CN210936802U - Locking mechanism for end effector and end effector with locking mechanism - Google Patents
Locking mechanism for end effector and end effector with locking mechanism Download PDFInfo
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- CN210936802U CN210936802U CN201921371882.7U CN201921371882U CN210936802U CN 210936802 U CN210936802 U CN 210936802U CN 201921371882 U CN201921371882 U CN 201921371882U CN 210936802 U CN210936802 U CN 210936802U
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Abstract
The utility model belongs to the automation equipment field, concretely relates to locking mechanism for end effector and have its end effector, through setting up cartridge complex locking socket and locking plug, and rotate on the locking socket and set up the check bar, be equipped with the stop structure in the locking passageway, when using, adjust the check bar to the position department that is noiseless with the locking passageway, the position that unlocks promptly, until the locking plug inserts the locking socket completely after, rotate the check bar to locking position, at this moment, locking portion and stop structure stop cooperation are injectd in locking position, only can resume unlocking position through reverse rotation, the utility model provides a locking device of end effector has the characteristics of dismantle nimble, fixed convenient, quick, can make operating personnel with locking portion accurate, quick dress change between unlocking position and locking position.
Description
Technical Field
The utility model belongs to the automation equipment field, concretely relates to locking mechanism for end effector and have its end effector.
Background
Along with the popularization of intelligent mill, the product of intelligent mill is to diversified development, the robot plays leading role in intelligent mill, the end effector is the frock clamp who is used for transmitting the process between car press line's the press, can absorb the stamping workpiece of various differences, realize "picking up" and "putting" the action of finished piece, greatly improve production efficiency, generally include the mobile jib, set up the end effector subassembly at the mobile jib both ends, absorb different stamping workpieces through the end effector subassembly. The replacement time of the end effector determines the working efficiency in daily production, and the carrying robot can carry articles quickly, stably and safely only by replacing different end effectors according to different needs.
Among the prior art, the patent document of grant publication No. CN206598304U provides a quick replacement end effector part, this patent document is through setting up the aperture of locking mechanism adjustment mounting hole, the horn of different models can be adapted to in aperture adjustable mounting hole, when locking, be provided with the cylindric lock hole that runs through the casing on the casing, after inserting the main connecting rod of end effector in the mounting hole back with locating hole and cylindric lock hole carry out counterpoint, insert the round pin, and then realize location locking, this location locking mode need be inserted repeatedly, there is the inconvenient operation, waste time and energy's problem.
SUMMERY OF THE UTILITY MODEL
The utility model provides a locking mechanism for end effector and have its end effector to solve the inconvenient problem of change operation of end effector among the prior art.
The utility model discloses a locking mechanism for end effector adopts following technical scheme: the locking mechanism for the end effector comprises a locking socket with a slot extending along the left-right direction and a locking plug inserted and matched with the slot, the locking plug is provided with a locking channel with an opening at the front end, the side wall of the locking channel is provided with a limit groove which is sunken towards the inside, the locking socket is rotatably provided with a locking rod which is provided with a locking part positioned in the slot and an operating part positioned outside the slot, the locking part is of a cam structure, the cam structure is provided with an unlocking position for entering the locking channel and a locking position which rotates to the limiting groove in the circumferential direction, a stopping structure matched with the locking part in a stopping way when the locking channel is in a locking position is arranged in the locking channel, the stopping structure is positioned on the rotation track of the locking part and can stop the locking part at the position of the locking position when the locking part rotates to the locking position from the unlocking position along the corresponding rotation direction.
Preferably, one end of the left end and the right end of the locking channel is an open end for the locking part to enter, the other end of the locking channel is a closed end, the closed end and the locking part are in stop fit with one side surface of the locking part when located at the locking position, and the closed end and the stop of the locking part are in stop fit to form the stop structure.
Preferably, the limiting groove is provided on one side wall of the locking channel.
Preferably, one end of the left end and the right end of the locking channel is an open end for the locking part to enter, the other end of the locking channel is a closed end, a stop block in stop fit with the locking part is arranged at a position of the closed end close to the limiting groove, so that the locking part is limited to rotate towards the closed end when the locking part is at the locking position, and the stop block and the stop of the locking part are matched to form the stop structure.
Preferably, the number of the limiting grooves is two, and the two limiting grooves are respectively a first limiting groove and a second limiting groove which are distributed on the two side walls of the locking channel in a relative manner.
Preferably, the operation portion comprises a locking handle arranged on one side of the locking portion and a buckle arranged on the other side of the locking portion.
Preferably, the locking plug is provided with a locking plug limiting baffle matched with the locking socket in a blocking manner.
Preferably, the locking plug limiting baffle is provided with a positioning pin hole, and the locking socket is provided with a positioning pin matched with the positioning pin hole.
Preferably, the locking plug is provided with two insertion blocks which extend along the left-right direction and are arranged at intervals up and down, and a locking channel for avoiding the locking rod is formed at the interval between the two insertion blocks.
The utility model discloses an end effector adopts following technical scheme:
the utility model provides an end effector, includes the end effector linking arm, be equipped with locking mechanism for the end effector on the end effector linking arm, the above-mentioned locking mechanism for the end effector of locking mechanism for the end effector technical scheme is the same, no longer gives unnecessary details.
The utility model has the advantages that:
the utility model provides a locking device of end effector is through setting up cartridge complex locking socket and locking plug to rotate on locking socket and set up the check lever, be equipped with the block structure in the locking passageway, when using, adjust the check lever to the position department that does not have an interference with the locking passageway, unlock the position promptly, insert the locking socket back completely until the locking plug, rotate the check lever to locking the position, at this moment, locking portion and block structure block cooperation are injectd in locking the position, only can resume unlocking the position through reverse rotation, the utility model provides an end effector's locking device has dismantlement flexibility, fixed convenient, quick characteristics, can make operating personnel with locking portion accurate, quick dress change between unlocking the position and locking position.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic structural view of a specific embodiment of a locking plug of a locking device of an end effector of the present invention;
FIG. 2 is a right side view of FIG. 1;
fig. 3 is a schematic structural view of a locking receptacle of the locking device of the end effector of the present invention;
FIG. 4 is a right side view of FIG. 3;
fig. 5 is a schematic structural view of an embodiment of the locking device of the end effector of the present invention when the locking portion is in the unlocked position;
fig. 6 is a schematic structural view of an embodiment of the locking device of the end effector of the present invention when the locking portion is in the locking position;
fig. 7 is a schematic view showing the distribution of the locking socket on the connecting arm of the end effector of the present invention;
fig. 8 is a schematic structural view of another embodiment of a locking plug of the locking device of the end effector of the present invention;
FIG. 9 is a right side view of FIG. 8;
fig. 10 is a schematic structural view of another embodiment of the locking device of the end effector of the present invention with the locking portion in the unlocked position;
fig. 11 is a schematic structural view of another embodiment of the locking device of the end effector of the present invention when the locking portion is in the locking position;
reference numerals:
1: locking the plug; 2: locking the channel; 3: a trachea socket; 4: a positioning pin hole; 5: locking the plug limiting baffle; 6: a gas pipe plug; 7: a locking portion; 8: positioning pins; 9: locking the handle; 10: locking the socket; 11: buckling; 12: an air tube; 13: a robotic arm locking plate; 14: an end effector attachment arm; 15: a limiting groove; 16: a slot; 17: a closed end; 18: a stop block; 19: a big head end; 20: a small end; 21: a first limit groove; 22: a second limit groove; 23: an eccentric rotating shaft.
Detailed Description
In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be embodied in many other forms than those specifically described herein and similar modifications can be made by one skilled in the art without departing from the spirit and scope of the invention and, therefore, the invention is not limited to the embodiments of the substrate disclosed below.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and similar expressions are used herein for illustrative purposes only and do not represent the only embodiments.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The utility model discloses an embodiment of locking mechanism for end effector, as shown in fig. 1 to 7, locking mechanism for end effector, including locking socket 10 that has slot 16 along left right direction extension, with slot 16 cartridge complex locking plug 1, be equipped with front end open-ended locking passageway 2 on the locking plug 1, to its inside sunken spacing groove 15 on the lateral wall of locking passageway 2, it is provided with the check lock lever to rotate on the locking socket 10, the check lock lever has locking portion 7 that is arranged in slot 16 and is arranged in the outside operating part of slot 16, locking portion 7 is cam structure, cam structure has the position of separating the lock that is arranged in entering into locking passageway 2 and circumferential direction to spacing groove 15 in the locking position, be equipped with in the locking passageway 2 and stop complex block structure when locking portion 7 is in the locking position, block structure is located locking portion 7 can be in locking portion 7 by separating the locking position along corresponding direction of rotation to locking position when locking position rotate on locking portion 7 rotation track In position, the cam structure has an eccentric axis of rotation 23 and a large head end 19 and a small head end 20 distributed relative to the eccentric axis of rotation 23. Through setting up cartridge complex locking socket 10 and locking plug 1 to rotate on locking socket 10 and set up the check lever, be equipped with the block structure in the locking passageway 2, when using, adjust the check lever to the position department that does not have an interference with the locking passageway, unlock the position promptly, until after locking plug inserts the locking socket completely, rotate locking lever 7 to locking position, at this moment, locking portion 7 and block structure block cooperation are injectd in locking position, only can resume unlocking the position through reverse rotation, the utility model provides a locking device of end effector has the characteristics of dismantle nimble, fixed convenient, quick, can make operating personnel with locking portion accurate, quick dress change between unlocking the position and locking position.
Further, one of the left and right ends of the locking channel 2 is an open end for the locking part 7 to enter, and the other end is a closed end 17, the closed end 17 is in stop fit with one side of the locking part 7 when the locking part is in the locking position, the closed end 17 is in stop fit with the side of the locking part 7 to form a stop structure, specifically, the limiting groove 15 is arranged on one side wall of the locking channel 2, and the closed end 17 is perpendicular to the other side wall. The large head end 19 and the small head end 20 of the locking portion 7 are both arc surfaces, and the centers of the two arc surfaces are coincident and are coincident with the eccentric rotating shaft 23 of the cam structure, it should be noted that, in this embodiment, the side surface between the large head end 19 and the small head end 20 of the cam structure is a plane, one of the planes and the closed end 17 are in contact with each other when the locking portion 7 is in the locking position, so as to stop the rotation of the locking portion 7, and in this embodiment, the angle of rotation of the locking portion 7 around the rotating shaft is 90 ° when the locking portion 7 is switched from the unlocking position to the locking position.
Further, the operation portion includes a locking handle 9 disposed at one side of the locking portion and a buckle 11 disposed at the other side of the locking portion, and the length of the locking portion 7 can be set according to the size of the locking socket 10. The locking handle 9 in this embodiment is a bent structure, specifically a right-angled bent structure, which is convenient for adjustment and operation.
Furthermore, a locking plug limiting baffle 5 in stop fit with the locking socket 10 is arranged on the locking plug 1, a positioning pin hole 4 is arranged on the locking plug limiting baffle 5, a positioning pin 8 matched with the positioning pin hole 4 is arranged on the locking socket 10, and the positioning pin 8 is arranged to be capable of pre-positioning, so that the plug can smoothly enter the slot 16. The locking socket 10 is provided with an air pipe plug 6, and the locking plug limiting baffle 5 is provided with an air pipe socket 3 matched with the air pipe plug 6.
Further, locking plug 1 has two inserted blocks that extend and upper and lower interval set up along left right direction, and the interval between two inserted blocks forms the locking passageway 2 that is used for dodging locking portion 7, and two inserted blocks all have relative plane each other, with the arc surface of the inner wall looks adaptation of slot 16, and then avoid taking place to rock when locking state, have improved the stability of operation.
It should be noted that, in other embodiments of the present invention, the notch may be perpendicular to the radial direction of the locking rod, or may have a certain inclination angle; the locking rod can also be a rod-shaped structure with other sections in the shape of a cam; the height of the locking channel in the vertical direction is not less than the height of the locking rod in the vertical direction of the projection in the left-right direction at the position where the notch is formed; the position of the locking rod notch can be a semicircular columnar structure, and also can be a notch with other shapes formed by cutting a tangent plane extending along the left and right directions of the locking rod notch; the locking handle can be provided with protective grains; the number of the positioning pins can be 3 or 4; the insert block can extend to the position of the limit baffle of the locking plug and can also only extend to the position matched with the locking rod.
The utility model discloses an end effector uses another embodiment of locking mechanism. As shown in fig. 8 to 11, the locking mechanism for an end effector of the present embodiment is different from the above embodiments in that one of the left and right ends of the locking channel 2 is an open end into which the locking portion enters, the other end is a closed end 17, a stop block 18 for stop-fitting with the locking portion is provided at a position of the closed end close to the limit groove, and further, the locking portion 7 is restricted from rotating toward the closed end 17 when in the locking position, and the stop block 18 forms a stop structure in stop-fitting engagement with the locking portion 7, specifically, the stop block 18 has a stop surface in abutting contact with the locking portion.
In this embodiment, the number of the limiting grooves is two, and the two limiting grooves are respectively a first limiting groove 21 and a second limiting groove 22 which are distributed on two side walls of the locking channel, wherein the first limiting groove 21 is adapted to the rotation track of the large head end 19, the second limiting groove 22 is adapted to the rotation track of the small head end 20, when the locking rod is in the unlocking position, the large head end 19 and the small head end 20 are located at left and right opposite positions, the side surface between the large head end 19 and the small head end 20 of the locking portion 7 is two planes which are opposite up and down, the distance between the two planes is adapted to the height of the locking channel 2 so that the locking portion can enter the locking channel 2, when the locking rod is rotated, the large head end 19 rotates towards the position of the first limiting groove 21, the small head end 20 rotates towards the position of the second limiting groove 22, and after the rotation of 90 degrees, the large head end 19 and the small head end 20 are located at up and down opposite positions, and the locking portion 7 is maintained in the locking position by the stopping action of the stopper 18.
It should be noted that the shape of the closed end may be a circular arc surface adapted to the small end, or a plane having a certain distance from the small end when the closed end is subjected to dissociation locking; the shape of the stop block can be a spherical shape or a cylindrical rod-shaped structure extending along the front-back direction, and the locking parts can continuously extend along the front-back direction or be distributed at intervals along the front-back direction.
The utility model discloses an embodiment of end effector. The end effector comprises an end effector connecting arm, wherein the end effector connecting arm is provided with a locking mechanism for the end effector, and the locking mechanism for the end effector is the same as the specific implementation mode of the locking mechanism for the end effector and is not repeated.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. Locking mechanism for end effector, including have along the locking socket of the slot of left right direction extension, with slot cartridge complex locking plug, its characterized in that: the locking plug is provided with a locking channel with an opening at the front end, the side wall of the locking channel is provided with a limiting groove sunken towards the inside, a locking rod is rotatably arranged on the locking socket and provided with a locking part in the slot and an operating part outside the slot, the locking part is of a cam structure, the cam structure is provided with an unlocking position used for entering the locking channel and a locking position circumferentially rotating to the limiting groove, the locking channel is internally provided with a stopping structure matched with the locking part in the locking position, and the stopping structure is positioned on the rotating track of the locking part and can stop the locking part at the position of the locking position when the locking part rotates to the locking position from the unlocking position along the corresponding rotating direction.
2. The end effector locking mechanism of claim 1, wherein: one end of the left end and the right end of the locking channel is an opening end for the locking part to enter, the other end of the locking channel is a closed end, the closed end and the locking part are in stop fit with one side face of the locking part when located at the locking position, and the closed end and the stop of the locking part are matched to form the stop structure.
3. The end effector locking mechanism of claim 2, wherein: the limiting groove is arranged on one side wall of the locking channel.
4. The end effector locking mechanism of claim 1, wherein: one end of the left end and the right end of the locking channel is an open end for the locking part to enter, the other end of the locking channel is a closed end, a stop block matched with the locking part in a stop mode is arranged at the position, close to the limiting groove, of the closed end, the locking part is further limited to rotate towards the closed end when the locking part is located at the locking position, and the stop block is matched with the stop of the locking part to form the stop structure.
5. The end effector locking mechanism of claim 4, wherein: the number of the limiting grooves is two, and the two limiting grooves are respectively a first limiting groove and a second limiting groove which are distributed on the two side walls of the locking channel in a relative mode.
6. The end effector locking mechanism according to any one of claims 1 to 5, wherein: the operation portion comprises a locking handle arranged on one side of the locking portion and a buckle arranged on the other side of the locking portion.
7. The end effector locking mechanism of claim 6, wherein: and the locking plug is provided with a locking plug limiting baffle matched with the locking socket in a blocking way.
8. The end effector locking mechanism of claim 7, wherein: the locking plug limiting baffle is provided with a positioning pin hole, and the locking socket is provided with a positioning pin matched with the positioning pin hole.
9. The end effector locking mechanism of claim 8, wherein: the locking plug is provided with two insertion blocks which extend along the left-right direction and are arranged at intervals up and down, and a locking channel for avoiding the locking rod is formed at the interval between the two insertion blocks.
10. End effector, including end effector linking arm, be equipped with locking mechanism for end effector on the end effector linking arm, its characterized in that: the end effector locking mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371882.7U CN210936802U (en) | 2019-08-22 | 2019-08-22 | Locking mechanism for end effector and end effector with locking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921371882.7U CN210936802U (en) | 2019-08-22 | 2019-08-22 | Locking mechanism for end effector and end effector with locking mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210936802U true CN210936802U (en) | 2020-07-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921371882.7U Active CN210936802U (en) | 2019-08-22 | 2019-08-22 | Locking mechanism for end effector and end effector with locking mechanism |
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|---|---|
| CN (1) | CN210936802U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449524A (en) * | 2019-08-22 | 2019-11-15 | 河南速达电动汽车科技有限公司 | Terminal-collecting machine retaining mechanism and terminal-collecting machine with it |
-
2019
- 2019-08-22 CN CN201921371882.7U patent/CN210936802U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110449524A (en) * | 2019-08-22 | 2019-11-15 | 河南速达电动汽车科技有限公司 | Terminal-collecting machine retaining mechanism and terminal-collecting machine with it |
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