate anticlockwise in the positioning grooves 18, so that the two female electric connection terminals 10 on the first clamping block 8 are not butted with the front ends of the two male electric connection terminals 19 in the rotating grooves 17, and the mechanical arm 101 is electrically disconnected from the mechanical claw 102; in the above-mentioned first joint piece 8 pivoted in-process, first joint piece 8 leaves ripples pearl screw 22, and first joint piece 8 breaks away from the absorption of absorption magnet 20. After the first clamping block 8 rotates until the magnetic induction sensor 11 on the first clamping block aligns to the trigger end of the in-place magnet 21, the magnetic induction sensor 11 sends out an in-place related signal to the controller, after the controller receives the signal, the controller controls the related circuit to enable the mechanical arm 101 to drive the arm connecting piece 1 to longitudinally move away from the claw connecting piece 2, then the first clamping block 8 on the arm connecting piece 1 leaves the rotating groove 17 from the clamping hole 15, the two positioning columns 12 leave the positioning groove 18 from the positioning hole 16, namely the first clamping block 8 and the second clamping block are separated from each other, and therefore the separation between the mechanical arm 101 and the mechanical claw 102 is completed. The above-described mounting process between the robot arm 101 and the gripper 102 is then repeated for other grippers 102, thereby enabling replacement of the gripper 102.

Preferably, the arm connector 1 and the jaw connector 2 may be mechanically interchanged, that is, the arm connector 1 is fixedly mounted on the mechanical jaw 102, and the jaw connector 2 is fixedly mounted on the mechanical arm 101, so that the same clamping function as in this embodiment can be achieved, and further description is omitted.

Example 2

In this embodiment, the robot arm 101, the gripper 102, and the gripper changing auxiliary 104 of the robot apparatus are the same as those of embodiment 1, but the structure of the gripper changing mechanism 103 is different.

In this embodiment, the claw changing mechanism 103 is shown in fig. 7 and includes an arm connector 1 and a claw connector 2, the arm connector 1 is fixedly mounted on the mechanical arm 101, and the claw connector 2 is fixedly mounted on the mechanical claw 102, wherein the arm connector 1 includes a circular cover 6 and a shaft post 7 arranged at the center of the bottom of the cover 6, a through hole 3 is opened on the cover 6, three clamping heads 26, 27, 28 are transversely protruded from the side wall of the shaft post 7 near the bottom end, the three clamping heads 26, 27, 28 are circumferentially distributed at trisection positions of the shaft post 7, wherein the bottom of the first clamping head 26 longitudinally extends downwards to form two conductive male terminals 29, and the conductive male terminals 29 are connected to the first clamping head 26 by springs (not shown), and are compressed and elastically restored; two signal male terminals 30 longitudinally extend downwards from the bottom of the second bayonet joint 27, and the signal male terminals 30 are connected to the second bayonet joint 27 through springs (not shown in the figure) and are compressed and elastically restored; the magnetic induction sensor 11 is arranged at the bottom of the third clamping head 28, and the trigger end of the magnetic induction sensor 11 faces downwards longitudinally; the bottom of each of the three snap-in heads 26, 27, 28 is provided with a longitudinal recess 9 which is open downwards. As shown in fig. 9, a check motor 31 is provided on the arm connecting member 1, and a telescopic head 32 which can extend out of the shaft column 7 is provided on the check motor 31; one attracting magnet 20 is attached to the top of each of the three

card contacts

26, 27, 28.

As can be seen from fig. 2, the top of the cover 6 is provided with a wire hole 33, the rear end of the conductive male terminal 29, the rear end of the signal male terminal 30 and the magnetic induction sensor 11 shown in fig. 8 are connected with wires (not shown in the figure), the wires respectively pass through the three

snap joints

26, 27 and 28 and the shaft post 7 and then pass through the wire hole 33, before the arm connector 1 is fixedly mounted on the robot arm 101, the wires are connected with the robot arm 101, so that the rear end of the conductive male terminal 29 is electrically connected with the robot arm 101, the rear end of the signal male terminal 30 is electrically connected with the robot arm 101, and the magnetic induction sensor 11 is electrically connected with the robot arm 101. The front end of the conductive male terminal 29 is butted with other conductive terminals to realize electrical connection, the rear end of the conductive male terminal 29 specifically refers to the other end electrically connected with the front end, and the rear end can be arranged on any surface of the conductive male terminal 29; the front end of the male signal terminal 30 is butted with other signal terminals to realize electrical connection, and the rear end of the male signal terminal 30 is specifically the other end electrically connected with the front end, and the rear end can be arranged on any surface of the male signal terminal 30.

The claw part connecting piece 2 comprises a circular base 13 and three clamping grooves 34 arranged on the base 13, the three clamping grooves 34 are used as second clamping blocks, the circumference of the second clamping blocks is distributed on trisection positions of the base 13, the notches of the three clamping grooves 34 are opposite in the radial direction and are aligned to the center of the base 13, the bottoms of the three clamping grooves 34 are arc-shaped and are arranged along the edge side of the base 13, and therefore a circular clamping space is formed; on the opposite sides of the base 13, fastening rings 23 are provided, which fastening rings 23 are intended to be slipped onto the fastening posts 25 of the claw changing aid 104 shown in fig. 6. As can be seen from fig. 10 and 11, one end of the clamping groove 34 facing counterclockwise is open to form a clamping opening 35, one end of the clamping groove 34 facing clockwise is closed to form a closed end 36, a lateral groove bottom of the clamping groove 34 extends toward the self-clamping opening 35 to form a transverse correction inclined surface 37, the transverse correction inclined surface 37 faces the clamping space, a position on a lower groove wall of the clamping groove 34 close to the self-clamping opening 35 is a longitudinal correction inclined surface 38, the longitudinal correction inclined surface 38 faces an upper groove wall, a position on the lower groove wall of the clamping groove 34 close to the self-closed end 36 is provided with a bead screw 22, a position on the upper groove wall of the clamping groove 34 close to the self-closed end 36 is provided with a groove (not shown in the figure), and an iron block (not shown in the groove) is arranged; a conductive plate 39 is arranged outside the notch of the first clamping groove 34, two longitudinal conductive female terminals 40 are arranged on the conductive plate 39, and a longitudinal shrinkage guide inclined surface 41 is arranged at one end of the conductive plate 39 facing to the counterclockwise direction; a signal plate 42 is arranged outside the notch of the second clamping groove 34, two longitudinal signal female terminals 43 are arranged on the signal plate 42, and a longitudinal shrinkage guide inclined plane 41 is also arranged at one end of the signal plate 42 towards the counterclockwise direction; the positioning magnet 21 is installed outside the notch of the third catching groove 34.

The rear ends of the conductive female terminals 40 and the rear ends of the signal female terminals 43 are connected to lead wires (not shown), which are led out from the bottom of the base 13 through the inside of the base 13. Before the claw portion connecting member 2 is fixedly attached to the gripper 102, these wires are connected to the gripper 102, so that the rear end of the conductive female terminal 40 is electrically connected to the gripper 102, and the rear end of the signal female terminal 43 is electrically connected to the gripper 102. The front end of the conductive female terminal 40 is butted with the conductive male terminal 29 to realize electrical connection, the rear end of the conductive female terminal 40 specifically refers to the other end electrically connected with the front end, and the rear end can be arranged on any surface of the conductive female terminal 40; the front end of the female signal terminal 43 is butted against the male signal terminal 30 to realize electrical connection, and the rear end of the female signal terminal 43 is specifically the other end electrically connected with the front end, and the rear end can be arranged on any surface of the female signal terminal 43.

Non-preferably, the conductive male terminal 29 and the signal male terminal 30 may be provided on the same card connector, and the conductive female terminal 40 and the signal female terminal 43 may be provided on the same terminal block, so that the structure of a single card connector and a single terminal block is complicated.

The robot arm 101 is electrically connected to a controller (not shown in the drawings) which electrically connects the conductive male terminal 29, the signal male terminal 30, the magnetic induction sensor 11, and the check motor 31 on the arm link 1 via the robot arm 101. When the mechanical claw 102 needs to be installed on the mechanical arm 101, the mechanical claw 102 is placed on the claw-changing auxiliary piece 104 by using the claw part connecting piece 2, then the controller controls the relevant circuits to enable the mechanical arm 101 to drive the arm part connecting piece 1 to longitudinally approach the claw part connecting piece 2 until the shaft post 7 on the arm part connecting piece 1 is positioned between the three clamping grooves 34 on the claw part connecting piece 2, the first clamping head 26 is positioned in front of the clamping interface 35 of the first clamping groove 34, the second clamping head 27 is positioned in front of the clamping interface 35 of the second clamping groove 34, and the third clamping head 28 is positioned in front of the clamping interface 35 of the third clamping groove 34; then the controller controls the related circuit to make the mechanical arm 101 drive the arm connecting piece 1 to rotate clockwise, at this time, the claw connecting piece 2 cannot rotate along with the arm connecting piece 1 under the action of the fixed column 25, and then the arm connecting piece 1 drives the three clamping connectors 26, 27 and 28 to rotate clockwise, so that the three clamping connectors 26, 27 and 28 are respectively rotated into the corresponding clamping grooves 34 from the clamping interfaces 35 of the three clamping grooves 34 until the three clamping connectors are rotated to the closed ends 36 of the clamping grooves 34 to be clamped. In the process of rotating and clamping the clamping heads 26, 27 and 28, the ball screws 22 on the lower groove wall of each clamping groove 34 are longitudinally and downwardly compressed by the clamping heads 26, 27 and 28 until the pits 9 at the bottoms of the clamping heads 26, 27 and 28 are respectively aligned with the ball screws 22, so that the ball screws 22 extend out of the pits 9 at the bottoms of the clamping heads 26, 27 and 28, and the clamping heads 26, 27 and 28 are pushed upwards to the grooves on the upper groove wall of each clamping groove 34, so that the clamping heads 26, 27 and 28 are clamped in each clamping groove 34, at the moment, the clamping state is locked by the pushing force generated by the ball screws 22, and the clamping heads 26, 27 and 28 are clamped in the grooves, so that the adsorption magnets 20 on the clamping heads 26, 27 and 28 adsorb the iron blocks in the grooves, thereby further locking the clamping state, and enabling the clamping heads 26, 27 and 28 and each clamping groove 34 not to be easily loosened, so that the gripper 102 is not easily detached from the robot arm 101; after the clamping heads 26, 27, 28 are respectively clamped with the three clamping grooves 34, the magnetic induction sensor 11 on the third clamping head 28 is aligned with the in-position magnet 21 in front of the third clamping groove 34, the magnetic induction sensor 11 sends out a relevant signal of clamping in place to the controller, the controller controls a relevant circuit accordingly to enable the check motor 31 to start, then the check motor 31 drives the telescopic head 32 to extend out of the shaft column 7, thereby abutting against the outside of the closed end 36 of the third clamping groove 34, at the moment, the telescopic head 32 and the third clamping groove 34 form a mutual barrier to prevent the clamping from being released, the chuck connectors 26, 27, 28 and the three chuck slots 34 are not loosened, so that the gripper 102 is not detached from the robot arm 101, and thus the robot arm 101 and the gripper 102 are mounted, and the controller can control the related circuits to make the robot arm 101 and the gripper 102 move to disengage from the gripper-changing auxiliary 104 to grasp the object.

The magnetic induction sensor 11 may be changed to other position switches, such as a pressure sensor, a travel switch, etc., which are not described herein.

After the installation between the robot arm 101 and the gripper 102 is completed, the conductive male terminal 29 on the first card connector 26 is butted against the front end of the conductive female terminal 40 on the conductive plate 39, and the signal male terminal 30 on the second card connector 27 is butted against the front end of the signal female terminal 43 on the signal plate 42, so that the electric connection between the robot arm 101 and the gripper 102 is completed along the belt, and thus, a connecting wire does not need to be additionally assembled and disassembled between the robot arm 101 and the gripper 102, and the assembly and disassembly time of the robot equipment is short.

In a conventional claw-changing mechanism, the conductive male terminal and the signal male terminal cannot be compressed, so that in the process that the clamping joint is respectively transferred into the three clamping grooves for clamping, if the longitudinal distance between the arm part connecting piece and the claw part connecting piece is too close, the electrical male terminal and the signal male terminal can be crushed. In this embodiment, the conductive male terminal 29 and the signal male terminal 30 are compressed and elastically restored, so that when the snap-in

connectors

26, 27, 28 are respectively rotated into the three snap-in grooves 34 to perform the snap-in connection, if the longitudinal distance between the arm connector 1 and the claw connector 2 is too short, the conductive male terminal 29 and the signal male terminal 30 are compressed by the claw connector 2 first, and thus are not crushed. In the rotating process, the conductive male terminal 29 moves to the conductive female terminal 40 along the shrinkage-guiding inclined plane 41 of the conductive plate 39, the signal male terminal 30 moves to the signal female terminal 43 along the shrinkage-guiding inclined plane 41 of the signal plate 42, in the process, the conductive male terminal 29 and the signal male terminal 30 are further compressed until the three clamping grooves 34 are clamped by the clamping heads 26, 27 and 28 respectively, the conductive male terminal 29 is aligned with the conductive female terminal 40, the signal male terminal 30 is aligned with the signal female terminal 43, at this time, the conductive male terminal 29 is butted with the front end of the conductive female terminal 40 under the action of elastic restoring force, and the signal male terminal 30 is butted with the front end of the signal female terminal 43 under the action of the elastic restoring force, so that the mechanical arm 101 and the mechanical claw 102 are electrically connected with each other in the state. Therefore, the distance between the arm part connector 1 and the claw part connector 2 can be controlled without complete precision, so that the claw changing mechanism 103 has low requirement on the control precision of the manipulator equipment and high applicability.

After the arm connector 1 is longitudinally close to the claw connector 2, if the axle post 7 is not perfectly aligned with the center of the base 13, resulting in positional deviation between the

snap tabs

26, 27, 28 and the three snap grooves 34 in the lateral direction (the lateral direction corresponds to the radial direction because the base 13 is circular and the three snap grooves 34 are circumferentially distributed at trisections of the base 13), during the rotation of the clamping heads 26, 27, 28 into the clamping groove 34 for clamping, the clamping heads which are located in the deviating direction of the shaft column 7 are guided by the transverse correction ramp 37 to rotate into the clamping groove 34, i.e. the lateral correction ramp 37, makes relative fine lateral adjustments to the lateral position of both the spindle 7 and the clamping heads 26, 27, 28, the lateral position between the arm connector 1 and the claw connector 2 is finely adjusted laterally so that the shaft post 7 is aligned at the center of the base 13. Therefore, even if there is a positional deviation in the lateral direction between the

tabs

26, 27, 28 and the three engagement grooves 34 after the arm link 1 is moved longitudinally closer to the claw link 2, the lateral position of the

tabs

26, 27, 28 can be finely adjusted by the lateral correction slope 37 to smoothly perform engagement in the process of turning the

tabs

26, 27, 28 into the three engagement grooves 34 for engagement. Therefore, the lateral position between the arm link 1 and the claw link 2 may not be controlled completely accurately, so that the claw change mechanism 103 has a low requirement on the control accuracy of the robot apparatus and high applicability.

After the arm connector 1 longitudinally approaches the claw connector 2, if the axle column 7 is too close to the base 13, so that the snap connectors 26, 27, 28 are not completely aligned with the snap interfaces 35 of the three snap grooves 34, that is, there is a position deviation between the snap connectors 26, 27, 28 and the three snap grooves 34 in the longitudinal direction, in the process that the snap connectors 26, 27, 28 are respectively turned into the three snap grooves 34 for snap connection, the snap connectors 26, 27, 28 are guided to turn into the snap grooves 34 by the longitudinal correction inclined surface 38, that is, the longitudinal correction inclined surface 38 performs longitudinal relative fine adjustment on the longitudinal positions of the axle column 7 and the snap connector 26, so that the transverse positions between the arm connector 1 and the claw connector 2 are laterally finely adjusted, therefore, even if there is a position deviation between the snap connectors 26, 27, 28 and the three snap grooves 34 in the longitudinal direction after the arm connector 1 is longitudinally approached to the claw connector 2, during the process of turning the clamping heads 26, 27 and 28 into the three clamping grooves 34 respectively for clamping, the longitudinal positions of the clamping heads 26, 27 and 28 can be finely adjusted by the longitudinal correction inclined surface 38 for smooth clamping. Therefore, the longitudinal distance between the arm part connecting piece 1 and the claw part connecting piece 2 can not be controlled completely and accurately, so that the claw changing mechanism has low control precision requirement on the manipulator equipment and high applicability. Furthermore, as shown in fig. 10, the upper groove wall of the locking groove 34 near its locking interface 35 can be provided with a longitudinal correction slope 44, so that after the arm connector 1 moves towards the claw connector 2, if the shaft post 7 is too far away from the base 13, so that the locking heads 26, 27, 28 are not completely aligned with the locking interfaces 35 of the three locking grooves 34, the locking heads 26, 27, 28 will be guided by the longitudinal correction slope 44 on the upper groove wall to rotate into the locking grooves 34 during the locking processes of the locking heads 26, 27, 28 to rotate into the three locking grooves 34, i.e. the longitudinal correction slope 44 on the upper groove wall can also finely adjust the longitudinal positions of the shaft post 7 and the locking heads 26, 27, 28.

When the mechanical claw 102 needs to be replaced, the controller controls the related circuit to enable the mechanical arm 101 to drive the mechanical claw 102 to extend into the notch 25 of the claw changing auxiliary piece 104 until the fixing ring 23 on the claw connecting piece 2 is sleeved on the fixing column 25 of the claw changing auxiliary piece 104, then the controller controls the related circuit to enable the check motor 31 to drive the telescopic head 32 to retract, so that mutual blocking with the third clamping groove 34 is avoided, then the controller controls the related circuit to enable the mechanical arm 101 to drive the arm connecting piece 1 to longitudinally and slightly move downwards, so that the clamping heads 26, 27 and 28 respectively compress the three bead screws 22 and leave the groove on the upper groove wall of the clamping groove 34, the controller controls the related circuit to enable the mechanical arm 101 to apply a driving force of anticlockwise rotation to the arm connecting piece 1, at the moment, the claw connecting piece 2 cannot rotate along with the arm connecting piece 1 under the action of the fixing column 25, and the driving force applied, so that the snap joints 26, 27, 28 can be disengaged from the locking force of the ball screw 22 and the attraction force of the attraction magnet 20, the arm connector 1 rotates counterclockwise with the snap joints 26, 27, 28, so that the conductive male terminal 29 on the first snap joint 26 is disengaged from the conductive female terminal 40 on the conductive plate 39, the signal male terminal 30 on the second snap joint 27 is disengaged from the signal female terminal 43 on the signal plate 42, and the magnetic induction sensor 11 on the third snap joint 28 is no longer aligned with the position magnet 21, thereby disconnecting the electrical connection between the mechanical arm 101 and the mechanical claw 102; during the rotation of the joints 26, 27, 28, the joints 26, 27, 28 leave the ball screw 22, and the attracting magnets 20 on the joints 26, 27, 28 leave the iron blocks on the clamping grooves 34, until the joints 26, 27, 28 are respectively rotated out of the clamping interfaces 35 of the three clamping grooves 34, the controller controls the related circuits to make the mechanical arm 101 drive the arm link 1 to move longitudinally away from the claw link 2, so that the shaft 7 on the arm link 1 carries the joints 26, 27, 28 to leave the base 13, and thus the separation between the mechanical arm 101 and the mechanical claw 102 is completed. The above-described mounting process between the robot arm 101 and the gripper 102 is then repeated for other grippers 102, thereby enabling replacement of the gripper 102.

Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the protection scope of the present application, and although the present application is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions can be made on the technical solutions of the present application without departing from the spirit and scope of the technical solutions of the present application.

Claims

1. Automatic revise horizontal deviation's claw mechanism that trades, including two connecting pieces of difference fixed mounting on the arm and the gripper, two connecting pieces vertically are close to relatively so that carry out the joint, and first connecting piece is equipped with first joint piece, and the second connecting piece is equipped with second joint piece, and first, second connecting piece transverse relative motion makes first, second joint piece sideslip joint, characterized by: the clamping interfaces of the first clamping block and the second clamping block are provided with transverse correction inclined planes, and the first connecting piece and the second connecting piece are guided by the transverse correction inclined planes in the transverse relative movement process, and the positions of the first connecting piece and the second connecting piece are transversely and relatively finely adjusted so that the first clamping block and the second clamping block are aligned with each other.

2. The apparatus of claim 1, wherein the jaw changer is configured to automatically correct lateral misalignment of the workpiece: the transverse relative movement of the first connecting piece and the second connecting piece is transverse relative rotation, and the transverse relative fine adjustment is radial relative fine adjustment.

3. The apparatus of claim 2, wherein the jaw changer is configured to automatically correct lateral misalignment of the workpiece: the first clamping blocks and the second clamping blocks are clamped with each other at least in two groups, and the clamping blocks of each group are distributed on the periphery.

4. The apparatus of claim 1, wherein the jaw changer is configured to automatically correct lateral misalignment of the workpiece: the first clamping block is a clamping head which protrudes transversely, the second clamping block is a clamping groove, and the first connecting piece and the second connecting piece move transversely relative to each other to enable the clamping head to transversely enter the clamping groove to be clamped.

5. The apparatus of claim 4, wherein said means for automatically correcting lateral misalignment comprises: the transverse correction inclined plane is arranged on the second connecting piece.

6. A jaw changing mechanism for automatic correction of longitudinal misalignment according to claim 5 wherein the guide is specifically: the first clamping block is guided by the transverse correction inclined plane.

7. The apparatus of claim 1, wherein the jaw changer is configured to automatically correct lateral misalignment of the workpiece: the claw changing auxiliary piece comprises a claw changing auxiliary piece used in claw changing, the second connecting piece and the claw changing auxiliary piece are detachably fixed to each other, and the second connecting piece is fixed to the claw changing auxiliary piece so as not to move transversely along with the first connecting piece in claw changing.

8. The apparatus of claim 7, wherein the jaw changer automatically corrects for lateral misalignment comprises: it has the breach to hold the usefulness that the second connecting piece put into to open on the claw changing auxiliary, the claw changing auxiliary stretches out two fixed columns upwards respectively in breach both sides, and both sides on the second connecting piece are equipped with two solid fixed rings respectively, and solid fixed ring cover realizes on the fixed column the second connecting piece is fixed on the claw changing auxiliary.

9. The apparatus according to any one of claims 4 to 8, wherein: the first connecting piece is a connecting piece fixedly arranged on the mechanical arm, and the second connecting piece is a connecting piece fixedly arranged on the mechanical claw.

10. The apparatus of claim 9, wherein the jaw changer automatically corrects for lateral misalignment comprises: the claw replacing auxiliary part is provided with at least two mounting positions, and different mounting positions are used for fixing second connecting pieces with different mechanical claws.

11. Manipulator equipment, including arm and gripper, characterized by: further comprising a gripper change mechanism as claimed in any one of claims 1 to 10, with which the gripper is mounted on a robotic arm.