CN221248885U

CN221248885U - Robot

Info

Publication number: CN221248885U
Application number: CN202323186986.XU
Authority: CN
Inventors: 李辉; 温静; 盛铮; 朱波
Original assignee: Daye Special Steel Co Ltd
Current assignee: Daye Special Steel Co Ltd
Filing date: 2023-11-24
Publication date: 2024-07-02
Anticipated expiration: 2033-11-24

Abstract

The utility model relates to the technical field of robots, in particular to a robot. The utility model provides a robot, which comprises a mechanical arm and a clamping mechanism, wherein the clamping mechanism is provided with a connecting part used for being connected with the mechanical arm, the connecting part comprises a magnetic component with controllable magnetism, and the magnetic component is magnetically connected with the end part of the mechanical arm when being electrified so as to fix the clamping mechanism on the end part of the mechanical arm; the magnetic component is separated from the end of the mechanical arm when the power is off. The clamping mechanism can be quickly installed on the robot by using the magnetic component, repeated screw dismounting operation can be omitted, quick dismounting is realized, time is saved, and efficiency is improved.

Description

Robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot.

Background

In recent years, the industrial robot technology in China is developed very rapidly, the industrial robot is also widely applied in various fields, and particularly in the manufacturing field, the industrial robot greatly improves the production efficiency and the enterprise benefit.

For industrial robots, handling materials is one of the more important applications in the manner of their gripping operations. Industrial robots, which are highly versatile working devices, are directly dependent on the clamping mechanism for which the working task can be completed smoothly, and therefore the clamping mechanism at the end of the robot is designed in combination with the actual working task and the requirements of the working environment, which also results in a variety of structural forms of the clamping mechanism.

The tail end of the clamping mechanism is provided with an air pressure type, an air suction type, a hydraulic type and the like, the front end of the clamping mechanism and the mechanical arm of the industrial robot are generally fixed by using screws (six to nine screws are usually needed), and when the clamping mechanism connected with the mechanical arm is required to be changed when a task is changed, the number of the screws is large, so that time and labor are wasted in the process of dismounting and mounting.

Disclosure of utility model

The utility model solves the problems that: when the task change needs to change the clamping mechanism connected with the mechanical arm, the clamping mechanism and the robot are inconvenient to detach and install due to the large number of screws.

(II) technical scheme

A robot comprising a robotic arm and a gripping mechanism, the gripping mechanism having a connection for connection with the robotic arm, the connection comprising a magnetically controllable magnetic member that magnetically connects with an end of the robotic arm when energized to secure the gripping mechanism to the end of the robotic arm; the magnetic component is separated from the end part of the mechanical arm when the power is off;

The end of the mechanical arm is provided with a plurality of limiting holes, the magnetic component comprises limiting shafts corresponding to the limiting holes one by one, each limiting shaft is fixed on the attraction surface of the magnetic component, and the limiting shafts are used for being inserted into the limiting holes of the end of the mechanical arm so as to realize circumferential positioning of the magnetic component and the end of the mechanical arm.

According to one embodiment of the utility model, the magnetic component comprises a magnetic switch, a base, and a snap-on mechanism;

The magnetic switch is arranged on the upper surface of the base and is used for being connected with the end part of the mechanical arm;

the clamping mechanism is mounted on the base and used for clamping and fixing the clamping mechanism.

According to one embodiment of the utility model, the magnetic component comprises a chuck comprising at least three jaws, a plurality of which jaws are moved in a radial direction of the chuck to grip the clamping mechanism.

According to one embodiment of the utility model, the chuck is a three-jaw chuck, and the inner side surface of each jaw is provided with a limiting groove.

According to one embodiment of the utility model, the lower surface of the base is provided with a mounting groove, and the clamping mechanism comprises at least two locking structures;

at least two locking holes are formed in the base along the radial direction of the base, and the locking holes correspond to the locking structures one by one;

The locking structure comprises a locking block, a connecting rod, a knob and a screw rod, wherein the locking hole comprises a threaded hole and a jack which are sequentially connected, the jack is communicated with the mounting groove, the first end of the connecting rod is inserted into the jack, the second end of the connecting rod stretches into the mounting groove, the locking block is fixed at the second end of the connecting rod, one end of the screw rod is screwed into the threaded hole, and the knob is fixed at the other end of the screw rod.

According to one embodiment of the utility model, the locking structure is provided with four locking holes, and the base is provided with four locking holes which are uniformly arranged around the axis of the mounting groove.

According to one embodiment of the utility model, the locking block is an arc-shaped block.

According to one embodiment of the utility model, the robot further comprises a controller, and the magnetic switch is in signal connection with the controller.

The utility model has the beneficial effects that:

The utility model provides a robot, which comprises a mechanical arm and a clamping mechanism, wherein the clamping mechanism is provided with a connecting part used for being connected with the mechanical arm, the connecting part comprises a magnetic component with controllable magnetism, and the magnetic component is magnetically connected with the end part of the mechanical arm when being electrified so as to fix the clamping mechanism on the end part of the mechanical arm; the magnetic component is separated from the end of the mechanical arm when the power is off.

When the clamping mechanism is installed, the magnetic component can be installed on the clamping mechanism firstly, then the magnetic component is attached to the end part of the mechanical arm, the magnetic component is magnetically connected with the end part of the mechanical arm when the power is on, so that the clamping mechanism is fixed on the end part of the mechanical arm, and the magnetic component is separated from the end part of the mechanical arm when the power is off, so that the clamping mechanism can be taken down from the end part of the mechanical arm. When the clamping mechanism is installed and taken down, repeated screw disassembling and assembling operations can be omitted, quick disassembling and assembling are achieved, time is saved, and efficiency is improved.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present utility model, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.

FIG. 1 is a diagram illustrating a first view angle according to an embodiment of the present utility model;

FIG. 2 is a diagram illustrating a second view angle according to a first embodiment of the present utility model;

FIG. 3 is a block diagram of a three-jaw chuck according to a first embodiment of the present utility model;

Fig. 4 is a diagram illustrating a first view angle according to a second embodiment of the present utility model;

FIG. 5 is a diagram illustrating a second view angle according to a second embodiment of the present utility model;

FIG. 6 is a cross-sectional view of a second embodiment of the present utility model;

fig. 7 is a block diagram of a locking block and a connecting rod according to a second embodiment of the present utility model.

Icon: 1. a magnetic switch; 101. an electric wire; 2. a base; 201. a mounting groove; 3. a screw; 4. a three-jaw chuck; 401. a claw; 402. a guide groove; 403. a limit groove; 5. a clamping mechanism; 6. a knob; 7. a locking block; 701. a stepped groove; 8. a connecting rod; 9. and (3) a screw.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described in connection with the embodiments, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Embodiment one: the first embodiment of the utility model provides a robot, which comprises a mechanical arm and a clamping mechanism, wherein the clamping mechanism is provided with a connecting part used for being connected with the mechanical arm, the connecting part comprises a magnetic component with controllable magnetism, and the magnetic component is magnetically connected with the end part of the mechanical arm when being electrified so as to fix the clamping mechanism on the end part of the mechanical arm; the magnetic component is separated from the end of the mechanical arm when the power is off.

It should be noted that, the top of each existing clamping mechanism 5 is provided with a flange, the end of the mechanical arm is provided with a plurality of threaded holes matched with the flange, when the clamping mechanism 5 is mounted at the end of the mechanical arm, the flange at the top of the clamping mechanism 5 is attached to the end of the mechanical arm, the flange holes on the flange are aligned with the threaded holes on the end of the mechanical arm, and finally, the bolts are used for connection. Obviously, the mode of using the bolt to carry out the connection is inconvenient for subsequent replacement work.

In this embodiment, when the clamping mechanism is installed, the magnetic component may be first installed on the clamping mechanism, then attached to the end of the mechanical arm, and magnetically connected to the end of the mechanical arm when the magnetic component is powered on, so as to fix the clamping mechanism to the end of the mechanical arm, and separated from the end of the mechanical arm when the magnetic component is powered off, so that the clamping mechanism may be removed from the end of the mechanical arm. When the clamping mechanism 5 is installed and taken down, repeated screw dismounting operation can be omitted, quick dismounting is realized, time is saved, and efficiency is improved.

Preferably, the magnetic component is a magnetic switch 1, the end part of the mechanical arm is provided with a plurality of limiting holes, the magnetic switch 1 comprises limiting shafts corresponding to the limiting holes one by one, each limiting shaft is fixed on the attraction surface of the magnetic switch 1, and the limiting shafts are used for being inserted into the limiting holes of the end part of the mechanical arm so as to realize circumferential positioning of the magnetic component and the end part of the mechanical arm. The magnetic switch 1 is fixed on the top of the clamping mechanism through screws, the top surface of the magnetic switch 1 is an attracting surface, and the limiting shaft is fixed on the attracting surface of the magnetic switch 1. It should be noted that, the limiting shaft needs to be arranged according to the arrangement of the limiting holes at the end of the mechanical arm, so as to ensure that the limiting shaft can be just inserted into the limiting holes at the end of the mechanical arm when the magnetic switch 1 is attached to the end of the mechanical arm. When the magnetic switch 1 is electrified, the attraction surface of the magnetic switch 1 is attracted with the end surface of the mechanical arm, and at least two limit shafts are inserted into limit holes on the end surface of the mechanical arm. The limiting shaft plays a role in preventing dislocation of the magnetic switch 1, so that when the end part of the mechanical arm rotates, the magnetic switch 1 cannot find the phenomena of offset and dislocation even if the attraction force between the magnetic switch 1 and the end part of the mechanical arm is slightly weak.

Embodiment two:

As shown in fig. 1 to 3, a first embodiment of the present utility model provides a robot, including a mechanical arm and a clamping mechanism, the clamping mechanism having a connection portion for connecting with the mechanical arm, the connection portion including a magnetically controllable magnetic component, the magnetic component including a magnetic switch 1, a base 2, and a clamping mechanism; the clamping mechanism is arranged on the base 2 and is used for clamping and fixing the clamping mechanism.

Specifically, the magnetic switch 1 is mounted on the upper surface of the base 2, the magnetic switch 1 is used for being connected with the end part of the mechanical arm, the magnetic switch 1 is attracted to the end part of the mechanical arm when being electrified, and the magnetic switch 1 is separated from the end part of the mechanical arm when being powered off.

In this embodiment, the clamping mechanism 5 is mounted on the clamping mechanism, then the magnetic switch 1 is attached to the tail end of the mechanical arm, and then the magnetic switch 1 is turned on, and the magnetic switch 1 is electrified to generate magnetic force so as to be attracted to the tail end of the mechanical arm. When other clamping mechanisms 5 need to be replaced, the magnetic switch 1 is powered off, then the magnetic component and the last clamping mechanism 5 are taken down together, then the last clamping mechanism 5 is taken down from the clamping mechanism, the clamping mechanism 5 used at the time is installed in the clamping mechanism, then the magnetic switch 1 on the magnetic component is attached to the tail end of the mechanical arm, the magnetic switch 1 is started, and the magnetic switch 1 is electrified to generate magnetic force so as to be attracted to the tail end of the mechanical arm.

When the clamping mechanism 5 is installed on the robot, repeated screw disassembling and assembling operations can be omitted, quick disassembling and assembling are achieved, time is saved, and efficiency is improved.

Preferably, the side surface of the magnetic switch 1 is provided with a wire outlet hole, the controller is electrically connected with the magnetic switch 1 through a wire 101, and the controller is used for controlling the opening and closing of the magnetic switch 1.

As shown in fig. 1 and 2, the base 2 has a disk shape, and the magnetic switch 1 is connected to the upper surface of the base 2 by a screw 3. The clamping mechanism comprises a chuck, and the upper surface of the chuck is fixed on the lower surface of the base 2. The chuck is any one of a three-jaw chuck 4, a four-jaw chuck or a six-jaw chuck. The sides of the chuck are provided with guide grooves 402, which are engaged with the guide grooves 402 on the sides of the chuck using a rotary wrench, so that the jaws 401 on the chuck move in the radial direction of the chuck to grip the flange at the top of the clamping mechanism 5. It should be noted that, since the chuck is a common mechanism, the working principle thereof will not be described in detail here.

Preferably, the chuck is a three-jaw chuck 4, as shown in fig. 2, the three-jaw chuck 4 including three jaws 401. It should be noted that, the diameters of the flanges at the top ends of the clamping mechanisms 5 may be different, and the three-jaw chuck 4 may be used to accommodate the clamping mechanisms 5 of different sizes and different types.

And because the top of the existing clamping mechanism 5 which is mostly matched with the robot is provided with a flange, the clamping tool can be matched and connected with the clamping mechanism 5 with the flange, and therefore, the clamping tool can be used without any modification on the existing clamping mechanism 5. The magnetic switch 1 is arranged, so that the magnetic component is convenient to detach from the robot, and the use is convenient only by power failure.

Optionally, a limiting groove 403 is formed at one end of each claw 401 facing the axis of the three-claw chuck 4, and the height of the limiting groove 403 is the same as the thickness of the flange at the top of the clamping mechanism 5. When the three claws 401 move inwards along the radial direction, the inner walls of the limit grooves 403 are completely contacted with the side surfaces of the flanges, so that the clamping mechanism 5 can be better clamped, and the clamping mechanism 5 and the three-claw chuck 4 are not easy to separate.

It should be noted that, the end of the robot is provided with a groove, the groove is a circular groove, the outer shell of the magnetic switch 1 is in a circular box shape, and the diameter of the groove is larger than that of the outer shell of the magnetic switch 1, so that the magnetic end of the magnetic switch 1 can be inserted into the groove at the end of the robot.

Optionally, the bottom of the magnetic switch 1 is provided with a circular ring piece, the circular ring piece and the shell of the magnetic switch 1 are coaxially arranged, four round holes are uniformly formed in the circular ring piece, four screw holes are uniformly formed in the upper surface of the base 2, and the screw holes correspond to the round holes in the circular ring piece one by one.

Embodiment III:

As shown in fig. 4, 5 and 6, a third embodiment of the present utility model provides a robot, including a mechanical arm and a clamping mechanism, the clamping mechanism having a connection portion for connection with the mechanical arm, the connection portion including a magnetically controllable magnetic component, the magnetic component including a magnetic switch 1, a base 2 and a clamping mechanism; the magnetic switch 1 is arranged on the upper surface of the base 2, and the magnetic switch 1 is used for being connected with the end part of the mechanical arm.

Wherein, base 2 is discoid, is equipped with four lugs in the side of base 2, and four lugs evenly set up round the axis of base 2, lug and base 2 integrated into one piece. A mounting groove 201 is provided at the center of the lower surface of the base 2.

Further, the clamping mechanism comprises four locking structures, four locking holes are respectively formed in the base 2 along the radial direction of the base, the locking holes are communicated with the mounting grooves 201, and the locking holes correspond to the locking structures one by one.

Preferably, as shown in fig. 6, the locking structure comprises a locking block 7, a connecting rod 8, a knob 6 and a screw 9, the locking hole comprises a threaded hole and a jack which are sequentially connected, the jack is communicated with the mounting groove 201, the jack extends outwards from the inner wall of the mounting groove 201 along the axis direction of the base 2, one end of the threaded hole is communicated with the jack, and the other end of the threaded hole extends to the outer side face of the base 2.

The first end of the connecting rod 8 is inserted into the insertion hole, the second end of the connecting rod 8 extends into the mounting groove 201, and the locking block 7 is fixed on the second end of the connecting rod 8 and is positioned in the mounting groove 201. One end of the screw rod 9 is screwed into the threaded hole, the other end of the screw rod 9 is exposed outside, and the knob 6 is fixed at one end of the screw rod 9 far away from the connecting rod 8.

When the magnetic component is connected with the clamping mechanism 5, the top end flange of the clamping mechanism 5 is inserted into the mounting groove 201, then the four knobs 6 are screwed, the knobs 6 drive the screw rods 9 to rotate together, the screw rods 9 move in the radial direction of the base 2 towards the locking holes while rotating, and accordingly the connecting rod 8 and the locking blocks 7 are pushed to move towards the center of the mounting groove 201 together, so that the four locking blocks 7 respectively abut against the flange from the four directions of the flange at the same time, and the clamping mechanism 5 is fixed.

It will be appreciated that the sum of the lengths of the connecting rod 8 and the screw 9 is greater than the depth of the locking hole so that the locking block 7 can move in the radial direction of the base 2.

Furthermore, since the locking block 7 is movable in the radial direction of the base 2, flanges on different sizes or different kinds of clamping mechanisms 5 can be clamped.

Preferably, the locking block 7 is an arc-shaped block, so that the inner surface of the arc-shaped block can be attached to the side surface of the flange at the top of the clamping mechanism 5, and the contact area between the locking block 7 and the flange can be increased, and the flange can be clamped better.

Alternatively, as shown in fig. 7, the locking block 7 is a rectangular block, and a stepped groove 701 is formed on the inner side surface of the rectangular block, so that when the flange at the top of the clamping mechanism 5 is clamped, the side surface of the flange contacts with the inner surface of the rectangular block, and the lower surface of the flange is lapped on the stepped groove 701, and the stepped groove 701 plays a role of supporting the flange.

It should be noted that the present magnetic component can be adapted to various sizes and kinds of clamping mechanisms 5 with flanges, for example, to a writing pen or a glue gun used by a writing robot.

Embodiment four:

the fourth embodiment provides a magnetic member which is provided in the first, second or third embodiments described above.

In the description of the present utility model, it should be noted that the azimuth or positional relationship indicated by the terms "upper", "lower", etc. are based on the azimuth or positional relationship shown in the drawings, and are merely for convenience of describing the present utility model and simplifying the description, and are not indicative or implying that the apparatus or element in question must have a specific azimuth, be constructed and operated in a specific azimuth, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the communication may be direct or indirect through an intermediate medium, or may be internal to two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art. Furthermore, in the description of the present utility model, unless otherwise indicated, the meaning of "a plurality" is two or more.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims

1. A robot comprising a robot arm and a clamping mechanism, the clamping mechanism having a connection for connection with the robot arm, the connection comprising a magnetically controllable magnetic member that magnetically connects with an end of the robot arm when energized to secure the clamping mechanism to the end of the robot arm; the magnetic component is separated from the end part of the mechanical arm when the power is off;

2. A robot according to claim 1, characterized in that the magnetic part comprises a magnetic switch (1), a base (2) and a snap-on mechanism;

The magnetic switch (1) is arranged on the upper surface of the base (2), and the magnetic switch (1) is used for being connected with the end part of the mechanical arm;

The clamping mechanism is arranged on the base (2) and is used for clamping and fixing the clamping mechanism.

3. A robot according to claim 2, characterized in that the magnetic part comprises a chuck comprising at least three jaws (401), a plurality of the jaws (401) being moved in a radial direction of the chuck to grip the gripping means.

4. A robot according to claim 3, characterized in that the chuck is a three-jaw chuck (4), and that a limit groove (403) is provided on the inner side of each jaw (401).

5. The robot according to claim 2, wherein the lower surface of the base (2) is provided with a mounting groove (201), and the clamping mechanism comprises at least two locking structures;

At least two locking holes are formed in the base (2) along the radial direction of the base, and the locking holes correspond to the locking structures one by one;

The locking structure comprises a locking block (7), a connecting rod (8), a knob (6) and a screw rod (9), wherein the locking hole comprises a threaded hole and a jack which are sequentially connected, the jack is communicated with the mounting groove (201), a first end of the connecting rod (8) is inserted into the jack, a second end of the connecting rod extends into the mounting groove (201), the locking block (7) is fixed at the second end of the connecting rod (8), one end of the screw rod (9) is screwed into the threaded hole, and the knob (6) is fixed at the other end of the screw rod (9).

6. The robot of claim 5, wherein the locking structures are four, four locking holes are formed in the base (2), and the four locking holes are uniformly arranged around the axis of the mounting groove (201).

7. A robot according to claim 6, characterized in that the locking block (7) is an arc-shaped block.

8. A robot according to claim 2, characterized in that the robot further comprises a controller, the magnetic switch (1) being in signal connection with the controller.