TWM587102U - Quick change structure of mechanical arm - Google Patents
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Abstract
本創作係有關於一種機械手臂快換結構，係主要設有一手臂接頭及一工具接頭，並使該手臂接頭及工具接頭之頂、底面相互對接，利用該手臂接頭及工具接頭其頂、底面間隔所設定位凹部與定位凸部之對應嵌合，即可達到防呆功效，以使手臂接頭及工具接頭其頂、底面所設第一、第二導電端子及第一、第二氣孔準確對位結合，達到快速換裝工具頭效果，同時可避免手臂接頭及工具接頭對接後不當偏轉情形，以確保工具頭作動穩定性，及防止工具頭由機械手臂脫落損壞者。This creation relates to a quick-change structure of a robotic arm, which is mainly provided with an arm joint and a tool joint, and the top and bottom surfaces of the arm joint and the tool joint are docked with each other. The top and bottom surfaces of the arm joint and the tool joint are spaced apart. The corresponding fitting of the set concave portion and the positioning convex portion can achieve the foolproof effect, so that the first and second conductive terminals and the first and second air holes provided on the top and bottom surfaces of the arm joint and the tool joint are accurately aligned. The combination achieves the effect of quickly changing the tool head. At the same time, it can prevent the arm joint and the tool joint from being deflected improperly after the docking, to ensure the stability of the tool head's operation, and to prevent the tool head from falling off and damaged by the mechanical arm.
Description
本創作係有關於一種機械手臂快換結構，尤指一種可使機械手臂於更換工具頭時，達到快速、準確對位，及對位結合後不脫落、穩定作動之機械手臂快換結構。This creation relates to a quick-change structure of a robotic arm, especially a quick-changeable structure of a robotic arm that enables the robotic arm to achieve rapid and accurate alignment when the tool head is replaced, and does not fall off and stabilize when the alignment is combined.
按，隨著工業發展與人力成本上升，機械手臂係逐漸運用在生產線上，除可取代重複性工作的人力成本，同時機械手臂相較於人工作業，更可提升工作效率，故機械手臂已為時下工業發展不可或缺的設備。As the industrial development and labor cost increase, the robot arm is gradually used in the production line. In addition to replacing the labor cost of repetitive work, at the same time, the robot arm can improve work efficiency compared to manual operation. Therefore, the robot arm has been Indispensable equipment for industrial development.
現有機械手臂於使用時，係將一工具頭裝設於機械手臂前端，以進行夾取物件等工作，然對於製程繁多之生產線，時常無法以單一工具頭即完成各項工作，因此，現今產業界係會設置多個機械手臂，並於各機械手臂分別結合不同工具頭，藉以實施不同種類的作業，然此設置不僅會增加使用成本，且多個機械手臂的設置也可能發生相互干擾、碰撞等問題。故有業者研擬於一機械手臂替換不同工具頭，以進行各種作業，而讓機械手臂達到一機多工效果，依此雖可降低成本及避免機械手臂相互碰撞等問題，但實務上於更換工具頭時，常發生機械手臂與工具頭換裝未準確對位，而造成工具頭無法正常作動，甚至由機械手臂脫落損壞等情形，因此，操作員更換工具頭時常得費時費工的進行校正動作，而大幅延遲作業時效，降低生產效率者。When the existing robotic arm is used, a tool head is installed at the front end of the robotic arm for gripping objects and the like. However, for production lines with many manufacturing processes, it is often impossible to complete various tasks with a single tool head. Therefore, the current industry The department will set multiple robot arms, and combine different tool heads with each robot arm to implement different types of operations. However, this setting will not only increase the cost of use, but the settings of multiple robot arms may also interfere with each other and collide. And other issues. Therefore, some industry researchers have planned to replace different tool heads in a robotic arm to perform various operations, so that the robotic arm can achieve the effect of multiplexing one machine. Although this can reduce costs and avoid collisions between robotic arms, etc., it is practical to replace When the tool head is used, it often happens that the mechanical arm and the tool head are not correctly aligned, which causes the tool head to not operate properly or even be damaged by the robot arm. Therefore, the operator often takes time and labor to correct the tool head when changing the tool head. Action, which significantly delays work aging and reduces productivity.
緣是，本創作人有鑑於現有機械手臂於換接工具頭時有耗時費工，影響生產效率等缺失，乃藉其多年於相關領域的製造及設計經驗和知識的輔佐，並經多方巧思，研創出本創作。The reason is that in view of the lack of time and labor required by the existing robotic arm when changing tool heads, which affects production efficiency, the creator borrowed from his many years of manufacturing and design experience and knowledge in related fields, and has worked with many methods. Thinking, research and create this creation.
本創作係有關於一種機械手臂快換結構，其主要目的係為了提供一種可使機械手臂於更換工具頭時，達到快速、準確對位，及對位結合後不脫落、穩定作動之機械手臂快換結構。This creation relates to a quick-change structure of a robotic arm. Its main purpose is to provide a robotic arm that can quickly and accurately align the robotic arm when changing the tool head, and does not fall off and stabilize when the alignment is combined. Change structure.
為了達到上述實施目的，本創作人乃研擬如下機械手臂快換結構，係包含：In order to achieve the above implementation goals, the author has developed the following quick-change structure of the robot arm, which includes:
一手臂接頭，乃使該手臂接頭形成有相對之頂面及底面，並於該手臂接頭底面中央處設有一軸孔，又於該手臂接頭底面周緣處間隔設有數定位凹部；An arm joint is such that the arm joint is formed with opposite top and bottom surfaces, and a shaft hole is provided at the center of the bottom surface of the arm joint, and a plurality of positioning recesses are spaced at the periphery of the bottom surface of the arm joint;
至少一工具接頭，係使該工具接頭形成有相對之頂面及底面，且於該工具接頭頂面中央處設有一定位軸，以與該手臂接頭底面中央處之軸孔對應接合，又於該工具接頭頂面周緣處間隔設有數定位凸部，以分別與該手臂接頭底面周緣處之數定位凹部對應嵌合。At least one tool joint is such that the tool joint is formed with opposite top and bottom surfaces, and a positioning shaft is provided at the center of the top surface of the tool joint to correspondingly engage with the shaft hole at the center of the bottom surface of the arm joint. A number of positioning protrusions are provided at intervals on the peripheral edge of the top surface of the tool joint to fit the number of positioning recesses on the peripheral edge of the bottom surface of the arm joint.
如上所述之機械手臂快換結構，其中，該手臂接頭之數定位凹部及工具接頭之數定位凸部係呈不等間隔設置。The quick change structure of the robotic arm as described above, wherein the number of positioning recesses of the arm joint and the number of positioning protrusions of the tool joint are arranged at unequal intervals.
如上所述之機械手臂快換結構，其中，該手臂接頭底面係設有至少一第一導電端子，另於該工具接頭頂面設有至少一第二導電端子，以與該手臂接頭底面之第一導電端子對應接觸。The quick-change structure of the robotic arm as described above, wherein the bottom surface of the arm joint is provided with at least a first conductive terminal, and the top surface of the tool joint is provided with at least a second conductive terminal to connect with the first surface of the arm joint. A conductive terminal is in contact.
如上所述之機械手臂快換結構，其中，該手臂接頭至少一側設有至少一第一氣嘴，並使該手臂接頭底面設有至少一第一氣孔，且使該第一氣孔與第一氣嘴相連通，又使該工具接頭至少一側設有至少一第二氣嘴，並使該工具接頭頂面設有至少一第二氣孔，且使該第二氣孔與該第二氣嘴相連通，另使該第二氣孔與該手臂接頭之第一氣孔位置相對應。The quick-change structure of the robotic arm as described above, wherein at least one first air nozzle is provided on at least one side of the arm joint, and at least one first air hole is provided on the bottom surface of the arm joint, and the first air hole and the first The air nozzle is communicated, and at least one side of the tool joint is provided with at least one second air nozzle, and the top surface of the tool joint is provided with at least one second air hole, and the second air hole is connected with the second air nozzle. The second air hole corresponds to the position of the first air hole of the arm joint.
如上所述之機械手臂快換結構，其中，該手臂接頭頂面係設有一手臂組立部。The quick-change structure of the robotic arm as described above, wherein an arm assembly is provided on the top surface of the arm joint.
如上所述之機械手臂快換結構，其中，該工具接頭底面係組設有一工具頭組立盤。The quick change structure of the robotic arm as described above, wherein the tool joint bottom plate is provided with a tool head group upright plate.
藉此，利用該手臂接頭及工具接頭其頂、底面間隔所設定位凹部與定位凸部之對應嵌合，即可達到防呆功效，以使手臂接頭及工具接頭其頂、底面所設第一、第二導電端子及第一、第二氣孔準確對位結合，達到快速換裝工具頭效果，同時可避免手臂接頭及工具接頭對接後不當偏轉情形，以確保工具頭作動穩定性，及防止工具頭由機械手臂脫落損壞者。With this, by using the corresponding fitting of the concave and positioning protrusions set on the top and bottom surfaces of the arm joint and the tool joint, the foolproof effect can be achieved, so that the top of the arm joint and the tool joint can be set first. The second conductive terminal and the first and second air holes are accurately aligned and combined to achieve the effect of quickly changing the tool head. At the same time, it can avoid the improper deflection of the arm joint and the tool joint to ensure the tool head's operation stability and prevent the tool. The head was damaged by the robot arm.
而為令本創作之技術手段及其所能達成之效果，能夠有更完整且清楚的揭露，茲詳細說明如下，請一併參閱揭露之圖式及圖號：In order to make the technical method of this creation and the effect that it can achieve more complete and clear disclosure, the detailed description is as follows, please refer to the disclosed drawings and figures:
首先，請參閱第一、二圖所示，為本創作之機械手臂快換結構，係主要包含：First of all, please refer to the first and second pictures. The quick-change structure of the robotic arm for this creation mainly includes:
一手臂接頭（１），乃使該手臂接頭（１）形成相對之頂面（１１）及底面（１２），並於該手臂接頭（１）底面（１２）中央處設有一軸孔（１３），又於該手臂接頭（１）底面（１２）周緣處不等間隔設有數定位凹部（１４），且於該手臂接頭（１）底面（１２）設有至少一第一導電端子（１５），另於該手臂接頭（１）至少一側設有至少一第一氣嘴（１６），並使該手臂接頭（１）底面（１２）設有至少一第一氣孔（１７），且使該第一氣孔（１７）與第一氣嘴（１６）相連通，復於該手臂接頭（１）頂面（１１）設有一手臂組立部（１８）；An arm joint (1) is such that the arm joint (1) forms opposite top surfaces (11) and bottom surfaces (12), and a shaft hole (13) is provided at the center of the bottom surface (12) of the arm joint (1). A plurality of positioning recesses (14) are provided at different intervals around the periphery of the bottom surface (12) of the arm joint (1), and at least one first conductive terminal (15) is provided on the bottom surface (12) of the arm joint (1), At least one first air nozzle (16) is provided on at least one side of the arm joint (1), and at least one first air hole (17) is provided on the bottom surface (12) of the arm joint (1), and the first An air hole (17) is in communication with the first air nozzle (16), and an arm assembly (18) is provided on the top surface (11) of the arm joint (1);
至少一工具接頭（２），係使該工具接頭（２）形成相對之頂面（２１）及底面（２２），且於該工具接頭（２）頂面（２１）中央處設有一定位軸（２３），以與該手臂接頭（１）底面（１２）中央處之軸孔（１３）對應接合，又於該工具接頭（２）頂面（２１）周緣處不等間隔設有數定位凸部（２４），以分別與該手臂接頭（１）底面（１２）周緣所設數定位凹部（１４）對應嵌合［如第三圖所示〕，且於該工具接頭（２）頂面（２１）設有至少一第二導電端子（２５），以與該手臂接頭（１）底面（１２）之第一導電端子（１５）對應接觸，另於該工具接頭（２）至少一側設有至少一第二氣嘴（２６），並使該工具接頭（２）頂面（１１）設有至少一第二氣孔（２７），且使該第二氣孔（２７）與該第二氣嘴（２６）相連通，又使該第二氣孔（２７）與該手臂接頭（１）之第一氣孔（１７）位置相對應［如第四圖所示〕，復於該工具接頭（２）底面（２２）組設有一工具頭組立盤（２８）。At least one tool joint (2) makes the tool joint (2) form opposite top surfaces (21) and bottom surfaces (22), and a positioning shaft (at the center of the top surface (21) of the tool joint (2)) is provided. 23), corresponding to the shaft hole (13) at the center of the bottom surface (12) of the arm joint (1), and a plurality of positioning protrusions (at different intervals on the periphery of the top surface (21) of the tool joint (2)) 24). Fit the corresponding number of positioning recesses (14) on the periphery of the bottom surface (12) of the arm joint (1) [as shown in the third figure], and place them on the top surface (21) of the tool joint (2). At least one second conductive terminal (25) is provided to correspond to the first conductive terminal (15) of the arm connector (1) bottom surface (12), and at least one side of the tool connector (2) is provided. The second air nozzle (26), and the tool joint (2) top surface (11) is provided with at least a second air hole (27), and the second air hole (27) and the second air nozzle (26) Communication, which makes this second gas (27) Corresponding to the position of the first air hole (17) of the arm joint (1) [as shown in the fourth figure], a tool head assembly plate (28) is set on the bottom surface (22) of the tool joint (2) ).
據此，當組裝實施時，請一併參閱第五圖所示，係使手臂接頭（１）藉由其頂面（１１）所設之手臂組立部（１５）與一機械手臂（３）前端相連結，請一併參閱第六圖所示，又使該工具接頭（２）利用其工具頭組立盤（２８）與一工具頭（４）相連結，本創作係可設有複數工具接頭（２），以使複數工具接頭（２）分別與不同功能之工具頭（４）相連結，另使該手臂接頭（１）及工具接頭（２）之第一氣嘴（１６）與第二氣嘴（２６）分別與一氣壓源相連結，復使該手臂接頭（１）之第一導電端子（１５）連結有電源，該工具接頭（２）之第二導電端子（２５）則與工具頭（４）相連結。According to this, when the assembly is implemented, please refer to the fifth figure together, so that the arm joint (1) through the arm assembly (15) set on the top surface (11) and the front end of a robot arm (3) For connection, please refer to the sixth figure together, and make the tool joint (2) use its tool head assembly plate (28) to connect with a tool head (4). This creative system can be provided with a plurality of tool joints ( 2), so that the plurality of tool joints (2) are respectively connected with the tool heads (4) with different functions, and the first air nozzle (16) and the second air joint of the arm joint (1) and the tool joint (2) are separately connected; The mouth (26) is respectively connected with a pneumatic source, so that the first conductive terminal (15) of the arm connector (1) is connected with a power source, and the second conductive terminal (25) of the tool connector (2) is connected to the tool head. (4) Connected.
於此，當欲更換該機械手臂（３）前端之工具頭（４）時，係驅使機械手臂（３）移動至工具頭（４）更換區，繼暫停該手臂接頭（１）及工具接頭（２）其第一氣嘴（１６）與第二氣嘴（２６）連結之氣壓源的作動，以解除手臂接頭（１）及工具接頭（２）結合狀態，而使該手臂接頭（１）與該工具接頭（２）分離。隨之，再使機械手臂（３）位移至所需裝配之工具頭（４）處，並使機械手臂（３）前端之手臂接頭（１）與所需裝配之工具頭（４）上的工具接頭（２）相對接，此時，工具接頭（２）頂面（２１）中央處之定位軸（２３）係會與手臂接頭（１）底面（１２）中央處之軸孔（１３）對應接合，另該工具接頭（２）頂面（２１）周緣所設數定位凸部（２４）係會與手臂接頭（１）底面（１２）周緣之數定位凹部（１４）對應嵌合，同時，工具接頭（２）頂面（２１）之第二導電端子（２５）係會與手臂接頭（１）底面（１２）之第一導電端子（１５）對應接觸，以使電源可由第一導電端子（１５）經第二導電端子（２５）供電予工具頭（４），另工具接頭（２）頂面（１１）之第二氣孔（２７）係與手臂接頭（１）底面（１２）之第一氣孔（１７）相對應，並於啟動手臂接頭（１）及工具接頭（２）其第一氣嘴（１６）與第二氣嘴（２６）連結之氣壓源作動，以使手臂接頭（１）及工具接頭（２）經由氣壓作用相結合。Here, when it is desired to replace the tool head (4) at the front end of the robot arm (3), the system drives the robot arm (3) to move to the tool head (4) replacement area, and then pauses the arm joint (1) and the tool joint ( 2) Actuation of the air pressure source connected between the first air nozzle (16) and the second air nozzle (26) to release the joint state of the arm joint (1) and the tool joint (2), and the arm joint (1) and The tool joint (2) is separated. Then, the robot arm (3) is moved to the tool head (4) to be assembled, and the arm joint (1) at the front end of the robot arm (3) and the tool on the tool head (4) to be assembled are moved. The joint (2) is opposite to each other. At this time, the positioning shaft (23) at the center of the top surface (21) of the tool joint (2) will be correspondingly engaged with the shaft hole (13) at the center of the bottom surface (12) of the arm joint (1). In addition, the number of positioning protrusions (24) provided on the periphery of the top surface (21) of the tool joint (2) is corresponding to the number of positioning recesses (14) on the periphery of the bottom surface (12) of the arm joint (1). At the same time, the tool The second conductive terminal (25) on the top surface (21) of the connector (2) is in corresponding contact with the first conductive terminal (15) on the bottom surface (12) of the arm connector (1), so that the power can be supplied by the first conductive terminal (15). ) Power is supplied to the tool head (4) through the second conductive terminal (25), and the second air hole (27) on the top surface (11) of the tool connector (2) is the first air hole on the bottom surface (12) of the arm connector (1). (17 Correspondingly, the arm connector (1) and the tool connector (2) are activated to activate the air pressure source connected to the first air nozzle (16) and the second air nozzle (26) to make the arm connector (1) and the tool connector ( 2) Combined by the action of air pressure.
藉此，利用本創作之手臂接頭（１）及工具接頭（２）頂、底面之定位凹部（１４）與定位凸部（２４）對應嵌合設計，即可達到快速、簡便替換不同工具頭（４）效果，且於更換工具頭（４）時，藉由工具接頭（２）頂面（２１）之數定位凸部（２４）與該手臂接頭（１）底面（１２）之數定位凹部（１４）的對應嵌合，則可達到防呆功效，以使工具接頭（２）之第二導電端子（２５）可與手臂接頭（１）之第一導電端子（１５）準確對位接觸，而使工具頭（４）導電作動，及使工具接頭（２）之第二氣孔（２７）與手臂接頭（１）之第一氣孔（１７）準確對位，經由氣壓作用相結合。此外，更可防止手臂接頭（１）與工具接頭（２）間不當偏轉情形，避免第一導電端子（１５）與第二導電端子（２５）錯位分離，造成工具頭（４）失去電源供給無法作動情況，也可避免第一氣孔（１７）與第二氣孔（２７）錯位，造成工具頭（４）由機械手臂（３）脫落損壞情形。With this, by using the corresponding fitting design of the positioning recesses (14) and positioning protrusions (24) on the top and bottom surfaces of the arm joint (1) and tool joint (2) of this creation, it is possible to quickly and easily replace different tool heads ( 4) effect, and when replacing the tool head (4), positioning the convex portion (24) with the number of the top surface (21) of the tool joint (2) and the bottom surface (12) of the arm joint (1), positioning the recess ( The corresponding fitting of 14) can achieve the fool-proof effect, so that the second conductive terminal (25) of the tool connector (2) can be accurately aligned with the first conductive terminal (15) of the arm connector (1), and The tool head (4) is electrically conductively operated, and the second air hole (27) of the tool joint (2) and the first air hole (17) of the arm joint (1) are accurately aligned, and combined by the action of air pressure. In addition, it can prevent improper deflection between the arm connector (1) and the tool connector (2), and avoid misalignment and separation of the first conductive terminal (15) and the second conductive terminal (25), causing the tool head (4) to lose its power supply. The operating condition can also avoid the misalignment of the first air hole (17) and the second air hole (27), causing the tool head (4) to fall off and be damaged by the robot arm (3).
前述之實施例或圖式並非限定本創作之機械手臂快換結構實施態樣，本創作亦可使手臂接頭（１）底面（１２）中央處設有一定位軸（２３），以及底面（１２）周緣處設有數定位凸部（２４），另使工具接頭（２）頂面（２１）中央處設一軸孔（１３），以及頂面（２１）周緣處設數定位凹部（１４），依此，同樣可達到使手臂接頭（１）與工具接頭（２）快速、準確對接效果，凡所屬技術領域中具有通常知識者所為之適當變化或修飾，皆應視為不脫離本創作之專利範疇。The foregoing embodiments or drawings are not limited to the implementation of the quick-change structure of the mechanical arm of this creation. In this creation, a positioning axis (23) and a bottom surface (12) can also be provided at the center of the bottom surface (12) of the arm joint (1). A number of positioning protrusions (24) are provided at the periphery, and a shaft hole (13) is provided at the center of the top surface (21) of the tool joint (2), and a number of positioning recesses (14) are provided at the periphery of the top surface (21). The same can be achieved to make the arm joint (1) and the tool joint (2) fast and accurate docking effect. Any appropriate changes or modifications made by those with ordinary knowledge in the technical field should be regarded as not departing from the patent scope of this creation.
由上述結構及實施方式可知，本創作係具有如下優點：As can be seen from the above structure and implementation, the creative department has the following advantages:
1.本創作之機械手臂快換結構係利用手臂接頭及工具接頭其頂、底面間隔所設之定位凹部與定位凸部對應嵌合設計，以達到防呆功效，而使第一、第二導電端子及第一、第二氣孔準確對位，達到快速換裝工具頭、提高生產效率等效果。1. The quick-change structure of the mechanical arm of this creation uses the corresponding fitting design of the positioning recesses and positioning protrusions set on the top and bottom surfaces of the arm joint and the tool joint to achieve the fool-proof effect and make the first and second conductive The terminals and the first and second air holes are accurately aligned, so that the tool head can be quickly replaced and the production efficiency can be improved.
2.本創作之機械手臂快換結構係利用手臂接頭及工具接頭其頂、底面所設之定位凹部與定位凸部對應嵌合設計，以避免手臂接頭及工具接頭對接後不當偏轉，造成第一、第二導電端子及第一、第二氣孔錯位分離情形，以確保工具頭穩定作動，及防止工具頭不當由機械手臂脫落損壞等情況。2. The mechanical arm quick change structure of this creation uses the corresponding fitting design of the positioning recesses and positioning protrusions provided on the top and bottom surfaces of the arm joint and the tool joint to avoid improper deflection after the arm joint and the tool joint are docked, causing the first The second conductive terminal and the first and second air holes are misaligned and separated to ensure the stable operation of the tool head and prevent the tool head from being damaged by the robot arm due to improper removal.
綜上所述，本創作之實施例確能達到所預期功效，又其所揭露之具體構造，不僅未曾見諸於同類產品中，亦未曾公開於申請前，誠已完全符合專利法之規定與要求，爰依法提出新型專利之申請，懇請惠予審查，並賜准專利，則實感德便。In summary, the embodiment of this creation can indeed achieve the expected effect, and the specific structure disclosed is not only not seen in similar products, nor has it been disclosed before the application. It has fully complied with the provisions of the Patent Law and If you request an application for a new type of patent in accordance with the law, you are kindly requested to review it and grant the patent.
（１）‧‧‧手臂接頭(1) ‧‧‧ arm joint
（１１）‧‧‧頂面(11) ‧‧‧ Top surface
（１２）‧‧‧底面(12) ‧‧‧ Underside
（１３）‧‧‧軸孔(13) ‧‧‧ Shaft hole
（１４）‧‧‧定位凹部(14) ‧‧‧ Positioning recess
（１５）‧‧‧第一導電端子(15) ‧‧‧ the first conductive terminal
（１６）‧‧‧第一氣嘴(16) ‧‧‧ the first gas nozzle
（１７）‧‧‧第一氣孔(17) The first air hole
（１８）‧‧‧手臂組立部(18) ‧‧‧ Arm Assembly
（２）‧‧‧工具接頭(2) ‧‧‧ tool joint
（２１）‧‧‧頂面(21) ‧‧‧ Top surface
（２２）‧‧‧底面(22) ‧‧‧ Underside
（２３）‧‧‧定位軸(23) ‧‧‧ positioning axis
（２４）‧‧‧定位凸部(24) ‧‧‧ Positioning convex
（２５）‧‧‧第二導電端子(25) ‧‧‧ The second conductive terminal
（２６）‧‧‧第二氣嘴(26) ‧‧‧ second gas nozzle
（２７）‧‧‧第二氣孔(27) The second air hole
（２８）‧‧‧工具頭組立盤(28) ‧‧‧ Tool head set
（３）‧‧‧機械手臂(3) ‧‧‧ Robotic arm
（４）‧‧‧工具頭(4) ‧‧‧ tool head
第一圖：本創作之立體分解圖The first picture: a three-dimensional exploded view of this creation
第二圖：本創作之另一立體分解圖Figure 2: Another three-dimensional exploded view of this creation
第三圖：本創作之剖視圖Figure 3: Sectional view of this creation
第四圖：本創作之另一剖視圖Figure 4: Another section view of this creation
第五圖：本創作之使用狀態圖Fifth picture: the use state diagram of this creation
第六圖：本創作之另一使用狀態圖Figure 6: Another use state diagram of this creation
Claims (6)
一手臂接頭，乃使該手臂接頭形成有相對之頂面及底面，並於該手臂接頭底面中央處設有一軸孔，又於該手臂接頭底面周緣處間隔設有數定位凹部；
至少一工具接頭，係使該工具接頭形成有相對之頂面及底面，且於該工具接頭頂面中央處設有一定位軸，以與該手臂接頭底面中央處之軸孔對應接合，又於該工具接頭頂面周緣處間隔設有數定位凸部，以分別與該手臂接頭底面周緣處之數定位凹部對應嵌合。 A quick-change structure of a robot arm, comprising:
An arm joint is such that the arm joint is formed with opposite top and bottom surfaces, and a shaft hole is provided at the center of the bottom surface of the arm joint, and a plurality of positioning recesses are spaced at the periphery of the bottom surface of the arm joint;
At least one tool joint is such that the tool joint is formed with opposite top and bottom surfaces, and a positioning shaft is provided at the center of the top surface of the tool joint to correspondingly engage with the shaft hole at the center of the bottom surface of the arm joint. A number of positioning protrusions are provided at intervals on the peripheral edge of the top surface of the tool joint to fit the number of positioning recesses on the peripheral edge of the bottom surface of the arm joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW108209889U TWM587102U (en) | 2019-07-29 | 2019-07-29 | Quick change structure of mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW108209889U TWM587102U (en) | 2019-07-29 | 2019-07-29 | Quick change structure of mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TWM587102U true TWM587102U (en) | 2019-12-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW108209889U TWM587102U (en) | 2019-07-29 | 2019-07-29 | Quick change structure of mechanical arm |
Country Status (1)
| Country | Link |
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| TW (1) | TWM587102U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11548171B2 (en) | 2019-10-30 | 2023-01-10 | Industrial Technology Research Institute | Robot arm, mechanical assembly and assembly method thereof |
| TWI828413B (en) * | 2022-11-10 | 2024-01-01 | 莊旭彬 | Clamping and positioning module |
-
2019
- 2019-07-29 TW TW108209889U patent/TWM587102U/en unknown
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11548171B2 (en) | 2019-10-30 | 2023-01-10 | Industrial Technology Research Institute | Robot arm, mechanical assembly and assembly method thereof |
| TWI828413B (en) * | 2022-11-10 | 2024-01-01 | 莊旭彬 | Clamping and positioning module |
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