CN113715048A - Direct plug-in quick-change mechanism between manipulator hand and arm - Google Patents

Abstract

The invention discloses a direct plug-in quick-change mechanism between a manipulator hand and an arm, wherein the hand comprises a paw and a hand connecting piece, the arm comprises a driving piece and an arm connecting piece, the paw and the driving piece are mutually connected through a transmission device, the hand connecting piece and the arm connecting piece are mutually connected, one end of the hand connecting piece is provided with a hand barrel, one end of the arm connecting piece is provided with an arm barrel, the direct plug-in quick-change mechanism also comprises a connecting barrel, the first end of the connecting barrel is connected with the hand barrel, and the second end of the connecting barrel and one end of the arm barrel are respectively provided with magnetic rings which correspond to each other and attract each other. According to the invention, the connecting cylinder body is connected with the hand cylinder body, the connecting cylinder body is connected with the arm cylinder body through the magnetic ring, and the direct plug-in quick-change function between the hand and the arm can be realized by utilizing the gravitation characteristic of the magnetic ring, so that the manipulator is quick and efficient in hand replacement, and meanwhile, the automatic or remote control replacement operation is convenient to realize.

Description

Direct plug-in quick-change mechanism between manipulator hand and arm

Technical Field

The invention relates to a local structure of a manipulator, in particular to a direct plug-in quick-change mechanism between a manipulator hand and an arm.

Background

A robot is an automatic or manual operating device that mimics some of the motion of a human hand and arm to grasp, carry objects or operate tools. The executing mechanism of the manipulator comprises a hand, an arm and a trunk, wherein the hand is arranged at the front end of the arm, and the trunk is a support for mounting the arm, a power source and various executing mechanisms. The hand of manipulator is including the hand claw that is used for pressing from both sides to get the object and the hand connecting piece that is used for being connected with the arm, and the arm of manipulator is including the driving piece that is used for driving the hand claw motion and the arm connecting piece that is used for being connected with the hand, and the hand claw passes through transmission interconnect with the driving piece, hand connecting piece and arm connecting piece interconnect.

The industrial manipulator, especially the manipulator used in special industry, causes a phenomenon that one hand can not meet the requirements of various clamping objects due to the difference of operation objects.

Generally adopt comparatively fixed mode to be connected between the hand of traditional manipulator and the arm, for example threaded connection, the joint is connected etc, the predecessor realizes connecting and dismantlement with the mode of screw thread rotation locking, the latter realizes connecting with inserting earlier rotatory locking again or rotatory card income locking mode, no matter which kind of connected mode, all need rotatory locking just can realize the stable connection, need rotatory the release just can realize dismantling, it wastes time and energy to lead to the manipulator when changing the hand, and simultaneously, need strict counterpoint when connecting between hand and the arm, guarantee hole site or positioning mechanism and aim at strictly, just can realize the stable connection, the degree of difficulty of connection has further been increased, change efficiency has been reduced.

In addition, as the application scenarios of the manipulator expand, in order to accomplish more efficient and safer industrial tasks, the hand replacement of the manipulator increasingly needs to have an automatic or remote operation function, and if the hand is to be replaced automatically or remotely based on the connection structure of the hand and the arm of the conventional manipulator, a precise rotation control operation is required, which is difficult to achieve, or even if the hand can be replaced, the structure is complex, the cost is expensive, and the replacement efficiency is difficult to improve. Therefore, the modern industry has increasingly strong demands for efficient replacement of the hand of the manipulator and easy realization and popularization.

Disclosure of Invention

The present invention has been made to solve the above problems, and an object of the present invention is to provide a direct-insertion quick-change mechanism between a hand and an arm of a robot, which can quickly and efficiently replace the hand.

The invention realizes the purpose through the following technical scheme:

a direct plug-pull quick change mechanism between a hand part and an arm of a manipulator, wherein the hand part comprises a paw used for clamping an object and a hand part connecting piece used for connecting with the arm, the arm comprises a driving piece for driving the paw to move and an arm connecting piece for connecting with the hand part, the paw and the driving piece are connected with each other through a transmission device, the hand connecting piece and the arm connecting piece are connected with each other, a hand cylinder is arranged at one end of the hand connecting piece connected with the arm connecting piece, an arm cylinder is arranged at one end of the arm connecting piece connected with the hand connecting piece, the direct plug-in quick-change mechanism also comprises a connecting cylinder body, the first end of the two axial ends of the connecting cylinder body is connected with the hand cylinder body, and magnetic rings which correspond to each other and attract each other are respectively arranged at the second end of the two axial ends of the connecting cylinder body and one end of the arm cylinder body.

In the structure, the connecting cylinder is used for connecting the hand cylinder and the arm cylinder, and meanwhile, the connecting cylinder can be used as a middleware connected with other components, so that automatic or remote connection and disassembly are facilitated; the magnetic rings are used for realizing stable connection between the connecting cylinder body and the arm cylinder body, and can realize separation between the connecting cylinder body and the arm cylinder body under the action of external force, and the connection stability and the separation external force are both related to the attractive force between the two magnetic rings.

Preferably, in order to enable the hand cylinder and the arm cylinder to be connected more stably and reliably, the connection cylinder and the arm cylinder are both sleeved outside the hand cylinder, the connection cylinder can move for a certain distance in the axial direction relative to the hand cylinder but cannot be separated from the hand cylinder, a connection concave ring with an L-shaped cross section is arranged on the inner wall of the connection cylinder close to the second end of the connection cylinder, an arm convex ring protruding towards the connection cylinder is arranged on the arm cylinder close to the connection cylinder, the arm convex ring is arranged in the connection concave ring, a plurality of radial convex ring through holes are arranged on the arm convex ring along the circumferential direction, balls are installed in the convex ring through holes, the outer diameter of each ball is greater than the wall thickness of the arm convex ring, and the balls can move in the radial direction of the arm convex ring but cannot be separated from the convex ring through holes, and the outer wall of the hand barrel body is provided with an annular groove with an arc-shaped section at a position corresponding to the ball, and the ball is pressed by the annular wall of the connecting concave ring and is arranged in the annular groove.

The structure not only utilizes the balls to form a direct connection structure between the hand barrel and the arm barrel, but also realizes the locking and unlocking functions of the connected balls by pressing the balls through the connecting barrel, when the hand barrel and the arm barrel are in a locking state, the hand barrel and the arm barrel cannot move axially because of the connection of the balls, even if a large force is applied to the axial direction of the hand barrel and the arm barrel, the hand barrel and the arm barrel cannot be separated, when the hand barrel and the arm barrel are unlocked, the arm barrel and the connecting barrel are separated axially relatively by overcoming the magnetic force of the magnetic ring through external force, the hand barrel and the connecting barrel are driven to move relatively, when the balls gradually leave the connecting concave ring, the balls are not stressed by the annular wall pressure of the connecting concave ring, and the balls can be separated from the annular groove, so that the connection between the hand barrel and the arm barrel is released, and the unlocking purpose is realized. Therefore, the connection between the hand barrel and the arm barrel is stable and reliable through the magnetic force of the magnetic ring, the hand barrel and the arm barrel can be unlocked by overcoming the magnetic force of the magnetic ring through external force, and the function of realizing reliable connection and quick separation by inserting and pulling out between the hand barrel and the arm barrel is ensured.

Preferably, in order to make the balls move in and out of the connecting concave ring more smoothly and reduce the alignment precision so as to reduce the operation difficulty, a tapered surface or an arc surface with a gradually increasing diameter is arranged on the annular wall of the connecting concave ring at a position close to the arm cylinder.

Preferably, in order to enable the connection cylinder body and the hand cylinder body to move only in the axial direction, a radial limiting pin is mounted on the hand cylinder body, a radial limiting hole is formed in the position, close to the first end, of the connection cylinder body, the length of the limiting hole in the axial direction of the connection cylinder body is larger than the width of the limiting hole in the circumferential direction of the connection cylinder body, and the limiting pin penetrates through the limiting hole.

Preferably, in order to prevent that relative rotation takes place between arm barrel and the hand barrel in order to improve the connection stability between the two, install radial anti-rotation pin on the arm barrel, be close to on the hand barrel one end of arm barrel is equipped with axial and tip open-ended anti-rotation groove, the anti-rotation pin passes the anti-rotation groove.

Preferably, in order to facilitate installation of the magnetic ring, magnetic ring grooves are respectively formed in the second end of the connecting cylinder and one end, close to the connecting cylinder, of the arm cylinder, the magnetic rings are arranged in the corresponding magnetic ring grooves, the magnetic rings are permanent magnet rings, an arm concave ring is arranged at one end, close to the connecting cylinder, of the arm cylinder, and the second end of the connecting cylinder is arranged in the arm concave ring.

Preferably, in order to facilitate the realization of automatic or remote hand replacement, the outer wall of the connecting cylinder is provided with two clamping grooves or two clamping rings for being clamped by other components, and if the clamping grooves are formed, the two clamping grooves are symmetrically distributed. Therefore, the hand can be hung on other parts through the clamping groove or the clamping ring on the connecting cylinder body, so that the arm cylinder body can be pulled down or inserted upwards, the arm cylinder body and the connecting cylinder body move axially relatively, connection and separation between the hand cylinder body and the arm cylinder body are realized, and the plugging and pulling action is automatically realized by easily utilizing other mechanical equipment or fixing devices.

As preferred, for the convenience of realizing that transmission's fast drive connects and separates in hand and the arm, transmission including install in hand pivot in the hand with install in arm drive shaft in the arm, the hand adapter sleeve is installed to the one end of hand pivot, be equipped with convex hand on the hand adapter sleeve and connect the tooth, the arm adapter sleeve is installed to the one end of arm drive shaft, be equipped with convex arm on the arm adapter sleeve and connect the tooth, the hand connect the tooth with arm connection tooth intermeshing. The number of the hand connecting teeth and the number of the arm connecting teeth are 1-3, and a small number of connecting teeth can realize high transmission strength and have lower requirement on alignment precision, so that the hand connecting teeth and the arm connecting teeth can be connected and separated more efficiently.

As preferred, counterpoint when avoiding the hand adapter sleeve to arm adapter sleeve direction to be close to accurately leads to both ends annular step boss rigidity to damage spare part relatively, be close to in the hand pivot one section external diameter of arm drive shaft reduces to form the minor diameter section and this minor diameter section on the cover be equipped with the helical compression spring, the hand adapter sleeve is in through self spline through-hole suit on the minor diameter section of hand pivot and can axial displacement of hand pivot and quilt the one end of helical compression spring supports tightly, the other end of helical compression spring with the annular step that forms rather than minor diameter section juncture supports tightly in the hand pivot, the minor diameter section tip of hand pivot is installed will the hand adapter sleeve blocks and avoids it to break away from the end cover of hand pivot.

Preferably, in order to realize the opening and closing functions of the hand claws by using a hand rotating shaft, the hand rotating shaft is mounted in the hand part through two bearings, spiral external teeth are arranged on the hand rotating shaft at positions far away from the arm driving shaft, turbines are respectively arranged at one ends of the two hand claws, turbine teeth are arranged on the turbines along the arc direction, the two turbines are respectively positioned on two sides of the spiral external teeth and can rotate to drive the hand claws to open and close, and the turbine teeth of the two turbines are respectively meshed with the spiral external teeth; in order to facilitate the rotation of the arm driving shaft, the arm driving shaft is a rotating shaft of a driving motor, and the driving motor is installed in the arm.

The invention has the beneficial effects that:

according to the invention, the connecting cylinder body is connected with the hand cylinder body, the connecting cylinder body is connected with the arm cylinder body through the magnetic ring, the direct plug-in quick-change function between the hand and the arm can be realized by utilizing the gravitation characteristic of the magnetic ring, and the connection and the disassembly can be realized without rotating and locking, so that the manipulator is quick and efficient in hand replacement, the alignment precision and the difficulty are reduced, the replacement efficiency is improved, and meanwhile, the automatic or remote control replacement operation is convenient to realize; on the basis, the corresponding connection function between the hand barrel and the arm barrel can be realized through different specific connection structures between the hand barrel and the arm barrel, if the locking and unlocking functions are realized, the invention utilizes the structure that the ball, the connecting concave ring, the arm convex ring and the annular groove are matched with each other, the magnetic attraction of the magnetic ring is mutually matched, the high stability of the handle cylinder body and the arm cylinder body after being connected and the function of unlocking only by directly pulling out are realized, the connection between the hand and the arm is more stable and reliable, the disassembly is more rapid and efficient, and can realize the automatic or remote control hand replacement operation by using other simpler equipment, meet the requirement of modern industry on the efficient replacement of the hand of the manipulator, and the hand quick replacement device is easy to realize, popularize and apply, and is particularly suitable for the hand quick replacement operation of a manipulator in special occasions such as the nuclear industry.

Drawings

FIG. 1 is a perspective view of a direct plug-in quick-change mechanism between a manipulator hand and an arm according to the present invention;

FIG. 2 is a perspective view of a half-section of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to the present invention;

FIG. 3 is a front sectional view of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to the present invention;

FIG. 4 is a front cross-sectional view of the hand of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention, on a larger scale than FIG. 3;

FIG. 5 is a front cross-sectional view of an arm of the direct plug-in quick-change mechanism between a hand and the arm of a manipulator according to the present invention, on a larger scale than FIG. 3;

fig. 6 is a perspective view, on a larger scale than fig. 1 and 2, of a connecting cylinder of a direct plug-in quick-change mechanism between a manipulator hand and an arm according to the invention;

fig. 7 is one of the perspective views of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator of the present invention in use, the hand and the arm being in a connected state, the scale being smaller than that of fig. 1 and 2;

fig. 8 is a second perspective view of the direct plug-in quick-change mechanism between the hand and the arm of the manipulator according to the present invention, wherein the hand and the arm are separated from each other in a smaller scale than fig. 1 and 2.

Detailed Description

The invention will be further described with reference to the accompanying drawings in which:

as shown in fig. 1-6, in the direct plug-in quick-change mechanism between a hand and an arm of a manipulator according to the present invention, the hand 2 includes a gripper 1 for gripping an object and a hand connector 3 for connecting with the arm (in practical applications, the arm of many manipulators further includes other components not shown in the figures, such as various joint components, etc.), the arm includes a driving component (such as a driving motor 21 and a driving shaft 26 in the figures, but in practical applications, other driving components such as a hydraulic cylinder, etc.) for driving the gripper 1 to move and an arm connector 9 for connecting with the hand 2, the gripper 1 and the driving component are connected with each other through a transmission device, the hand connector 3 and the arm connector 9 are connected with each other, one end of the hand connector 3 connected with the arm connector 9 is provided with a hand cylinder (i.e. a cylinder on the hand connector 3 near the arm connector 9, not separately marked in the figure), an arm cylinder (namely, a section of cylinder close to the hand connecting piece 3 on the arm connecting piece 9 is arranged at one end of the arm connecting piece 9 connected with the hand connecting piece 3, and not separately marked in the figure), the direct plug-pull quick-change mechanism further comprises a connecting cylinder 6, a first end of two axial ends of the connecting cylinder 6 is connected with the hand cylinder, and a second end of the two axial ends of the connecting cylinder 6 and one end of the arm cylinder are respectively provided with a magnetic ring 15 which corresponds to each other and is mutually attracted.

As shown in fig. 1 to 6, the present invention further discloses a plurality of more optimized specific structures, and the structures can be combined with one or more structures to form a more optimized technical solution according to actual needs.

In order to enable the hand barrel to be connected with the arm barrel more stably and reliably, the connection barrel 6 and the arm barrel are all sleeved outside the hand barrel, the connection barrel 6 can move axially for a certain distance relative to the hand barrel but cannot be separated from the hand barrel, a connection concave ring 22 with an L-shaped section is arranged at a position close to the second end of the connection barrel 6 on the inner wall of the connection barrel 6, an arm convex ring 24 protruding towards the connection barrel 6 is arranged at a position close to the connection barrel 6 on the arm barrel, the arm convex ring 24 is arranged in the connection concave ring 22, a plurality of radial convex ring through holes (not marked in the figure) are arranged on the arm convex ring 24 along the circumferential direction, balls 16 are arranged in the convex ring through holes, the outer diameter of each ball 16 is greater than the wall thickness of the arm convex ring 24, and the balls 16 can move radially at the arm convex ring 24 but cannot be separated from the convex ring through holes, an annular groove 23 with an arc-shaped section is arranged on the outer wall of the hand cylinder body at a position corresponding to the ball 16, and the ball 16 is pressed by the annular wall of the connecting concave ring 22 and is arranged in the annular groove 23.

In order to make the ball 16 enter and exit the concave connection ring 22 more smoothly and reduce the alignment precision to reduce the operation difficulty, a tapered surface or a circular arc surface (not marked in the figure) with a gradually increasing diameter is provided on the wall of the concave connection ring 22 near the arm cylinder.

In order to enable the connecting cylinder body 6 and the hand cylinder body to move axially only, the hand cylinder body is provided with a radial limiting pin 4, a radial limiting hole 5 is formed in the position, close to the first end, of the connecting cylinder body 6, the axial length of the limiting hole 5 in the connecting cylinder body 6 is larger than the circumferential width of the connecting cylinder body 6, and the limiting pin 4 penetrates through the limiting hole 5.

In order to prevent that the relative rotation takes place between arm barrel and the hand barrel in order to improve the connection stability between the two, install radial anti-rotation pin 8 on the arm barrel, be close to on the hand barrel the one end of arm barrel is equipped with axial and tip open-ended anti-rotation groove 25, and anti-rotation pin 8 passes anti-rotation groove 25.

In order to facilitate installation of the magnetic ring 15, magnetic ring grooves are respectively formed in the second end of the connecting cylinder 6 and one end, close to the connecting cylinder, of the arm cylinder, the magnetic ring 15 is arranged in the corresponding magnetic ring groove (not marked in the figure), the magnetic ring 15 is a permanent magnetic ring, an arm concave ring (not marked in the figure) is arranged at one end, close to the connecting cylinder 6, of the arm cylinder, and the second end of the connecting cylinder 6 is arranged in the arm concave ring.

In order to facilitate the realization of automatic or remote hand replacement, the outer wall of the connecting cylinder 6 is provided with two clamping grooves 5 (or clamping rings) for being clamped by other components, and the two clamping grooves 5 are symmetrically distributed.

In order to facilitate the realization in hand and the arm transmission's fast transmission connect and separation, transmission including install in hand 2 in hand pivot 13 with install in arm drive shaft 26 in the arm, hand adapter sleeve 18 is installed to the one end of hand pivot 13, is equipped with convex hand engaging tooth (not mark in the figure) on the hand adapter sleeve 18, and arm adapter sleeve 19 is installed to the one end of arm drive shaft 26, is equipped with convex arm engaging tooth (not mark in the figure) on the arm adapter sleeve 19, the hand engaging tooth with arm engaging tooth intermeshing.

In order to avoid that the parts are damaged relatively due to the fact that the rigidity of annular step bosses at two ends is not accurately caused when the hand connecting sleeve 18 is close to the arm connecting sleeve 19, one section of outer diameter of the hand rotating shaft 13 close to the arm driving shaft 26 is reduced to form a small-diameter section, the small-diameter section is sleeved with the spiral pressure spring 17, the hand connecting sleeve 18 is sleeved on the small-diameter section of the hand rotating shaft 13 through the spline through hole of the hand connecting sleeve 18, the hand connecting sleeve can move in the axial direction of the hand rotating shaft 13 and is abutted by one end of the spiral pressure spring 17, the other end of the spiral pressure spring 17 abuts against an annular step formed at the junction of the hand rotating shaft 13 and the small-diameter section of the hand rotating shaft, and the end cover 20 which blocks the hand connecting sleeve 18 to avoid the hand connecting sleeve from being separated from the hand rotating shaft 13 is installed at the end of the small-diameter section of the hand rotating shaft 13.

In order to realize the separating and combining functions of the hand claw 1 by using the hand rotating shaft 13, the hand rotating shaft 13 is installed in the hand 2 through two bearings 14, the spiral outer teeth 12 are arranged at the positions, far away from the arm driving shaft 26, of the hand rotating shaft 13, the limiting bearing 10 is installed at the end, far away from the arm driving shaft 26, of the hand rotating shaft 13, one ends of the two hand claws 1 are respectively provided with a turbine 11, the turbine 11 is provided with turbine teeth along the arc direction, the two turbines 11 are respectively located on two sides of the spiral outer teeth 12 and can rotate to drive the hand claw 1 to open and close, and the turbine teeth of the two turbines 11 are respectively meshed with the spiral outer teeth 12; in order to facilitate the rotation of the arm driving shaft 26, the arm driving shaft 26 is a rotation shaft of the driving motor 21, and the driving motor 21 is installed in the arm connecting member 9 of the arm.

In order to more clearly illustrate the working principle of the direct plug-in quick-change mechanism and the process of automatically or remotely controlling the hand replacement, a part of the replacement tool is specifically described below.

With reference to fig. 1-8, the replacing tool includes a replacing frame, the replacing frame includes a bottom plate 30, a column 29 and a top plate 28, the upper end and the lower end of the column are respectively connected with the top plate 28 and the bottom plate 30, and two ends of the top plate 28 are respectively provided with a clamping groove 27.

When the hand 2 is detached, the connecting cylinder 6 is firstly installed in a clamping groove 27 of the top plate 28 through the clamping groove 5, at the moment, as shown in fig. 1, the hand 2 (comprising the paw 1 and the hand connecting piece 3), the connecting cylinder 6 and the arm connecting piece 9 are connected together, then the arm connecting piece 9 is clamped by other clamping components to be pulled downwards, at the moment, the connecting cylinder 6 is fixed, the arm connecting piece 9 moves downwards, the suction force of the magnetic ring 15 is overcome, the ball 16 and the hand 2 are driven to move downwards together, when the ball 16 moves to be separated from the connecting concave ring 22 of the connecting cylinder 6, the ball 16 is separated from the annular groove 23, the hand cylinder and the arm cylinder are separated, so that the hand 2 and the arm connecting piece 9 are separated, and detachment is completed.

When the hand 2 is installed, a new hand 2 is connected with the connecting cylinder 6, the connecting cylinder 6 is installed in a clamping groove 27 of the top plate 28 through the clamping groove 5, at the moment, as shown in fig. 2, the hand 2 (including the paw 1 and the hand connecting piece 3) is connected with the connecting cylinder 6, then the arm connecting piece 9 is clamped by other clamping components and is placed under the connecting cylinder 6 (or the hand 2 is placed at the position without moving), at the moment, the annular groove 23 is flush with the lower part of the connecting concave ring 22 under the self weight of the hand 2, then the arm connecting piece 9 is pushed upwards, the anti-rotation pin 8 firstly enters the anti-rotation groove 25, so that the arm connecting piece 9 and the hand connecting piece 3 cannot rotate relatively, the arm connecting piece 9 continues to move upwards, and the ball 16 is ready to enter the connecting concave ring 22; continuing to push the arm connecting piece 9 upwards, after the ball 16 pushes the connecting cylinder 6 to move upwards for a short distance, the ball 16 reaches the position of the annular groove 23, under the guiding action of the connecting concave ring 22, the ball 16 is placed in the annular groove 23 and pressed by the annular wall of the connecting concave ring 22, and at the moment, the limiting pin 4 is in contact with the lower end hole wall of the limiting hole 5; meanwhile, the arm connecting teeth of the arm connecting sleeve 19 and the hand connecting teeth of the hand connecting sleeve 18 are correspondingly combined with each other (or just at a meshing position), the arm connecting piece 9 is continuously pushed upwards, the arm connecting piece 9 drives the hand cylinder to move upwards, and the connecting cylinder 6 cannot move upwards until the two magnetic rings 15 are close to each other to attract each other, so that the connection between the hand 2 and the arm connecting piece 9 is completed. Meanwhile, if the arm connecting teeth of the arm connecting sleeve 19 are not engaged with the hand connecting teeth of the hand connecting sleeve 18, the helical compression spring 17 is compressed, and when the driving motor 21 drives the arm connecting sleeve 19 to rotate to a proper position, the helical compression spring 17 pushes down the hand connecting sleeve 18 to engage with the hand connecting sleeve 18. In the use process, the connecting cylinder 6 always presses the ball 16 in the annular groove 23 under the suction action of the magnetic ring 15, so that the reliable connection between the hand 2 and the arm connecting piece 9 is ensured.

The above embodiments are only preferred embodiments of the present invention, and are not intended to limit the technical solutions of the present invention, so long as the technical solutions can be realized on the basis of the above embodiments without creative efforts, which should be considered to fall within the protection scope of the patent of the present invention.

Claims (10)

1. The utility model provides a direct plug-in quick change mechanism between manipulator hand and the arm, the hand including be used for pressing from both sides get the hand of object and be used for with the hand connecting piece that the arm is connected, the arm is including being used for the drive the driving piece of hand motion with be used for with the arm connecting piece that the hand is connected, the hand with the driving piece passes through transmission interconnect, the hand connecting piece with arm connecting piece interconnect, its characterized in that: the hand connecting piece on with the one end that the arm connecting piece is connected is equipped with the hand barrel, the arm connecting piece on with the one end that the hand connecting piece is connected is equipped with the arm barrel, direct plug-in quick change mechanism is still including connecting the barrel, connect the first end in the barrel axial both ends with the hand barrel is connected, connect the second in the barrel axial both ends with the one end of arm barrel is equipped with the magnetic ring that corresponds each other and inter attraction respectively.

2. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 1, characterized in that: the hand barrel is sleeved with the connecting barrel and the arm barrel, the connecting barrel can move axially for a distance and cannot be separated from the hand barrel, a connecting concave ring with an L-shaped section is arranged at a position, close to the second end, on the inner wall of the connecting barrel, an arm convex ring protruding towards the direction, close to the connecting barrel, is arranged at a position, close to the connecting barrel, on the arm barrel, and is arranged in the connecting concave ring, a plurality of radial convex ring through holes are formed in the arm convex ring along the circumferential direction, balls are arranged in the convex ring through holes, the outer diameter of each ball is larger than the wall thickness of the arm convex ring, the balls can move radially of the arm convex ring but cannot be separated from the convex ring through holes, and an annular groove with an arc-shaped section is arranged at a position, corresponding to the balls, on the outer wall of the hand barrel, the balls are placed in the annular groove while being pressed by the annular wall of the connecting concave ring.

3. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 2, characterized in that: the position on the ring wall of the connecting concave ring, which is close to the arm cylinder body, is provided with a conical surface or an arc surface with gradually increasing diameter.

4. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 1, characterized in that: install radial spacer pin on the hand barrel, the position that is close to first end on the connecting cylinder body is equipped with radial spacing hole, spacing hole is in the ascending length in the axial of connecting cylinder body is greater than the ascending width in circumference of connecting cylinder body, the spacer pin passes spacing hole.

5. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 1, characterized in that: the arm barrel is provided with a radial anti-rotation pin, one end of the hand barrel close to the arm barrel is provided with an anti-rotation groove with an axial opening and an end opening, and the anti-rotation pin penetrates through the anti-rotation groove.

6. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 1, characterized in that: the second end of the connecting cylinder body and one end, close to the connecting cylinder body, of the arm cylinder body are respectively provided with a magnetic ring groove, the magnetic rings are arranged in the corresponding magnetic ring grooves, the magnetic rings are permanent magnet rings, one end, close to the connecting cylinder body, of the arm cylinder body is provided with an arm concave ring, and the second end of the connecting cylinder body is arranged in the arm concave ring.

7. The direct plug-in quick change mechanism between a manipulator hand and an arm according to claim 1, characterized in that: the outer wall of the connecting cylinder body is provided with two clamping grooves or two clamping rings which are used for being clamped by other components, and if the clamping grooves are formed, the clamping grooves are symmetrically distributed.

8. The direct plug-in quick-change mechanism between a manipulator hand and an arm according to any one of claims 1-7, characterized in that: the transmission including install in hand pivot in the hand with install in arm drive shaft in the arm, the hand adapter sleeve is installed to the one end of hand pivot, be equipped with convex hand on the hand adapter sleeve and connect the tooth, the arm adapter sleeve is installed to the one end of arm drive shaft, be equipped with convex arm on the arm adapter sleeve and connect the tooth, the hand connect the tooth with arm connection tooth intermeshing.

9. The direct plug-in quick change mechanism between a manipulator hand and an arm of claim 8, characterized in that: be close to in the hand pivot one section external diameter of arm drive shaft reduces to form the path section and this path section on the cover be equipped with the helical compression spring, the hand adapter sleeve is in through self spline through-hole suit on the path section of hand pivot and can the axial displacement of hand pivot just quilt the one end of helical compression spring is supported tightly, the other end of helical compression spring with the annular step that forms rather than path section juncture in the hand pivot supports tightly, the path section tip of hand pivot is installed will the hand adapter sleeve blocks and avoids it to break away from the end cover of hand pivot.

10. The direct plug-in quick change mechanism between a manipulator hand and an arm of claim 8, characterized in that: the hand rotating shaft is mounted in the hand through two bearings, spiral outer teeth are arranged on the hand rotating shaft at positions far away from the arm driving shaft, turbines are arranged at one ends of the two claws respectively, turbine teeth are arranged on the turbines along the arc direction, the two turbines are located on two sides of the spiral outer teeth respectively and can rotate to drive the claws to open and close, and the turbine teeth of the two turbines are meshed with the spiral outer teeth respectively; the arm driving shaft is a rotating shaft of a driving motor, and the driving motor is installed in the arm.

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