CN114888840A - 3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism - Google Patents
3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism Download PDFInfo
- Publication number
- CN114888840A CN114888840A CN202210605976.6A CN202210605976A CN114888840A CN 114888840 A CN114888840 A CN 114888840A CN 202210605976 A CN202210605976 A CN 202210605976A CN 114888840 A CN114888840 A CN 114888840A
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- CN
- China
- Prior art keywords
- mechanical arm
- clamp
- connecting seat
- fixed
- clamping jaw
- 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.)
- Pending
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Classifications
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- 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
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
- B25J15/026—Gripping heads and other end effectors servo-actuated comprising parallel grippers actuated by gears
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
- B25J19/0083—Means for protecting the manipulator from its environment or vice versa using gaiters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a clamp with a clamp replacing mechanism for a 3D visual feeding robot, which comprises a mechanical arm, a mechanical arm connecting seat and a clamp body, wherein the clamp body is clamped and released by taking a motor as a power source, the clamp body is fixed on the mechanical arm connecting seat, a conductive mechanism and an electric mechanical arm locking mechanism are arranged inside the mechanical arm connecting seat, an electric power conveying mechanism matched with the conductive mechanism is arranged at the end part of the mechanical arm, the mechanical arm is inserted into the mechanical arm connecting seat and is fixed through the electric mechanical arm locking mechanism, a wireless signal transmitter is fixed on the mechanical arm, and a PLC (programmable logic controller) is fixed on the mechanical arm connecting seat; the invention can realize the quick installation and disassembly of the clamp.
Description
Technical Field
The invention relates to the technical field of robot clamps, in particular to a clamp with a clamp replacing mechanism for a 3D vision feeding robot.
Background
The loading and unloading robot can meet the requirements of rapid large-batch processing takt, labor cost saving, production efficiency improvement and the like, becomes an ideal choice for more and more factories, mainly realizes the full automation of the machine tool manufacturing process, adopts an integrated processing technology, is suitable for loading and unloading, workpiece overturning, workpiece sequence changing and the like of a production line, and adopts a special machine or a manual mode for loading and unloading the machine tool in domestic machining.
The material loading robot is at the during operation, needs to change the anchor clamps on the arm according to the in-service use condition, and current change mode generally goes on through the manual work, not only changes inefficiency, and has the fixed not problem in place of installation easily, influences the use of anchor clamps.
Disclosure of Invention
The invention aims to provide a clamp with a clamp replacing mechanism for a 3D visual feeding robot, and the clamp is used for solving the problems in the prior art.
In order to realize the purpose, the invention provides the following technical scheme: the utility model provides a 3D vision loading robot is with anchor clamps that have anchor clamps and change mechanism, includes arm, arm connecting seat and anchor clamps body, and the anchor clamps body is realized the centre gripping and is relaxed as the power supply by the motor, the anchor clamps body is fixed on the arm connecting seat, the inside of arm connecting seat is provided with electrically conductive mechanism and motor arm locking mechanism, the tip of arm is provided with the electric power transmission mechanism with electrically conductive mechanism complex, the arm is pegged graft in the inside of arm connecting seat and is fixed through motor arm locking mechanism, be fixed with wireless transmitter on the arm, be fixed with the PLC controller on the arm connecting seat.
Preferably, the fixed connector that is provided with in the end of arm, one side of connector is provided with fixes the ring gear on the arm surface, one side of ring gear is provided with the locating plate of fixing on the arm surface, the inside of arm connecting seat is provided with the arm interface, and the upper portion and the lower part of arm interface are provided with an electric mechanical arm locking mechanism who installs on the arm connecting seat respectively, electric mechanical arm locking mechanism comprises electric putter and locking block.
Preferably, the end of the locking block is provided with a tooth groove.
Preferably, the anchor clamps body comprises clamping jaw mounting bracket, two-way lead screw, clamping jaw and lead screw driving motor, two-way lead screw is installed in the inside of clamping jaw mounting bracket, the clamping jaw is provided with two and the both sides at two-way lead screw are installed to the symmetry, and the clamping jaw extends the clamping jaw mounting bracket, the one end of two-way lead screw is extended clamping jaw mounting bracket and fixed mounting has driven gear, lead screw driving motor fixes on the clamping jaw mounting bracket, be fixed with the driving gear on lead screw driving motor's the power output shaft, and driving gear and driven gear meshing.
Preferably, the surface of one side of the conductive mechanism is provided with a positive conductive groove and a negative conductive groove which are different in diameter, the positive conductive groove, the negative conductive groove and the conductive mechanism are arranged in a same circle, and the power transmission mechanism is composed of a positive conductive ring and a negative conductive ring which are matched with the positive conductive groove and the negative conductive groove.
Preferably, the clamp body is further fixed with a protective cover, and the protective cover covers the outside of the screw rod driving motor, the driving gear and the driven gear.
Preferably, the bidirectional screw rod is connected with the clamping jaw mounting frame through a bearing.
Compared with the prior art, the invention has the beneficial effects that: after the mechanical arm is inserted into the mechanical arm connecting seat, the electric power transmission mechanism at the end part of the mechanical arm can be contacted with the conductive mechanism in the mechanical arm connecting seat, so that electric energy can be transmitted to the clamp body, the electric mechanical arm locking mechanism and the PLC controller, the PLC controller can receive an instruction sent by the wireless signal transmitter after being electrified, then the PLC controller controls the electric mechanical arm locking mechanism to work according to the instruction, so that the electric mechanical arm locking mechanism locks the mechanical arm, and meanwhile, the PLC controller can also control the operation of the clamp body by receiving the instruction sent by the wireless signal transmitter, and the clamp can be installed and disassembled in the mode;
electric mechanical arm locking mechanism is when pressing from both sides tightly, and electric putter promotes the latch segment and presss from both sides the ring gear on the tight arm of clamp, simultaneously through the interlock of latch segment and ring gear, can prevent to produce rotatoryly between arm and the arm connecting seat, and locating plate and connector can be spacing to the latch segment from the both sides of ring gear in addition, when improving the joint strength of arm and arm connecting seat, also can prevent that arm and arm connecting seat from producing relative slip.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic view of the overall internal structure of the invention;
FIG. 2 is a schematic view of the end of the inventive robotic arm;
FIG. 3 is a schematic view of the internal structure of the robot arm connecting seat and the clamp body of the present invention;
fig. 4 is a schematic side view of the inventive conductive mechanism.
In the figure: 1. a mechanical arm; 2. a mechanical arm connecting seat; 3. a clamp body; 4. a negative conductive tank; 5. a wireless signal transmitter; 6. positioning a plate; 7. a ring gear; 8. a connector; 9. a positive conductive slot; 10. an electric push rod; 11. a locking block; 12. a mechanical arm socket; 13. a conductive mechanism; 14. a PLC controller; 15. a jaw mounting bracket; 16. A bidirectional screw rod; 17. a clamping jaw; 18. a driven gear; 19. a driving gear; 20. a protective cover; 21. the screw rod drives the motor.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the invention, are within the scope of the invention. Thus, the following detailed description of the embodiments of the invention presented in the figures is not intended to limit the scope of the claimed invention, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the invention, are within the scope of the invention.
Referring to fig. 1-4, in the embodiment of the invention, a clamp with a clamp replacing mechanism for a 3D vision feeding robot comprises a mechanical arm 1, a mechanical arm connecting seat 2 and a clamp body 3, wherein the clamp body 3 is clamped and released by using a motor as a power source, the clamp body 3 is fixed on the mechanical arm connecting seat 2, a conductive mechanism 13 and an electric mechanical arm locking mechanism are arranged inside the mechanical arm connecting seat 2, an electric power transmission mechanism matched with the conductive mechanism 13 is arranged at the end of the mechanical arm 1, the mechanical arm 1 is inserted into the mechanical arm connecting seat 2 and fixed by the electric mechanical arm locking mechanism, a wireless signal transmitter 5 is fixed on the mechanical arm 1, a PLC controller 14 is fixed on the mechanical arm connecting seat 2, the PLC controller 14 is connected with the wireless signal transmitter 5 by a wireless signal, and the PLC controller 14 is connected with the electric mechanical arm locking mechanism by a wire, The clamp body 3 is electrically connected, and the conductive mechanism 13 is electrically connected with the PLC 14 through a lead.
The working principle of the invention is as follows: after the mechanical arm 1 is inserted into the mechanical arm connecting seat 2, the electric power transmission mechanism at the end of the mechanical arm 1 can be in contact with the conductive mechanism 13 in the mechanical arm connecting seat 2, so that electric energy can be transmitted to the clamp body 3, the electric mechanical arm locking mechanism and the PLC 14, the PLC 14 can receive an instruction sent by the wireless signal transmitter 5 after being electrified, then the PLC 14 controls the electric mechanical arm locking mechanism to work according to the instruction, the electric mechanical arm locking mechanism locks the mechanical arm 1, and meanwhile, the PLC 14 can also control the operation of the clamp body 3 by receiving the instruction sent by the wireless signal transmitter 5.
The tail end of the mechanical arm 1 is fixedly provided with a connector 8, one side of the connector 8 is provided with a gear ring 7 fixed on the surface of the mechanical arm 1, one side of the gear ring 7 is provided with a positioning plate 6 fixed on the surface of the mechanical arm 1, a mechanical arm socket 12 is arranged inside the mechanical arm connecting seat 2, the upper part and the lower part of the mechanical arm socket 12 are respectively provided with an electric mechanical arm locking mechanism arranged on the mechanical arm connecting seat 2, the electric mechanical arm locking mechanism consists of an electric push rod 10 and a locking block 11, and the end part of the locking block 11 is provided with a tooth socket;
electric mechanical arm locking mechanism is when pressing from both sides tightly, electric putter 10 promotes latch segment 11 and presss from both sides ring gear 7 on the tight arm 1 of clamp, simultaneously through the interlock of latch segment 11 with ring gear 7, can prevent to produce rotatoryly between arm 1 and the arm connecting seat 2, locating plate 6 and connector 8 can be spacing to latch segment 11 from the both sides of ring gear 7 in addition, when improving the joint strength of arm 1 and arm connecting seat 2, also can prevent that arm 1 and arm connecting seat 2 from producing relative slip.
The clamp body 3 consists of a clamping jaw mounting frame 15, a bidirectional screw rod 16, a clamping jaw 17 and a screw rod driving motor 21, wherein the bidirectional screw rod 16 is mounted inside the clamping jaw mounting frame 15, the clamping jaws 17 are provided with two clamping jaws and symmetrically mounted on two sides of the bidirectional screw rod 16, the clamping jaw 17 extends out of the clamping jaw mounting frame 15, one end of the bidirectional screw rod 16 extends out of the clamping jaw mounting frame 15 and is fixedly provided with a driven gear 18, the screw rod driving motor 21 is fixed on the clamping jaw mounting frame 15, a driving gear 19 is fixed on a power output shaft of the screw rod driving motor 21, and the driving gear 19 is meshed with the driven gear 18;
the bidirectional screw rod 16 can be driven to rotate by the screw rod driving motor 21, and the two clamping jaws 17 arranged on the bidirectional screw rod 16 can be mutually far away or mutually close according to the rotating direction of the bidirectional screw rod 16, so that the clamping and releasing functions of the clamp body 3 are realized.
The surface of one side of the conductive mechanism 13 is provided with a positive conductive groove 9 and a negative conductive groove 4 with unequal diameters, the positive conductive groove 9, the negative conductive groove 4 and the conductive mechanism 13 are arranged in a same circle, and the power transmission mechanism is composed of a positive conductive ring and a negative conductive ring which are matched with the positive conductive groove 9 and the negative conductive groove 4.
The clamp body 3 is further fixed with a protective cover 20, and the protective cover 20 covers the screw rod driving motor 21, the driving gear 19 and the driven gear 18.
The bidirectional screw rod 16 is connected with the clamping jaw mounting frame 15 through a bearing.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that changes may be made in the embodiments and/or equivalents thereof without departing from the spirit and scope of the invention as defined in the following claims. Any modification, equivalent replacement, or improvement made within the spirit and principle of the invention should be included in the protection scope of the invention.
Claims (7)
1. The utility model provides a 3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism, includes arm (1), arm connecting seat (2) and anchor clamps body (3), and anchor clamps body (3) are realized the centre gripping as the power supply by the motor and are relaxed its characterized in that: the clamp comprises a clamp body (3) and is characterized in that the clamp body is fixed on a mechanical arm connecting seat (2), a conductive mechanism (13) and an electric mechanical arm locking mechanism are arranged inside the mechanical arm connecting seat (2), an electric power transmission mechanism matched with the conductive mechanism (13) is arranged at the end part of a mechanical arm (1), the mechanical arm (1) is inserted into the mechanical arm connecting seat (2) and fixed through the electric mechanical arm locking mechanism, a wireless signal transmitter (5) is fixed on the mechanical arm (1), and a PLC (programmable logic controller) (14) is fixed on the mechanical arm connecting seat (2).
2. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 1, wherein: the end of arm (1) is fixed and is provided with connector (8), one side of connector (8) is provided with fixes ring gear (7) on arm (1) surface, one side of ring gear (7) is provided with fixes locating plate (6) on arm (1) surface, the inside of arm connecting seat (2) is provided with arm interface (12), and the upper portion and the lower part of arm interface (12) are provided with an electric mechanical arm locking mechanism who installs on arm connecting seat (2) respectively, electric mechanical arm locking mechanism comprises electric putter (10) and latch segment (11).
3. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 2, wherein: the end part of the locking block (11) is provided with a tooth groove.
4. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 2, wherein: anchor clamps body (3) comprise clamping jaw mounting bracket (15), two-way lead screw (16), clamping jaw (17) and lead screw driving motor (21), install in the inside of clamping jaw mounting bracket (15) two-way lead screw (16), clamping jaw (17) are provided with two and the symmetry and install the both sides at two-way lead screw (16), and clamping jaw (17) extend clamping jaw mounting bracket (15), the one end of two-way lead screw (16) is extended clamping jaw mounting bracket (15) and fixed mounting has driven gear (18), lead screw driving motor (21) are fixed on clamping jaw mounting bracket (15), be fixed with driving gear (19) on the power output shaft of lead screw driving motor (21), and driving gear (19) and driven gear (18) meshing.
5. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 4, wherein: the power transmission mechanism is characterized in that a positive conductive groove (9) and a negative conductive groove (4) with unequal diameters are arranged on the surface of one side of the conductive mechanism (13), the positive conductive groove (9), the negative conductive groove (4) and the conductive mechanism (13) are arranged in a same circle, and the power transmission mechanism is composed of a positive conductive ring and a negative conductive ring which are matched with the positive conductive groove (9) and the negative conductive groove (4).
6. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 5, wherein: the clamp is characterized in that a protective cover (20) is further fixed on the clamp body (3), and the protective cover (20) covers the outer portions of the screw rod driving motor (21), the driving gear (19) and the driven gear (18).
7. The clamp with the clamp replacing mechanism for the 3D visual feeding robot according to claim 6, wherein: the bidirectional screw rod (16) is connected with the clamping jaw mounting frame (15) through a bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605976.6A CN114888840A (en) | 2022-05-31 | 2022-05-31 | 3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210605976.6A CN114888840A (en) | 2022-05-31 | 2022-05-31 | 3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114888840A true CN114888840A (en) | 2022-08-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210605976.6A Pending CN114888840A (en) | 2022-05-31 | 2022-05-31 | 3D vision material loading robot is with anchor clamps that have anchor clamps and change mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114888840A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208634493U (en) * | 2018-08-08 | 2019-03-22 | 河北荣星机械配件有限公司 | A kind of valve hand wheel component facilitating maintenance |
| CN210282266U (en) * | 2019-07-10 | 2020-04-10 | 大连盛世精密机械有限公司 | Robot for taking out die casting machine |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN213146236U (en) * | 2020-09-07 | 2021-05-07 | 惠州市西顿工业发展有限公司 | Mounting structure convenient to freely switch lamp body |
| CN213765889U (en) * | 2020-08-25 | 2021-07-23 | 厦门众合天元科技有限公司 | Industrial robot with conveniently replaced manipulator |
| CN214756855U (en) * | 2021-05-27 | 2021-11-16 | 西安闻泰信息技术有限公司 | Earphone charger, earphone and earphone assembly |
| CN113977616A (en) * | 2021-10-29 | 2022-01-28 | 九江学院 | Manipulator is used in electronic component production |
| CN216237915U (en) * | 2021-09-10 | 2022-04-08 | 刘广泉 | Novel tractor track adjusting structure for port service |
-
2022
- 2022-05-31 CN CN202210605976.6A patent/CN114888840A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN208634493U (en) * | 2018-08-08 | 2019-03-22 | 河北荣星机械配件有限公司 | A kind of valve hand wheel component facilitating maintenance |
| CN210282266U (en) * | 2019-07-10 | 2020-04-10 | 大连盛世精密机械有限公司 | Robot for taking out die casting machine |
| CN111230917A (en) * | 2020-02-21 | 2020-06-05 | 江苏工程职业技术学院 | Industrial robot clamping structure |
| CN213765889U (en) * | 2020-08-25 | 2021-07-23 | 厦门众合天元科技有限公司 | Industrial robot with conveniently replaced manipulator |
| CN213146236U (en) * | 2020-09-07 | 2021-05-07 | 惠州市西顿工业发展有限公司 | Mounting structure convenient to freely switch lamp body |
| CN214756855U (en) * | 2021-05-27 | 2021-11-16 | 西安闻泰信息技术有限公司 | Earphone charger, earphone and earphone assembly |
| CN216237915U (en) * | 2021-09-10 | 2022-04-08 | 刘广泉 | Novel tractor track adjusting structure for port service |
| CN113977616A (en) * | 2021-10-29 | 2022-01-28 | 九江学院 | Manipulator is used in electronic component production |
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