CN113352310B - Industrial robot capable of changing clamp - Google Patents
Industrial robot capable of changing clamp Download PDFInfo
- Publication number
- CN113352310B CN113352310B CN202110741040.1A CN202110741040A CN113352310B CN 113352310 B CN113352310 B CN 113352310B CN 202110741040 A CN202110741040 A CN 202110741040A CN 113352310 B CN113352310 B CN 113352310B
- Authority
- CN
- China
- Prior art keywords
- groove
- mechanical arm
- assembly
- side wall
- arm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/06—Program-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
- B25J15/0408—Connections means
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an industrial robot capable of changing a clamp, which comprises a mechanical arm unit, a mechanical claw unit and a connecting unit, wherein the mechanical arm unit comprises a fixed base and a mechanical arm rotationally arranged on the fixed base; the mechanical claw unit comprises a driving arm and a mechanical claw hand arranged at the end part of the driving arm; the connecting unit is connected with the mechanical arm and the driving arm and comprises a matching assembly and an inserting assembly, the matching assembly and the inserting assembly are matched with each other, the matching assembly is located at the end part of the mechanical arm, and the inserting assembly is located at the end part of the driving arm; the mechanical arm unit and the mechanical claw unit are connected through the connecting unit, the mechanical claw unit corresponds to a mechanical clamp for realizing different functions, and the connecting unit not only has the characteristics of simple structure assembly, stability and firmness, but also has the functions of stable contact and safe protection of open circuit for the circuit connection between the mechanical arm unit and the mechanical claw unit.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to an industrial robot capable of replacing a clamp.
Background
An industrial robot is a multi-joint manipulator or a multi-degree-of-freedom machine device widely used in the industrial field, has certain automaticity, and can realize various industrial processing and manufacturing functions by depending on the power energy and control capability of the industrial robot. Industrial robots are widely used in various industrial fields such as electronics, logistics, chemical industry and the like; the production efficiency is improved while the productivity of human is liberated, the cost of industrial production is greatly reduced.
Industrial robots are various and are determined by specific application positions and produced products, namely, the industrial robots are provided with different types of mechanical arms, the mechanical arms are arranged on mechanical bases of the robots, in a general industrial environment, one mechanical arm can be arranged on one base, and the cost of the industrial robots is greatly improved under the condition. From this problem sets up detachable assembly structure between mechanical base and robotic arm for mechanical base can the different robotic arm of adaptation, from this, reduces because industrial robot brings manufacturing cost is high, maintains inconvenient problem.
Disclosure of Invention
This section is for the purpose of summarizing some aspects of embodiments of the invention and to briefly introduce some preferred embodiments. In this section, as well as in the abstract and the title of the invention of this application, simplifications or omissions may be made to avoid obscuring the purpose of the section, the abstract and the title, and such simplifications or omissions are not intended to limit the scope of the invention.
The present invention has been made in view of the above-mentioned problems with the conventional industrial robots.
Therefore, the invention aims to provide an industrial robot capable of changing a clamp, which is used for solving the problems of high cost and difficult maintenance caused by the fact that a base of the industrial robot and a mechanical arm cannot be detachably assembled.
In order to solve the technical problems, the invention provides the following technical scheme: an industrial robot capable of being reloaded with a clamp comprises a mechanical arm unit, a mechanical claw unit and a connecting unit, wherein the mechanical arm unit comprises a fixed base and a mechanical arm rotatably arranged on the fixed base; the mechanical claw unit comprises a driving arm and a mechanical claw hand arranged at the end part of the driving arm; and the connecting unit is connected with the mechanical arm and the driving arm and comprises a matching assembly and an inserting assembly, the matching assembly and the inserting assembly are matched with each other, the matching assembly is positioned at the end part of the mechanical arm, and the inserting assembly is positioned at the end part of the driving arm.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the mechanical arms comprise a first mechanical arm, a second mechanical arm and a third mechanical arm, and each mechanical arm is provided with a driving motor, wherein the bottom of the first mechanical arm is rotatably connected to a turntable at the top of the fixed base, and the other end of the first mechanical arm is rotatably connected with the end part of the second mechanical arm; one end of the second mechanical arm, which is far away from the first mechanical arm, is rotatably connected with the end part of the third mechanical arm; and the side wall of one end of the third mechanical arm, which is far away from the second mechanical arm, is provided with an assembly component.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the matching assembly comprises a mounting groove and an inserting groove which are positioned on the axial side wall of the third mechanical arm, a connecting groove positioned between the mounting groove and the inserting groove, and a clamping groove communicated with the inserting groove; the clamping grooves are distributed in the side wall of one side, far away from the mounting groove, of the insertion groove.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the bottom of the cavity of the mounting groove is provided with an electrified end socket, a conductive block is arranged in the groove of the mounting groove, and a limiting guide groove is formed in the side wall of the cavity of the mounting groove; the limiting guide groove is provided with at least one group and extends along the axial direction of the mounting groove.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the outer side wall of the conductive block is provided with a conductive strip matched with the limiting guide groove, the side wall of the middle part of the conductive block is uniformly provided with assembly holes, and conductive pieces are arranged in the assembly holes; the end part of the outer side wall of the conductive block is provided with a wedge-shaped sliding groove; the number of the assembling holes is the same as that of the live ends, and the assembling holes correspond to the live ends in position one to one.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the conductive piece comprises a conductive tube, a first contact, a second contact and a tensioning spring, wherein the first contact, the second contact and the tensioning spring are positioned in a cavity of the conductive tube; the second contact is fixedly connected with the conductive tube.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: a limiting part is arranged in the connecting groove and comprises a movable contact plate, a reversing gear, an action contact plate and a return spring; the free end of the movable contact plate extends into the insertion groove, and the other end of the movable contact plate is meshed with the reversing gear to rotate; the free end of the action touch plate extends into the mounting groove, the end part of the action touch plate is in fit contact with the wedge-shaped sliding groove, the other end of the action touch plate is meshed with the reversing gear to rotate, and the action touch plate is connected with the side wall of the connecting groove through the return spring; the reversing gear is installed in the connecting groove.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: at least 2 groups of clamping grooves are distributed in the axial direction perpendicular to the mounting groove, and the radial diameter of the middle of the groove body is larger than that of the two ends of the notch; the clamping groove is internally provided with a clamping column, and the length of the clamping column is greater than that of the groove body of the clamping groove.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the plug assembly comprises a plug connector and an accommodating cavity, the plug connector can be inserted into the plug groove in a matching mode, an annular clamping groove is formed in the outer side wall of the end portion of the plug connector, and the end portion of the clamping column can be clamped into the annular clamping groove in a matching mode; contact ends are distributed at the bottom of the accommodating cavity, the conductive block can be located in the accommodating cavity, and the second contact can be in matched contact with the contact ends.
As a preferable aspect of the jig-reloadable industrial robot of the present invention, wherein: the connecting unit further comprises an external component, the external component comprises a first sleeve, a second sleeve and a limiting spring, the first sleeve and the limiting spring are sleeved outside the end part of the third mechanical arm, and two ends of the limiting spring are respectively connected with the side walls of the end parts of the first sleeve and the third mechanical arm; the second sleeve is sleeved on the outer side wall of the driving arm, and the second sleeve can be in threaded connection with the outer side wall of the first sleeve.
The invention has the beneficial effects that:
the mechanical arm unit and the mechanical claw unit are connected through the connecting unit, the mechanical claw unit corresponds to a mechanical clamp for realizing different functions, and the connecting unit not only has the characteristics of simple structure assembly, stability and firmness, but also has the functions of stable contact and safe protection of open circuit for the circuit connection between the mechanical arm unit and the mechanical claw unit.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise. Wherein:
fig. 1 is a schematic view of the overall structure of an industrial robot capable of replacing a jig according to the present invention.
Fig. 2 is a schematic structural diagram of a connecting unit of an industrial robot capable of replacing a clamp according to the present invention.
Fig. 3 is a schematic structural diagram of a matching component of an industrial robot capable of replacing a clamp according to the invention.
Fig. 4 is a schematic cross-sectional plan view of the mating components of an industrial robot capable of changing jigs according to the present invention.
Fig. 5 is a cross-sectional plan view of an initial state of the engagement assembly of the industrial robot capable of replacing the jig according to the present invention.
Fig. 6 is a schematic diagram of a specific structure of a conductive block of an industrial robot capable of replacing a clamp according to the present invention.
Fig. 7 is a schematic sectional plan view of a plug-in assembly of an industrial robot capable of replacing a jig according to the present invention.
Fig. 8 is a schematic view of the connecting unit of the industrial robot capable of replacing the jig according to the present invention in an overall sectional plan view.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced in other ways than those specifically described and will be readily apparent to those of ordinary skill in the art without departing from the spirit of the present invention, and therefore the present invention is not limited to the specific embodiments disclosed below.
Furthermore, reference herein to "one embodiment" or "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one implementation of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments.
Furthermore, the present invention is described in detail with reference to the drawings, and in the detailed description of the embodiments of the present invention, the cross-sectional view illustrating the structure of the device is not enlarged partially according to the general scale for convenience of illustration, and the drawings are only exemplary and should not be construed as limiting the scope of the present invention. In addition, the three-dimensional dimensions of length, width and depth should be included in the actual fabrication.
Example 1
Referring to fig. 1, there is provided a chuck-reloadable industrial robot according to a first embodiment of the present invention, which includes a robot arm unit 100, a gripper unit 200, and a connecting unit 300. The robot arm unit 100 may be a base and a robot arm component of an existing industrial robot, that is, a robot arm is fixed at an assembly line or a corresponding process position through the base; the gripper unit 200 is a component for actual operation, has a structure for independently realizing each function, is mounted at the end of the robot arm, is supported and movable by the robot arm, and has a circuit connection port therebetween; the connection unit 300 not only can achieve structural connection of the two, but also can achieve stable assembly of the circuit at the same time.
The mechanical arm unit 100 comprises a fixed base 101 and a mechanical arm 102 rotatably arranged on the fixed base 101; specifically, the mechanical arm 102 comprises a first mechanical arm 102a, a second mechanical arm 102b and a third mechanical arm 102c, and each mechanical arm is provided with a driving motor, wherein the bottom of the first mechanical arm 102a is rotatably connected to a turntable at the top of the fixed base, and the other end of the first mechanical arm 102a is rotatably connected with the end of the second mechanical arm 102 b; one end of the second mechanical arm 102b far away from the first mechanical arm 102a is rotatably connected with the end part of the third mechanical arm 102 c; the side wall of the third mechanical arm 102c at the end far away from the second mechanical arm 102b is provided with a matching assembly 301.
A gripper unit 200 including a driving arm 201 and a gripper 202 provided at an end of the driving arm 201; the driving arm 201 is used for connecting and driving the mechanical gripper 202, and the mechanical gripper 202 is used for realizing various mechanical operations.
The connecting unit 300 is connected to the mechanical arm 102 and the driving arm 201 and comprises a matching assembly 301 and a plug-in assembly 302, the matching assembly 301 and the plug-in assembly 302 are matched with each other, the matching assembly 301 is located at the end part of the mechanical arm 102, and the plug-in assembly 302 is located at the end part of the driving arm 201; the matching assembly 301 is disposed on the end side wall of the third mechanical arm 102c, the plug-in assembly 302 is disposed on the end side wall of the driving arm 201, and the two can be matched and connected in a plug-in manner, and the synchronous connection between the structure and the circuit can be realized through the plug-in cooperation. The operation is simple, and the connecting effect is excellent.
Example 2
Referring to fig. 2 to 6, a second embodiment of the present invention is different from the first embodiment in that: the matching assembly 301 comprises a mounting groove 301a and an insertion groove 301b which are positioned on the axial side wall of the third mechanical arm 102c, a connecting groove 301c positioned between the mounting groove 301a and the insertion groove 301b, and a clamping groove 301d communicated with the insertion groove 301 b; the clamping grooves 301d are distributed in the side wall of the insertion groove 301b far away from the mounting groove 301 a.
Specifically, the bottom of the cavity of the mounting groove 301a is provided with an electrified terminal A, a conductive block 301a-1 is arranged in the groove of the mounting groove 301a, and a limiting guide groove 301a-2 is arranged on the side wall of the cavity of the mounting groove 301 a; the limiting guide grooves 301a-2 are provided with at least one group and extend along the axial direction of the mounting groove 301 a.
The outer side wall of the conductive block 301a-1 is provided with a conductive strip 301a-11 matched with the limiting guide groove 301a-2, the side wall of the middle part of the conductive block is uniformly provided with assembly holes 301a-12, and a conductive piece D is arranged in the assembly holes 301 a-12; the end part of the outer side wall of the conductive block 301a-1 is provided with a wedge-shaped sliding groove S; the number of the assembly holes 301a-12 is the same as that of the live terminals 301a-1, and the positions correspond one to one.
The conductive member D comprises conductive tubes 301a-13, first contacts 301a-14, second contacts 301a-15 and tensioning springs 301a-16 which are positioned in cavities of the conductive tubes 301a-13, wherein the first contacts 301a-14 and the second contacts 301a-15 are distributed at two ends of the cavities of the conductive tubes 301a-13 and are connected with each other through the tensioning springs 301 a-16; second contacts 301a-15 are fixedly connected to conductive tubes 301 a-13.
A limiting piece X is arranged in the connecting groove 301c, and comprises a movable contact plate 301c-1, a reversing gear 301c-2, an action contact plate 301c-3 and a return spring 301 c-4; wherein, the free end of the movable contact plate 301c-1 extends in the insertion groove 301b, and the other end thereof is meshed with the reversing gear 301c-2 for rotation; the free end of the action contact plate 301c-3 extends into the mounting groove 301a, the end part of the action contact plate is in fit contact with the wedge-shaped sliding groove S, the other end of the action contact plate is meshed with the reversing gear 301c-2 to rotate, and the action contact plate is connected with the side wall of the groove body of the connecting groove 301c through a return spring 301 c-4; the reversing gear 301c-2 is mounted in the connecting groove 301 c.
At least 2 groups of clamping grooves 301d are distributed in the axial direction perpendicular to the mounting groove 301a, and the radial diameter of the middle of the groove body is larger than that of the two ends of the notch; the clamping column 301d-1 is arranged in the clamping groove 301d, and the length of the clamping column 301d-1 is larger than the length of the groove body of the clamping groove 301 d.
Compared with the embodiment 1, further, the matching component 301 is a slot component arranged at one end of the third mechanical arm 102c far away from the second mechanical arm 102b, and specifically includes an installation slot 301a and an insertion slot 301b which are arranged in an axial side wall of the third mechanical arm 102c, the insertion slot 301b is arranged at an outer ring side of the installation slot 301a, the two are separated by an annular side wall and communicated with each other by a connection slot 301c, and the connection slots 301c are arranged in the annular side wall and can be distributed in multiple groups; and a clamping groove 301d is also arranged in the outer ring side wall of the insertion groove 301 b. Wherein, be the installation cavity of power line in the mounting groove 301a, because the voltage of industrial electricity utilization is 380V generally, consequently need do the power consumption protection when the circuit connection. The insertion groove 301b is used for being inserted into the end portion of the driving arm 201 in a matching manner, so that the third mechanical arm 102c and the driving arm 201 are connected with each other, and the connection groove 301c is used for installing a limiting piece X and performing safety protection on a circuit in the installation groove 301 a; the latch groove 301d is used for insertion limitation when the driving arm 201 is inserted, thereby maintaining stable latch connection.
The bottom of the installation groove 301a is provided with a distributed live terminal a, the live terminal a is a circuit connection port of the original mechanical arm unit 100, and the conductive block 301a-1 is a connection conductor between the live terminal a and the contact terminal B, which is set to aim at providing a protection structure similar to a safety door for the reason that when the live terminal a is exposed, due to the high voltage at the live terminal a, when the live terminal a is placed or inserted and assembled, if the operation is not proper, an electric shock hazard may occur. Furthermore, in order to facilitate the installation of the conductive block 301a-1, a limiting guide groove 301a-2 is formed on the sidewall of the cavity of the installation groove 301a, and is used for being matched with the conductive strip 301a-11 on the outer sidewall of the conductive block 301a-1 for positioning.
Further, the main body of the conductive block 301a-1 is made of insulating material, assembling holes 301a-12 are uniformly formed in the side wall of the conductive block, a conductive piece D for conducting electricity is arranged in the assembling holes, and two ends of the conductive piece D are respectively in matched contact with the live end A and the contact end B; it should be further noted that a wedge-shaped sliding groove S is further disposed on an outer side wall of the conductive block 301a-1, and the wedge-shaped sliding groove S is used for matching with the limiting member X to achieve a safety protection effect of the conductive block 301 a-1.
Specifically, the conductive tubes 301a-13 in the conductive member D accommodate the first contacts 301a-14, the second contacts 301a-15, and the tensioning springs 301a-16, wherein the first contacts 301a-14 and the second contacts 301a-15 are respectively located at two ends of the conductive tubes 301a-13, and are limited by the tensioning springs 301a-16, it should be noted that the first contacts 301a-14 can be in cooperative contact with the live terminal a, which is movably arranged, and the positions of the first contacts are limited by the tensioning springs 301a-16, and the second contacts 301a-15 are fixedly arranged, which can be in cooperative contact with the contact terminal B.
The limiting member X is located in the connecting groove 301c, wherein the side walls of the movable contact plate 301c-1 and the motion contact plate 301c-3 are both provided with a tooth socket, which are arranged in parallel, and both are engaged with the reversing gear 301c-2 to rotate, and move in a central mirror image manner, i.e. the end portions of the movable contact plate 301c-1 and the motion contact plate 301c-3 can be simultaneously far away from or close to the reversing gear 301c-2, it should be noted that, in an initial state, the free end of the movable contact plate 301c-1 extends into the inserting groove 301b, the free end of the motion contact plate 301c-3 extends into the installing groove 301a, the motion of the motion contact plate 301c-3 is triggered when the movable contact plate 301c-1 is inserted by the inserting head 302a, and further, on the side wall of the end of the motion contact plate 301c-3 located in the connecting groove 301c, the return spring 301c-4 is connected to the sidewall of the connecting groove 301c, and the return spring 301c-4 is used to keep the operation contact plate 301c-3 in the initial state when there is no plugging operation, i.e. the free end extends into the mounting groove 301a, so as to separate the first contact 301a-14 from the live terminal a.
Furthermore, the clamping groove 301d is internally provided with a clamping column 301d-1, the clamping groove 301d is vertical to the axial distribution of the installation groove 301a and has a plurality of groups, the shape of the groove cavity of the clamping groove 301d is similar to that of the clamping column 301d-1, but the axial length of the clamping groove 301d is smaller than that of the clamping column 301d-1, so that one end of the clamping column 301d-1 inevitably extends out of the clamping groove 301d, and when the end part of the clamping column is clamped in the annular clamping groove 302a-1 on the outer ring side wall of the plug-in connector 302a, the plug-in connector 302a is stably limited.
The rest of the structure is the same as that of embodiment 1.
Example 3
Referring to fig. 7 and 8, a third embodiment of the present invention, which is different from the second embodiment, is: the plug assembly 302 comprises a plug connector 302a and an accommodating cavity 302b, the plug connector 302a can be inserted into the plug groove 301b in a matching mode, the outer side wall of the end portion of the plug connector 302a is provided with an annular clamping groove 302a-1, and the end portion of the clamping column 301d-1 can be clamped into the annular clamping groove 302a-1 in a matching mode;
contact terminals B are distributed at the bottom of the accommodating cavity 302B, the conductive block 301a-1 can be located in the accommodating cavity 302B, and the second contacts 301a-15 can be in matched contact with the contact terminals B.
The connection unit 300 further includes an external connection component 303, the external connection component 303 includes a first sleeve 303a, a second sleeve 303b and a limit spring 303c, the first sleeve 303a and the limit spring 303c are sleeved outside the end of the third mechanical arm 102c, and two ends of the limit spring 303c are respectively connected with the side walls of the end of the first sleeve 303a and the end of the third mechanical arm 102 c; the second sleeve 303b is sleeved on the outer side wall of the driving arm 201, and the second sleeve 303b can be screwed on the outer side wall of the first sleeve 303 a.
Compared with the embodiment 2, further, the plug 302a of the plug assembly 302 can be inserted into the plug groove 301b in a matching manner, and the accommodating cavity 302b located in the middle of the plug 302a can be matched with the mounting groove 301a to form an accommodating space capable of accommodating the conductive block 301a-1, where it should be noted that the number of the ring-shaped slots 302a-1 on the sidewall of the plug 302a is the same as the number of the sets of the clamping posts 301 d-1.
The contact terminals B in the accommodating cavity 302B are the power-on ports of the gripper unit 200, and the port distribution is the same as that of the power-on terminals a.
The connection unit 300 further needs to have an external connection component 303, wherein the first sleeve 303a is sleeved outside the end of the third mechanical arm 102c and is limited by a limiting spring 303c, so that the free end of the first sleeve is always sleeved outside the clamping groove 301d, and the clamping column 301d-1 is kept limited and fixed. The second sleeve 303b is movably sleeved on the outer side wall of the driving arm 201, and it should be noted that the outer side wall of the first sleeve 303a and the inner side wall of the second sleeve 303b are provided with mutually matched threads, that is, the second sleeve 303b can be screwed on the outer side wall of the first sleeve 303a, so as to further maintain the stability and safety of connection.
The rest of the structure is the same as that of embodiment 2.
As shown in fig. 1 to 8, before the connection assembly, when the robot arm unit 100 and the gripper unit 200 are separated, the state of the mating component 301 in the connection unit 300 is: the limiting spring 303c pulls the first sleeve 303a to enable the end part of the first sleeve to be positioned at the outer side of the clamping groove 301d, and the clamping column 301d-1 is limited at one end, close to the insertion groove 301b, of the clamping groove 301 d; in the plugging groove 301b, the free end of the movable contact plate 301c-1 extends, the free end of the action contact plate 301c-3 extends in the mounting groove 301a, and the return spring 301c-4 is in the original length; the free end of the action contact plate 301c-3 is positioned between the conductive block 301a-1 and the charged terminal A, so that the first contact 301a-14 is isolated from being contacted with a circuit contact in the charged terminal A, and at the moment, no matter how the conductive block 301a-1 is pressed, the second contact 301a-15 cannot be electrified, so that the safety protection performance is achieved.
When the plug assembly is carried out, the first sleeve pipe 303a is pulled to enable the side wall of the end part of the first sleeve pipe to be separated from the clamping groove 301d, namely, the clamping column 301d-1 is in a free state in the clamping groove 301d, then the plug connector 302a in the plug assembly 302 is plugged into the plug groove 301b for installation, in the plugging process, the outer ring side wall of the plug connector 302a pushes the clamping column 301d-1 to move in the clamping groove 301d, and when the plug assembly is moved to the position of the annular clamping groove 302a-1, the end part of the clamping column 301d-1 can be matched and clamped in the annular clamping groove 302 a-1. The inner ring side wall of the plug 302a pushes the movable contact plate 301c-1 to move towards the connecting groove 301c, and due to the existence of the reversing gear 301c-4, the action contact plate 301c-2 is retracted into the connecting groove 301c from the mounting groove 301 a; then the second contact 301a-15 in the conductive block 301a-1 contacts with the contact terminal B in the accommodating cavity 302B, the plug connector 302a pushes the conductive block 301a-1 to move to the live terminal a, and then the end of the first contact 301a-14 contacts with the live terminal a; so that the entire circuit is turned on. After the plugging process is completed, the first sleeve 303a is released, and under the action of the limiting spring 303c, the initial state is recovered, that is, the end of the first sleeve 303a is located at the outer side of the clamping groove 301d, and the end of the limiting clamping column 301d-1 is stably clamped in the annular clamping groove 302 a-1. Finally, the second sleeve 303b is threaded onto the outside wall of the first sleeve 303a, completing the final installation.
When the gripper unit 200 needs to be disassembled for maintenance or replaced, the assembling process is repeated in the opposite direction, and the matching assembly 301 is automatically restored to the initial state under the action of the springs for the next assembling operation.
It should be noted that the above-mentioned embodiments are only for illustrating the technical solutions of the present invention and not for limiting, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions may be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, which should be covered by the claims of the present invention.
Claims (5)
1. An industrial robot capable of changing a clamp, characterized in that: comprises the steps of (a) preparing a mixture of a plurality of raw materials,
the robot arm unit (100) comprises a fixed base (101) and a robot arm (102) rotatably arranged on the fixed base (101);
the mechanical arm (102) comprises a first mechanical arm (102 a), a second mechanical arm (102 b) and a third mechanical arm (102 c), and each mechanical arm is provided with a driving motor; the bottom of the first mechanical arm (102 a) is rotatably connected to a turntable at the top of the fixed base (101), and the other end of the first mechanical arm is rotatably connected with the end of the second mechanical arm (102 b); one end of the second mechanical arm (102 b) far away from the first mechanical arm (102 a) is rotatably connected with the end part of the third mechanical arm (102 c); a matching component (301) is arranged on the side wall of one end of the third mechanical arm (102 c) far away from the second mechanical arm (102 b);
the mechanical claw unit (200) comprises a driving arm (201) and a mechanical claw hand (202) arranged at the end part of the driving arm (201); and the number of the first and second groups,
the connecting unit (300) is connected to the mechanical arm (102) and the driving arm (201) and comprises a matching assembly (301) and a plug-in assembly (302), the matching assembly (301) and the plug-in assembly (302) are matched with each other, the matching assembly (301) is located at the end part of the mechanical arm (102), and the plug-in assembly (302) is located at the end part of the driving arm (201);
the matching assembly (301) comprises a mounting groove (301 a) and an insertion groove (301 b) which are positioned on the axial side wall of the third mechanical arm (102 c), a connecting groove (301 c) which is positioned between the mounting groove (301 a) and the insertion groove (301 b), and a clamping groove (301 d) which is communicated with the insertion groove (301 b); the clamping grooves (301 d) are distributed in the side wall of one side, far away from the mounting groove (301 a), of the insertion groove (301 b);
the bottom of the cavity of the mounting groove (301 a) is provided with an electrified terminal (A), a conductive block (301 a-1) is arranged in the groove of the mounting groove (301 a), and the side wall of the cavity of the mounting groove (301 a) is provided with a limiting guide groove (301 a-2); the limiting guide grooves (301 a-2) are provided with at least one group and extend along the axial direction of the mounting groove (301 a);
the outer side wall of the conductive block (301 a-1) is provided with a conductive strip (301 a-11) matched with the limiting guide groove (301 a-2), the side wall of the middle part of the conductive block is uniformly provided with assembly holes (301 a-12), and conductive pieces (D) are arranged in the assembly holes (301 a-12); the end part of the outer side wall of the conductive block (301 a-1) is provided with a wedge-shaped sliding groove (S); the number of the assembly holes (301 a-12) is the same as that of the live ends (A), and the positions of the assembly holes correspond to those of the live ends (A) one by one;
the conductive piece (D) comprises conductive tubes (301 a-13), first contacts (301 a-14), second contacts (301 a-15) and tensioning springs (301 a-16) which are positioned in cavities of the conductive tubes (301 a-13), wherein the first contacts (301 a-14) and the second contacts (301 a-15) are respectively positioned at two ends of the cavities of the conductive tubes (301 a-13) and are connected through the tensioning springs (301 a-16);
the second contacts (301 a-15) are fixedly connected with the conductive tubes (301 a-13).
2. A re-clampable industrial robot according to claim 1, characterized in that: a limiting piece (X) is arranged in the connecting groove (301 c), and the limiting piece (X) comprises a movable contact plate (301 c-1), a reversing gear (301 c-2), an action contact plate (301 c-3) and a return spring (301 c-4); wherein,
the free end of the movable contact plate (301 c-1) extends into the insertion groove (301 b), and the other end of the movable contact plate is meshed with the reversing gear (301 c-2) to rotate;
the free end of the action contact plate (301 c-3) extends into the mounting groove (301 a), the end part of the action contact plate is in fit contact with the wedge-shaped sliding groove (S), the other end of the action contact plate is meshed with the reversing gear (301 c-2) to rotate, and the action contact plate is connected with the side wall of the groove body of the connecting groove (301 c) through the return spring (301 c-4);
the reversing gear (301 c-2) is installed in the connecting groove (301 c).
3. A re-clampable industrial robot according to claim 2, characterized in that: at least 2 groups of clamping grooves (301 d) are distributed in the axial direction perpendicular to the mounting groove (301 a), and the radial diameter of the middle of the groove body is larger than that of the two ends of the notch;
a clamping column (301 d-1) is placed in the clamping groove (301 d), and the length of the clamping column (301 d-1) is larger than the length of the groove body of the clamping groove (301 d).
4. A re-clampable industrial robot according to claim 3, characterized in that: the plug-in assembly (302) comprises a plug-in connector (302 a) and an accommodating cavity (302 b), the plug-in connector (302 a) can be inserted into the plug-in groove (301 b) in a matching mode, an annular clamping groove (302 a-1) is formed in the outer side wall of the end portion of the plug-in connector (302 a), and the end portion of the clamping column (301 d-1) can be clamped into the annular clamping groove (302 a-1) in a matching mode;
contact terminals (B) are distributed on the bottom of the accommodating cavity (302B), the conductive blocks (301 a-1) can be located in the accommodating cavity (302B), and the second contacts (301 a-15) can be in matched contact with the contact terminals (B).
5. A reloadable industrial robot according to any of claims 1-4, characterized in that: the connection unit (300) further comprises an external connection component (303),
the external connection assembly (303) comprises a first sleeve (303 a), a second sleeve (303 b) and a limiting spring (303 c), the first sleeve (303 a) and the limiting spring (303 c) are sleeved outside the end part of the third mechanical arm (102 c), and two ends of the limiting spring (303 c) are respectively connected with the side walls of the end parts of the first sleeve (303 a) and the third mechanical arm (102 c);
the second sleeve (303 b) is sleeved on the outer side wall of the driving arm (201), and the second sleeve (303 b) can be in threaded connection with the outer side wall of the first sleeve (303 a).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741040.1A CN113352310B (en) | 2021-06-30 | 2021-06-30 | Industrial robot capable of changing clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110741040.1A CN113352310B (en) | 2021-06-30 | 2021-06-30 | Industrial robot capable of changing clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113352310A CN113352310A (en) | 2021-09-07 |
| CN113352310B true CN113352310B (en) | 2022-01-25 |
Family
ID=77537638
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110741040.1A Active CN113352310B (en) | 2021-06-30 | 2021-06-30 | Industrial robot capable of changing clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113352310B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116277109B (en) * | 2023-01-09 | 2026-01-13 | 成都埃加智能科技有限公司 | Multifunctional modular industrial robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109728473A (en) * | 2018-12-05 | 2019-05-07 | 东莞市鼎通精密五金股份有限公司 | A kind of electric car circular high voltage interlocking connector |
| CN109883831B (en) * | 2019-03-08 | 2020-12-15 | 安徽机电职业技术学院 | Production detecting system of automobile body plate |
| CN109807196B (en) * | 2019-03-08 | 2020-12-15 | 安徽机电职业技术学院 | an inspection robot |
| US11318624B2 (en) * | 2019-04-05 | 2022-05-03 | Fmc Technologies, Inc. | Submersible remote operated vehicle tool interchange |
| CN209471276U (en) * | 2019-04-08 | 2019-10-08 | 鹰潭明康通信技术有限公司 | A kind of fiber optic connector parts |
| CN212517798U (en) * | 2020-05-29 | 2021-02-09 | 江苏明科光电技术有限公司 | Electric connector with protective structure |
| CN213546707U (en) * | 2020-11-11 | 2021-06-25 | 天津市浩科科技有限公司 | Adjustable tail end connector |
| CN113021398A (en) * | 2021-04-15 | 2021-06-25 | 中国科学院沈阳自动化研究所 | Quick locking mechanism for replacing tail end tool of space mechanical arm |
-
2021
- 2021-06-30 CN CN202110741040.1A patent/CN113352310B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113352310A (en) | 2021-09-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA2650823C (en) | Plug-type connection | |
| ATE302479T1 (en) | ELECTRICAL CONNECTOR | |
| CN101286428A (en) | Plug-in base of plastic shell type electric appliance having multiple wiring functions | |
| CN113352310B (en) | Industrial robot capable of changing clamp | |
| CN106972311A (en) | A kind of fast lock linear heat generation rate connector | |
| CN119108856B (en) | A cable connector | |
| US20220302650A1 (en) | Connector and Connector Assembly | |
| CN117374654B (en) | Binding post branching connector | |
| CN221994813U (en) | A quick-insert locking connector | |
| CN218498536U (en) | Modularized open-circuit-proof connector | |
| CN115579660B (en) | A sliding multi-core direct-plug power connector assembly | |
| US12170425B2 (en) | Connector and connector assembly | |
| CN218448705U (en) | VDZ connector for high-frequency communication | |
| CN212162298U (en) | Coaxial cable assembly assembling centering clamp | |
| CN214957510U (en) | Socket with improved structure | |
| CN201041794Y (en) | Pluggable base for plastic shell appliance with multi-connection function | |
| CN220774870U (en) | Connector assembly convenient for wire connection | |
| CN221381469U (en) | Modularized expansion machine box and parallel machine box | |
| CN220021674U (en) | Plug-in communication type data center track bus duct and plug-in box plug-in connector thereof | |
| CN112701526A (en) | Magnetic positioning type self-sealing underwater electric connector | |
| CN220774763U (en) | Wire connecting device and wire connecting group | |
| CN214587572U (en) | Teaching aid is built in quick grafting of traffic electronics electrical engineering | |
| CN218215950U (en) | Power socket and electric appliance applying same | |
| CN116937072B (en) | Compact flexible connecting device and use method thereof | |
| CN219998676U (en) | Adjustable mold processing of general formula of product |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240703 Address after: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee after: Dragon totem Technology (Hefei) Co.,Ltd. Country or region after: China Address before: 241002 No.16, Wenjin West Road, Yijiang District, Wuhu City, Anhui Province Patentee before: ANHUI TECHNICAL College OF MECHANICAL AND ELECTRICAL ENGINEERING Country or region before: China |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20241108 Address after: No. 275 Runxing Road, Shuitu Street, Liangjiang New District, Beibei District, Chongqing, 400700 Patentee after: Chongqing Pingyun Machinery Co.,Ltd. Country or region after: China Address before: 230000 floor 1, building 2, phase I, e-commerce Park, Jinggang Road, Shushan Economic Development Zone, Hefei City, Anhui Province Patentee before: Dragon totem Technology (Hefei) Co.,Ltd. Country or region before: China |
|
| TR01 | Transfer of patent right |