CN112192553A

CN112192553A - Mechanical arm equipment, claw replacing mechanism and mechanical claw

Info

Publication number: CN112192553A
Application number: CN202011254664.2A
Authority: CN
Inventors: 傅峰峰; 陈登立; 裴宁宁
Original assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Current assignee: Guangzhou Fugang Wanjia Intelligent Technology Co Ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2021-01-08

Abstract

The invention provides manipulator equipment, wherein a master control module of the manipulator equipment is electrically connected with a manipulator, a claw replacing mechanism comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is fixedly arranged on the manipulator, the second connecting piece is fixedly arranged on the manipulator, the first connecting piece is provided with a power interface for taking power from the tail end of the manipulator, the manipulator equipment further comprises an electric assembly structure and a control module, the electric assembly structure and the control module take power from the power interface, the electric assembly structure is controlled by the control module, the two connecting pieces are assembled mutually under the condition that the two connecting pieces are relatively close to each other in the axial direction, so that the manipulator is arranged on the manipulator, the manipulator equipment also comprises a wireless receiving device which is electrically connected with the control module, and the wireless receiving device is. The control module can receive the claw changing signal by using the wireless receiving device without receiving the claw changing signal through the tail end of the mechanical arm, so that the claw changing signal can be sent to the control module of the claw changing mechanism without changing a control program of the master control module.

Description

Mechanical arm equipment, claw replacing mechanism and mechanical claw

Technical Field

The invention relates to the technical field of mechanical arms, in particular to a mechanical arm device, a claw replacing mechanism and a mechanical claw.

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 motion functions of human hands and arms 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, need unscrew the screw when changing the gripper and just can change, so traditional gripper is changed inconveniently and consuming time long to lead to production efficiency to hang down.

The existing claw changing mechanism comprises a claw part connecting piece and an arm part connecting piece, wherein the claw part connecting piece is used for being installed on a mechanical claw, the arm part connecting piece is used for being installed on the mechanical arm, a guide shaft and a sucker type electromagnet are arranged on the claw part connecting piece and used for being connected with the arm part connecting piece in an axial magnetic attraction mode, the claw part connecting piece is positioned by the guide shaft and then connected with the arm part connecting piece in the axial magnetic attraction mode through the sucker type electromagnet, and therefore when the mechanical claw needs to be changed, the claw part connecting piece and the corresponding mechanical claw can be detached from the arm part connecting piece for changing only by enabling the sucker type electromagnet to lose power and demagnetize, and therefore the. At present, a control module electrically connected with a sucker type electromagnet is usually arranged on a claw replacing mechanism, when a mechanical claw needs to be replaced, the control module is used for inputting a replacement signal to the control module, controlling the relevant circuit to make the suction disc type electromagnet lose power and demagnetize, at present, however, the general control module of the manipulator equipment for controlling the movement of the manipulator is generally used for inputting a replacement signal to the control module of the claw changing mechanism, the control program of the master control module needs to be changed, so that the master control module can control the movement of the mechanical arm and can send a claw changing signal to the control module of the claw changing mechanism, however, for a user who purchases mechanical arms on the market to assemble the mechanical arm equipment, because the control program of the master control module attached to the mechanical arm is preset to only control the motion of the mechanical arm, the user is difficult to modify the control program so that the master control module can also send a claw changing signal to the control module of the claw changing mechanism.

Disclosure of Invention

The invention aims to solve the technical problem of how to send a claw changing signal to a claw changing mechanism under the condition of not changing a control program of a master control module.

In order to solve the technical problems, the invention provides manipulator equipment, which comprises a master control module, a manipulator, a mechanical claw and a claw replacing mechanism, the master control module is electrically connected with the mechanical arm, the claw changing mechanism comprises a first connecting piece fixedly arranged on the mechanical arm and a second connecting piece fixedly arranged on the mechanical claw, the first connecting piece is provided with a power interface for taking electricity from the tail end of the mechanical arm, and also comprises an electric assembly structure and a control module electrically connected with the electric assembly structure, the electric assembly structure and the control module take electricity from the power interface, the electric assembly structure is controlled by the control module, assembling the two connecting members to each other in a state where the two connecting members are relatively axially close to each other, so that the mechanical claw is arranged on the mechanical arm, and the mechanical claw further comprises a wireless receiving device which is electrically connected with the control module, wherein the wireless receiving device is arranged on the second connecting piece or the mechanical claw.

Preferably, the control module comprises a first control device and a second control device, the first control device and the electric assembly structure are arranged on the first connecting piece, the electric assembly structure is controlled by the first control device, the second control device is arranged on the second connecting piece, and the wireless receiving device is electrically connected with the second control device; the first connecting piece is provided with a first electric connecting terminal which is electrically connected with the first control device, the second connecting piece is provided with a second electric connecting terminal which is electrically connected with the second control device, and the two connecting pieces are assembled with each other so that the first electric connecting terminal and the second electric connecting terminal are mutually butted, and therefore the two control devices are mutually and electrically connected; the electric reinforcing structure is electrically connected with the second control device, and the two connecting pieces are assembled with each other, so that the second control device enables the electric reinforcing structure to reinforce the assembly between the two connecting pieces.

Preferably, a third electrical connection terminal electrically connected with the first control device is arranged on the second connection piece, a fourth electrical connection terminal electrically connected with the wireless receiving device is arranged on the gripper, and the third electrical connection terminal is butted with the fourth electrical connection terminal when the second connection piece is installed on the gripper, so that the wireless receiving device is electrically connected with the second control device.

Preferably, the first connecting piece is provided with a guide pillar, the second connecting piece is provided with a positioning hole for the guide pillar to extend into, the electric reinforcing structure comprises a first clamping portion arranged on the guide pillar and a second clamping portion arranged on the second connecting piece, and the two clamping portions are clamped with each other in a relatively axial approaching state of the two connecting pieces so as to reinforce the assembly between the two connecting pieces.

Preferably, the electric reinforcing structure comprises a push-pull electromagnet electrically connected with the second control device, the second clamping portion is driven by the push-pull electromagnet, the positioning hole is formed in the pushing direction of the push-pull electromagnet and penetrates through the second connecting piece, so that the guide pillar extends into the positioning hole, the front end of the guide pillar penetrates out of the positioning hole and is located in the pushing direction of the push-pull electromagnet, the second clamping portion is pushed out to be clamped with the first clamping portion by the push-pull electromagnet in a normal state, and the second clamping portion is pulled back by the push-pull electromagnet in a power-on state to be not clamped with the first clamping portion.

Preferably, the second connecting piece comprises a shell, the second clamping portion and the push-pull electromagnet are installed in an inner cavity of the second connecting piece, a through hole is formed in a position, located in the push-out direction of the push-pull electromagnet, of the shell, and faces the second clamping portion and avoids the front end, penetrating out of the guide pillar, of the guide pillar.

Preferably, the electric assembly structure comprises a suction disc type electromagnet arranged on the first connecting piece, the shell of the second connecting piece has magnetic attraction, and the two connecting pieces are relatively close to each other in the axial direction so that the suction disc type electromagnet attracts the shell of the second connecting piece, thereby mutually assembling the two connecting pieces.

Preferably, the first electrical connection terminal comprises a signal male terminal, the second electrical connection terminal comprises a signal female terminal, and the signal male terminal is butted with the signal female terminal in a state that the two connectors are assembled with each other.

Preferably, the first electric connection terminal includes a conductive male terminal, a rear end of the conductive male terminal is electrically connected to the power supply interface, the rear end of the conductive male terminal is disconnected from the power supply interface in a normal state, and the first connection member is provided with an in-place sensor electrically connected to the first control device; the second electric connecting terminal comprises a conductive female terminal, and an induction piece is arranged on the second connecting piece; under the state that the two connecting pieces are assembled with each other, the conductive male terminal is in butt joint with the conductive female terminal, and when the in-place sensor senses the sensing piece, the first control device enables the rear end of the conductive male terminal to be communicated with the power interface.

Preferably, the in-place sensor is a photoelectric sensor, the photoelectric sensor includes a light emitter and a light receiver, the sensing member is a light shielding member protruding toward the photoelectric sensor, and in a state where the two connecting members are assembled with each other, the light shielding member shields between the light emitter and the light receiver of the photoelectric sensor, so that the first control device accordingly connects the rear end of the conductive male terminal with the power interface.

The invention also provides a claw changing mechanism which comprises a first connecting piece and a second connecting piece, wherein the first connecting piece is fixedly arranged on the mechanical arm, the second connecting piece is fixedly arranged on the mechanical claw, the first connecting piece is provided with a power supply interface for taking power from the tail end of the mechanical arm, the claw changing mechanism further comprises an electric assembly structure and a control module electrically connected with the electric assembly structure, the electric assembly structure and the control module take power from the power supply interface, the electric assembly structure is controlled by the control module, the two connecting pieces are assembled with each other under the condition that the two connecting pieces are relatively close to each other in the axial direction, the claw changing mechanism further comprises a wireless receiving device electrically connected with the control module, and the wireless receiving device is.

The invention also provides a mechanical claw, which comprises an electric connecting terminal used for electrically connecting the claw replacing mechanism and a wireless receiving device, wherein the wireless receiving device is electrically connected with the rear end of the electric connecting terminal.

The invention has the following beneficial effects: because the wireless receiving device is electrically connected with the control module, the control module can receive the claw changing signal through the wireless receiving device, and the electric assembly structure is enabled to loosen the connection between the two connecting pieces after receiving the claw changing signal, so that although the control module gets power from the tail end of the mechanical arm through the power interface, the control module can receive the claw changing signal through the wireless receiving device without receiving the claw changing signal through the tail end of the mechanical arm, and the claw changing signal can be sent to the control module of the claw changing mechanism without changing a control program of the master control module.

Drawings

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

FIG. 2 is a schematic view of a pawl change mechanism;

FIG. 3 is a schematic front view of the jaw connection;

FIG. 4 is a rear schematic view of a jaw connection;

fig. 5 is an internal schematic view of the gripper.

Description of reference numerals: 1-an arm joint; 2-claw connection; 3-a guide pillar; 4-positioning holes; 5-a clamping groove; 6-a clamping part; 7-a sucker type electromagnet; 8-a third electrical connection terminal; 9-power interface; 10-a first control device; 11-a photosensor; 12-a first electrical connection terminal; 13-a push-pull electromagnet; 14-a through hole; 15-a connecting rod; 16-a second electrical connection terminal; 17-a light shield; 18-an aircraft joint; 19-a second control device; 20-radio receiving means.

Detailed Description

The robot apparatus is shown in fig. 1 and includes a robot arm 101, a gripper 102, and a gripper changing mechanism 103, wherein the gripper 102 is mounted on the robot arm 101 via the gripper changing mechanism 103, so that the robot arm 101 can drive the gripper 102 to move to grasp an object at different positions. As shown in fig. 2, the claw changing mechanism 103 includes two connectors, namely an arm connector 1 and a claw connector 2, wherein the arm connector 1 is fixedly mounted on the robot arm 101, and the claw connector 2 is fixedly mounted on the robot claw 102, so that the arm connector 1 and the claw connector 2 are axially relatively close to each other for assembly, and the robot claw 102 can be mounted on the robot arm 101.

Referring to fig. 2, a power interface 9 is arranged on the side surface of the arm connector 1, an aviation connector 18 electrically connected with the tail end of the mechanical arm 101 is inserted into the power interface 9, and the arm connector 1 gets electricity from the tail end of the mechanical arm 101 through the power interface 9 and the aviation connector 18 in sequence; the front surface of the arm connecting piece 1 is provided with a first control device 10, a sucker type electromagnet 7 and three guide posts 3, the first control device 10 is provided with a photoelectric sensor 11 and four first electric connecting terminals 12, and the four first electric connecting terminals 12 are specifically two electric conduction male terminals and two signal male terminals. The power interface 9 is electrically connected with a first control device 10, the first control device 10 is electrically connected with the sucker-type electromagnet 7, the photoelectric sensor 11 and the rear ends of the four first electrical connection terminals 12 (in this embodiment, the rear ends of the first electrical connection terminals 12 face the inside of the arm connecting piece 1), then the sucker-type electromagnet 7, the photoelectric sensor 11 and the two conductive male terminals are respectively powered from the power interface 9 through the first control device 10, and the sucker-type electromagnet 7 is powered under a normal state. The front end of the three guide pillars 3 is narrow before and wide after and is in inclined plane transition, thereby the lateral wall circumference indent of being close to the front end department of every guide pillar 3 forms draw-in groove 5, and this draw-in groove 5 is as radial first joint portion. The photoelectric sensor 11 is used as an in-place sensor in the assembling process of the claw changing mechanism 103, and comprises a light emitter and a light receiver, a gap is reserved between the light emitter and the light receiver, the gap between the light emitter and the light receiver is not shielded in a normal state, the light receiver can receive light emitted by the light emitter, and the rear ends of the two conductive male terminals are disconnected with the power interface 9 in the state; if the gap between the light emitter and the light receiver is blocked, the light receiver cannot receive the light emitted by the light emitter, so that the photoelectric sensor 11 can send a conductive signal to the first control device 10 when being blocked, and the first control device 10 controls the related circuit to connect the rear ends of the two conductive male terminals with the power interface 9 after receiving the conductive signal. Wherein, the light emitter can be an infrared emission tube, and the light receiver can be an infrared receiving tube.

In this embodiment, the sucker-type electromagnet 7 is used as an electric assembly structure, and the housing of the claw portion connecting member 2 is made of steel material and used as a magnetic member, which can be attracted by the sucker-type electromagnet 7 to complete the assembly of the claw changing mechanism 103. Referring to fig. 2, 3 and 4, the housing of the claw link 2 is provided with three positioning holes 4, the three positioning holes 4 penetrate from the back of the claw link 2 to the front of the claw link 2, and the three positioning holes 4 are respectively positioned corresponding to the three guide posts 3 of the arm link 1. The back of the claw part connecting piece 2 is provided with four second electric connecting terminals 16 and a convex shading piece 17, the four second electric connecting terminals 16 are specifically two conductive female terminals and two signal female terminals, and the shading piece 17 is used as a sensing piece of the photoelectric sensor 11. A push-pull electromagnet 13, a second control device 19 and three radial second clamping parts 6 are arranged in an inner cavity of the front face of the claw part connecting piece 2, a third electric connecting terminal 8 is arranged on the second control device 19, and the second control device 19 is electrically connected with the push-pull electromagnet 13, the rear end of the second electric connecting terminal 16 and the rear end of the third electric connecting terminal 8 respectively (in the embodiment, the rear end of the second electric connecting terminal 16 and the rear end of the third electric connecting terminal 8 face the inside of the claw part connecting piece 2 respectively). In this embodiment, the first control device 10 and the second control device 19 cooperate with each other to serve as a control module of the pawl changing mechanism 103. The three second clamping parts 6 are arranged on the connecting rod 15 shaped like a Chinese character ji to realize linkage, and the push-pull electromagnet 13 is fixedly connected with the connecting rod 15, so that the three second clamping parts 6 can be driven by the connecting rod 15 to synchronously move towards the push-pull direction of the push-pull electromagnet 13. A spring (not shown in the figure) is arranged inside the push-pull electromagnet 13, the three positioning holes 4 are arranged in the pushing direction of the push-pull electromagnet 13, in a normal state, the spring pushes the three second clamping parts 6 to the edges on the same side of the three positioning holes 4, and the three second clamping parts 6 respectively cover partial edges of the three positioning holes 4.

Referring to fig. 5, the robot arm 102 is provided with a wireless receiving device 20 inside, a fourth electrical connection terminal (not shown) is provided at a position of the robot arm 102 for mounting the jaw portion connector 2, and the wireless receiving device 20 is electrically connected to a rear end of the fourth electrical connection terminal (in this embodiment, the rear end of the fourth electrical connection terminal faces the inside of the robot arm 102). After the jaw interface 2 is mounted on the gripper 102, the third electrical connection terminal 8 on the jaw interface 2 mates with the fourth electrical connection terminal on the gripper 102, so that the wireless receiving device 20 is electrically connected to the second control device 19.

In this embodiment, the manipulator device is further provided with a general control module (not shown in the figure) for controlling the motion of the manipulator 101, and the general control module is electrically connected to the manipulator 101 for controlling the motion of the manipulator 101. The mechanical arm 101 is provided with a camera (not shown in the figure) electrically connected with the master control module, and the back of the shell of the claw part connecting piece 2 is provided with a two-dimensional code (not shown in the figure). Before assembling the mechanical arm 101 and the mechanical claw 102, manually moving the mechanical arm 101 and a camera thereon to a position corresponding to the claw part connecting piece 2, and aligning each guide pillar 3 on the arm part connecting piece 1 of the mechanical arm 101 to each positioning hole 4 on the claw part connecting piece 2 respectively, wherein the pose angle of the mechanical arm 101 conforms to a preset assembling angle; then, the user inputs the identification line fitting signal to the general control module by using an input device (not shown in the figure, such as a key), and the general control module executes the identification line fitting steps after receiving the identification line fitting signal as follows: and controlling a related circuit to enable the camera to shoot the two-dimensional code on the claw part connecting piece 2, identifying three positioning frames respectively positioned at the lower left corner, the upper left corner and the upper right corner of the two-dimensional code, analyzing and obtaining two diagonal positioning frames at the lower left corner and the upper right corner of the two-dimensional code according to the relative positions of the three positioning frames, and fitting an identification line with the same position in an image shot by the camera at this time according to the position of a connecting line between the two diagonal positioning frames. In the process of capturing an image after the camera, the identification line will appear at the same position of the image captured later, and thus the direction of the identification line will follow the change in the pose angle of the robot arm 101.

The robot arm 101 and gripper 102 are then assembled, as described in detail below. Firstly, the master control module controls the related circuit to make the mechanical arm 101 with the camera thereon move until the position of the camera corresponds to the mechanical claw 102 installed on the claw part connecting piece 2, at this time, the pose angle of the mechanical arm 101 does not accord with the preset assembly angle, so that each guide post 3 on the arm part connecting piece 1 does not aim at each positioning hole 4 of the claw part connecting piece 2, but if the mechanical arm 101 and the mechanical claw 102 can be assembled, each guide post 3 on the arm part connecting piece 1 needs to aim at each clamping hole 4 of the claw part connecting piece 2, namely, the pose angle of the mechanical arm 101 needs to accord with the preset assembly angle, for this reason, the master control module uses the camera to shoot, the identification line exists in the shot image, the direction of the identification line reflects the pose angle of the mechanical arm 101, and when the pose angle of the mechanical arm 101 accords with the preset assembly angle, the identification line in the image will be parallel to the line between the diagonal positioning frames of the two-dimensional code on the claw attachment 2. When the two-dimensional code on the claw part connecting piece 2 is shot by the camera, three positioning frames respectively positioned at the lower left corner, the upper left corner and the upper right corner of the two-dimensional code are identified, and then two diagonal positioning frames at the lower left corner and the upper right corner of the two-dimensional code are obtained according to the relative position analysis of the three positioning frames; then, a connecting line between two diagonal positioning frames of the two-dimensional code is taken as a positioning line which accords with a preset assembly angle, then the positioning line and an identification line in an image are compared to obtain that the angle deviation between the positioning line and the identification line is more than 0, namely, the positioning line is not parallel to the identification line, so that the master control module knows that the deviation of the pose angle of the mechanical arm 101 compared with the preset assembly angle exceeds a preset degree, and then reversely deduces that the pose angle of the mechanical arm 101 does not accord with the preset assembly angle, so that the master control module controls a related circuit to rotate the mechanical arm 101 according to the specific angle deviation between the positioning line and the identification line until the positioning line and the identification line are parallel to each other, so that the deviation of the pose angle of the mechanical arm 101 compared with the preset assembly angle does not exceed the preset degree, and at the moment, each guide pillar 3 on the arm connecting piece 1 respectively aligns, namely, the mechanical arm 101 is aligned with the mechanical claw 2 in a posture angle.

After the pose angle of the mechanical arm 101 is aligned to the mechanical claw 102, the master control module can control the related circuit to enable the mechanical arm 101 to be relatively close to the mechanical claw 102 in the axial direction, so that each guide post 3 on the arm connecting piece 1 respectively extends into each positioning hole 4 on the claw connecting piece 2 to be positioned, in the process, even if the radial position between the arm connecting piece 1 and the claw connecting piece 2 has slight deviation, because the front ends of the three guide posts 3 are narrow in front and wide in back and are in inclined surface transition in front and back, the inclined surfaces of the front ends of the guide posts 3 guide each guide post 3 to slide into each positioning hole 4 when the arm connecting piece 1 and the claw connecting piece 2 are relatively close in the axial direction, and therefore the radial relative position between the arm connecting piece 1 and the claw connecting piece 2 is finely adjusted, and the arm connecting piece 1 and the claw connecting piece 2 are. In this embodiment, the clamping groove 5, the second clamping portion 6 and the push-pull electromagnet 13 form an electric reinforcing structure, in the process that the arm connecting piece 1 and the claw connecting piece 2 are relatively close to each other axially, the three guide posts 3 respectively axially extend into the front of the claw connecting piece 2 from the three positioning holes 4, and the three guide posts 3 respectively and radially extrude the three second clamping portions 6, until the arm connecting piece 1 and the claw connecting piece 2 are attached to each other, the suction disc type electromagnet 7 on the arm connecting piece 1 sucks the shell of the claw connecting piece 2, so that the assembly of the claw changing mechanism 103 is completed, so that the mechanical claw 102 is mounted on the mechanical arm 101, in this state, the push-pull electromagnet 13 is in a normal state, the spring on the push-pull electromagnet pushes the three second clamping portions 6 respectively into the clamping grooves 5 clamped in the three guide posts 3, so that the three second clamping portions 6 are respectively and mutually clamped with the clamping grooves 5, so that the, the mutually assembled arm connecting piece 1 and claw connecting piece 2 are reinforced, so that the claw changing mechanism 103 is high in stability. After the assembly of the mechanical arm 101 and the mechanical claw 102 is completed, the two signal male terminals are respectively butted with the two signal female terminals, and then the first control device 10 and the second control device 19 are in communication connection; the light-shading part 17 is arranged between the light emitter and the light receiver of the photoelectric sensor 11, the light receiver cannot receive light emitted by the light emitter, the photoelectric sensor 11 sends a conductive signal to the first control device 10, the first control device 10 accordingly enables the rear ends of the two conductive male terminals to be connected with the power interface 9, the two conductive male terminals are electrified, the two conductive male terminals are respectively connected with the two conductive female terminals, and the second control device 19 can get electricity from the power interface 9 through the first control device 10.

When the gripper 102 needs to be replaced, a user can send a gripper replacing signal to the wireless receiving device 20 in the gripper 102 by using wireless communication equipment (such as a mobile phone, a tablet computer, a notebook computer and the like), the wireless receiving device 20 sends the gripper replacing signal to the second control device 19, after receiving the gripper replacing signal, the second control device 19 controls a related circuit to enable the push-pull electromagnet 13 to be powered on, after the push-pull electromagnet 13 is powered on, the second clamping part 6 positioned below the drawing 3 is magnetically attracted, so that the three linked second clamping parts 6 move upwards together in a pulling-back manner, and the three second clamping parts 6 withdraw from the clamping grooves 5 on the three guide posts 3, and are not clamped with the clamping grooves 5 any more; after receiving the claw-changing signal, the second control device 19 also sends the claw-changing signal to the first control device 10 on the arm connecting piece 1 through the signal female terminal and the signal male terminal, and after receiving the claw-changing signal, the first control device 10 controls the relevant circuit to lose power and demagnetize the sucker-type electromagnet 7, so that the sucker-type electromagnet 7 no longer sucks the shell of the claw connecting piece 2, and thus a user can detach the claw connecting piece 2 from the arm connecting piece 1, namely detach the mechanical claw 102 from the mechanical arm 101, and then repeat the above-mentioned assembling process for the mechanical claws 102 mounted on other claw connecting pieces 2, thereby realizing the replacement of the mechanical claw 102. After the claw part connecting piece 2 is disassembled, the conductive female terminal on the claw part connecting piece 2 is not butted with the conductive male terminal on the arm part connecting piece 1, and then the push-pull type electromagnet 13 on the claw part connecting piece 2 is powered off, so that the clamping part 6 is pushed back to reset under the action of the spring.

Referring to fig. 2, two through holes 14 are formed in the housing of the claw connection member 2, and the two through holes 14 are located in the pushing direction of the push-pull electromagnet 13, respectively facing the second engaging portion 6 and avoiding the guide posts 3 extending into the positioning holes 4. Because the power interface 9 is powered from the tail end of the mechanical arm 101 through the aviation connector 18, when the mechanical claw 102 needs to be replaced, a user can directly pull the aviation connector 18 from the power interface 9, so that the sucker type electromagnet 7 loses power and demagnetizes, and the push-pull type electromagnet 13 cannot be powered, so that the second clamping portion 6 cannot be magnetically attracted, at the moment, the user can insert a thimble into the inner cavity of the claw part connecting piece 2 from one through hole 14 to jack open the three linked second clamping portions 6, so that the three clamping portions 6 are not mutually clamped with the clamping grooves 5 of the three guide pillars 3, the user can detach the claw part connecting piece 2 from the arm part connecting piece 1, and then the mechanical claw 102 installed on other claw connecting pieces 2 can be replaced by repeating the assembling process. In other embodiments, the wireless receiving device 20 is not mounted on the mechanical claw 102 but on the claw portion connector 2, which requires the claw portion connector 2 to reserve a space for mounting the wireless receiving device 20, thereby increasing the volume of the claw portion connector 2. The clamping groove 5 on the guide pillar 3 can be changed into a first clamping portion protruding in the radial direction, so that the first clamping portion and the second clamping portion 6 can be clamped with each other, but the positioning hole 4 needs to be provided with a through groove for the first clamping portion to penetrate through. The electric reinforcing structure formed by the clamping groove 5, the second clamping part 6 and the push-pull electromagnet 13 can be replaced by other devices, such as an electric lock bolt, after the arm connecting piece 1 and the claw connecting piece 2 are assembled with each other, the second control device 19 on the claw connecting piece 2 controls a related circuit to enable the electric lock bolt to lock the arm connecting piece 1 and the claw connecting piece 2, the electric lock bolt is an existing conventional device, and detailed structures of the electric lock bolt are not repeated. The arm connector 1 and the claw connector 2 may be mechanically interchanged, that is, the arm connector 1 is fixedly mounted on the mechanical claw 102, the claw connector 2 is fixedly mounted on the mechanical arm 101, and the power interface 9 is required to be opened on the claw connector 2, so that the same functions as those of the present embodiment can be realized, and further description is omitted.

Claims

1. Manipulator equipment, including total control module, arm (101), gripper (102) and trade claw mechanism (103), total control module electricity is connected arm (101), trade claw mechanism (103) including being used for first connecting piece (1) of fixed mounting on arm (101) and being used for second connecting piece (2) of fixed mounting on gripper (102), first connecting piece (1) is equipped with power source (9) of getting electricity from arm (101) end, still includes electronic package assembly (7) and the control module who connects electronic package assembly (7) of electricity, electronic package assembly (7) and control module follow power source (9) get electricity, electronic package assembly (7) are controlled by the control module, under the relative state that is close to of these two connecting pieces (1, 2) axial, assemble these two connecting pieces (1, 2) each other, so that the mechanical claw (102) is arranged on the mechanical arm (101), and is characterized by further comprising a wireless receiving device (20) electrically connected with the control module, wherein the wireless receiving device (20) is arranged on the second connecting piece (2) or on the mechanical claw (102).

2. The robot apparatus of claim 1, wherein: the control module comprises a first control device (10) and a second control device (19), the first control device (10) and the electric assembly structure (7) are arranged on the first connecting piece (1), the electric assembly structure (7) is controlled by the first control device (10), the second control device (19) is arranged on the second connecting piece (2), and the wireless receiving device (20) is electrically connected with the second control device (19); the first connecting piece (1) is provided with a first electric connecting terminal (12) which is electrically connected with the first control device (10), the second connecting piece (2) is provided with a second electric connecting terminal (16) which is electrically connected with the second control device (19), and the two connecting pieces (1 and 2) are assembled with each other so that the first electric connecting terminal (12) and the second electric connecting terminal (16) are butted with each other, so that the two control devices are electrically connected with each other; the electric reinforcing structure is electrically connected with the second control device (19), and the two connecting pieces (1 and 2) are mutually assembled, so that the second control device (19) enables the electric reinforcing structure to reinforce the assembly between the two connecting pieces (1 and 2).

3. The robot apparatus according to claim 2, wherein the second connecting member (2) is provided with a third electrical connecting terminal (8) electrically connected to the first control unit (10), the gripper (102) is provided with a fourth electrical connecting terminal electrically connected to the wireless receiving unit (20), and the second connecting member (2) is mounted on the gripper (102) such that the third electrical connecting terminal (8) is in contact with the fourth electrical connecting terminal, so that the wireless receiving unit (20) is electrically connected to the second control unit (19).

4. The manipulator apparatus according to claim 2, wherein the first connecting member (1) is provided with a guide post (3), the second connecting member (2) is provided with a positioning hole (4) into which the guide post (3) extends, the electrically-operated reinforcement structure includes a first engaging portion (5) provided on the guide post (3) and a second engaging portion (6) provided on the second connecting member (2), and the two engaging portions (5, 6) are engaged with each other in a state in which the two connecting members (1, 2) are relatively axially close to each other, thereby reinforcing the assembly between the two connecting members (1, 2).

5. The manipulator device according to claim 4, wherein the electrically-operated reinforcing structure includes a push-pull electromagnet (13) electrically connected to the second control device (19), the second engaging portion (6) is driven by the push-pull electromagnet (13), the positioning hole (4) is opened in a pushing direction of the push-pull electromagnet (13) and penetrates through the second connecting member (2), so that the guide post (3) extends into the positioning hole (4) and the front end thereof penetrates out of the positioning hole (4) and is located in the pushing direction of the push-pull electromagnet (13), the normal push-pull electromagnet (13) pushes the second engaging portion (6) out to be engaged with the first engaging portion (5), and the push-pull electromagnet (13) pulls the second engaging portion (6) back to be no longer engaged with the first engaging portion (5) in the electrically-connected state.

6. The manipulator device according to claim 5, wherein the second connecting member (2) comprises a housing, the second clamping portion (6) and the push-pull electromagnet (13) are mounted in an inner cavity of the second connecting member (2), a through hole (14) is formed in a portion of the housing, which is located in a pushing direction of the push-pull electromagnet (13), and the through hole (14) faces the second clamping portion (6) and avoids a front end of the guide post (3) which penetrates out of the positioning hole (4).

7. Robot device according to claim 1, characterized in that the motorized assembly structure (7) comprises a suction-cup electromagnet mounted on the first connecting part (1), the housing of the second connecting part (2) being magnetically attractable, the two connecting parts (1, 2) being brought axially relatively close to each other so that the suction-cup electromagnet attracts the housing of the second connecting part (2), thereby assembling the two connecting parts (1, 2) to each other.

8. Robot device according to claim 2, characterized in that the first electrical connection terminal (12) comprises a signal male terminal and the second electrical connection terminal (16) comprises a signal female terminal, the signal male terminal abutting the signal female terminal in a state in which the two connection members (1, 2) are assembled to each other.

9. The robot apparatus of claim 8, wherein: the first electric connecting terminal (12) comprises a conductive male terminal, the rear end of the conductive male terminal is electrically connected with the power interface (9), the rear end of the conductive male terminal is disconnected with the power interface (9) in a normal state, and the first connecting piece (1) is provided with an in-place sensor (11) which is electrically connected with the first control device (10); the second electric connecting terminal (16) comprises a conductive female terminal, and an induction piece (17) is arranged on the second connecting piece (2); under the state that the two connecting pieces (1 and 2) are assembled with each other, the conductive male terminal is in butt joint with the conductive female terminal, and when the in-place sensor (11) senses the sensing piece (17), the first control device (10) enables the rear end of the conductive male terminal to be communicated with the power interface (9).

10. The robot apparatus according to claim 9, wherein the position sensor (11) is a photoelectric sensor including a light emitter and a light receiver, and the sensing member (17) is a light blocking member protruding toward the photoelectric sensor, and in a state where the two connection members (1, 2) are assembled with each other, the light blocking member blocks between the light emitter and the light receiver of the photoelectric sensor, so that the first control device (10) accordingly connects the rear end of the conductive male terminal to the power supply interface (9).

11. Trade claw mechanism, including being used for first connecting piece (1) of fixed mounting on arm (101) and being used for second connecting piece (2) of fixed mounting on gripper (102), wherein first connecting piece (1) is equipped with power source (9) of getting the electricity from arm (101) end, still includes electronic package assembly (7) and the control module who connects electronic package assembly (7) of electricity, and electronic package assembly (7) and control module are followed power source (9) are got the electricity, and electronic package assembly (7) are controlled by control module, under the state that these two connecting pieces (1, 2) axial are close to relatively, assemble these two connecting pieces (1, 2) each other, characterized by still including the electricity connect control module's wireless receiving device, wireless receiving device installs on second connecting piece (2).

12. A claw changing mechanism according to claim 11, wherein the control module comprises a first control device (10) and a second control device (19), the first control device (10) and the electric assembly structure (7) are arranged on the first connecting member (1), the electric assembly structure (7) is controlled by the first control device (10), the second control device (19) is arranged on the second connecting member (2), and the wireless receiving device (20) is electrically connected with the second control device (19); the first connecting piece (1) is provided with a first electric connecting terminal (12) which is electrically connected with the first control device (10), the second connecting piece (2) is provided with a second electric connecting terminal (16) which is electrically connected with the second control device (19), and the two connecting pieces (1 and 2) are assembled with each other so that the first electric connecting terminal (12) and the second electric connecting terminal (16) are butted with each other, so that the two control devices are electrically connected with each other; the electric reinforcing structure is electrically connected with the second control device (19), and the two connecting pieces (1 and 2) are mutually assembled, so that the second control device (19) enables the electric reinforcing structure to reinforce the assembly between the two connecting pieces (1 and 2).

13. A claw changing mechanism according to claim 12, wherein the first connecting member (1) is provided with a guide post (3), the second connecting member (2) is provided with a positioning hole (4) for the guide post (3) to extend into, the electric reinforcing structure comprises a first clamping portion (5) provided on the guide post (3) and a second clamping portion (6) provided on the second connecting member (2), and the two clamping portions (5, 6) are clamped with each other in a state that the two connecting members (1, 2) are relatively close to each other in the axial direction, so as to reinforce the assembly between the two connecting members (1, 2).

14. The claw changing mechanism according to claim 13, wherein the electrically-operated reinforcing structure comprises a push-pull electromagnet (13) electrically connected with the second control device (19), the second clamping portion (6) is driven by the push-pull electromagnet (13), the positioning hole (4) is formed in the pushing direction of the push-pull electromagnet (13) and penetrates through the second connecting piece (2), so that the guide post (3) extends into the positioning hole (4) and the front end of the guide post penetrates out of the positioning hole (4) and is located in the pushing direction of the push-pull electromagnet (13), the second clamping portion (6) is pushed out by the push-pull electromagnet (13) to be clamped with the first clamping portion (5) in a normal state, and the second clamping portion (6) is pulled back by the push-pull electromagnet (13) to be not clamped with the first clamping portion (5) in an electrically connected state.

15. A claw changing mechanism according to claim 14, wherein the second connecting member (2) comprises a housing, the second clamping portion (6) and the push-pull electromagnet (13) are installed in an inner cavity of the second connecting member (2), a through hole (14) is formed in a portion of the housing located in a pushing direction of the push-pull electromagnet (13), and the through hole (14) faces the second clamping portion (6) and avoids a front end of the guide post (3) which penetrates out of the positioning hole (4).

16. A claw changing mechanism according to claim 11, wherein the electrically operated assembling structure (7) comprises a suction disc type electromagnet mounted on the first connecting member (1), the housing of the second connecting member (2) has magnetic attraction, and the two connecting members (1, 2) are relatively close to each other in the axial direction, so that the suction disc type electromagnet attracts the housing of the second connecting member (2), thereby assembling the two connecting members (1, 2) to each other.

17. A claw change mechanism according to claim 12, wherein the first electrical connection terminal (12) comprises a signal male terminal and the second electrical connection terminal (16) comprises a signal female terminal, the signal male terminal mating with the signal female terminal in a state in which the two connection members (1, 2) are assembled with each other.

18. The pawl changing mechanism according to claim 17, wherein: the first electric connecting terminal (12) comprises a conductive male terminal, the rear end of the conductive male terminal is electrically connected with the power interface (9), the rear end of the conductive male terminal is disconnected with the power interface (9) in a normal state, and the first connecting piece (1) is provided with an in-place sensor (11) which is electrically connected with the first control device (10); the second electric connecting terminal (16) comprises a conductive female terminal, and an induction piece (17) is arranged on the second connecting piece (2); under the state that the two connecting pieces (1 and 2) are assembled with each other, the conductive male terminal is in butt joint with the conductive female terminal, and when the in-place sensor (11) senses the sensing piece (17), the first control device (10) enables the rear end of the conductive male terminal to be communicated with the power interface (9).

19. A claw change mechanism according to claim 18, wherein the position sensor (11) is a photoelectric sensor including a light emitter and a light receiver, and the sensing member (17) is a light blocking member protruding toward the photoelectric sensor, and in a state where the two connection members (1, 2) are assembled with each other, the light blocking member blocks between the light emitter and the light receiver of the photoelectric sensor, so that the first control means (10) accordingly connects the rear end of the conductive male terminal to the power supply interface (9).

20. The gripper comprises an electric connection terminal used for electrically connecting the gripper changing mechanism (103), and is characterized by further comprising a wireless receiving device (20), wherein the wireless receiving device (20) is electrically connected with the rear end of the electric connection terminal.