CN212312060U - Mechanical arm and buckle type quick-change structure thereof - Google Patents
Mechanical arm and buckle type quick-change structure thereof Download PDFInfo
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- CN212312060U CN212312060U CN202022858837.3U CN202022858837U CN212312060U CN 212312060 U CN212312060 U CN 212312060U CN 202022858837 U CN202022858837 U CN 202022858837U CN 212312060 U CN212312060 U CN 212312060U
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- change structure
- clamping jaw
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- 230000008878 coupling Effects 0.000 claims description 8
- 238000010168 coupling process Methods 0.000 claims description 8
- 238000005859 coupling reaction Methods 0.000 claims description 8
- 238000010276 construction Methods 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000013078 crystal Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
The utility model provides an arm and buckle formula quick change structure thereof. The buckle type quick-change structure comprises a connecting piece and a clamping jaw module, wherein one end of the connecting piece is provided with an installation part which can be connected with the mechanical arm, and the other end of the connecting piece is provided with a connecting male head; the male connecting head comprises an inserting part and a clamping part, and the clamping part is connected to the tail end of the inserting part and elastically extends towards the direction of the mounting part; the clamping jaw module comprises a clamping end and a connecting female head arranged on one side of the clamping end, a clamping groove matched with the inserting portion is formed in the connecting female head, and a clamping surface matched with the clamping portion is formed in the clamping groove. Compared with the prior art, the utility model provides a simple and easy quick replacement of buckle formula quick change structure need not external equipment, need not complicated circuit or pneumatic structure, only has the requirement in that the clamping jaw is structural.
Description
Technical Field
The utility model relates to a machine arm clamping jaw technical field especially relates to a mechanical arm and buckle formula quick change structure thereof.
Background
In the development process of green and intelligent industries, industrial robots develop rapidly, and the automatic and unmanned production mode is approved by the production field.
Nowadays, the development of cooperative robots is more and more mature, and one robot is used for various tasks. The robot quick-change clamping jaw device is an important part of a robot system, has the characteristic of carrying multiple tools for assembly, enables the robot to have the function of automatically exchanging tools, and greatly enlarges the application range of the robot.
How to effectively realize the quick replacement of the robot clamping jaw is the key point of the current industry research.
The existing quick-change structure generally adopts pneumatic quick change or electromagnetic quick change, has higher cost, needs an external power supply or an air source, has various wiring and is limited in use.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an arm and buckle formula quick change structure thereof can improve the robot work efficiency.
The technical scheme of the utility model is that: a buckle type quick-change structure comprises a connecting piece and a clamping jaw module, wherein one end of the connecting piece is provided with a mounting part which can be connected with a mechanical arm, and the other end of the connecting piece is provided with a connecting male head; the male connecting head comprises an inserting part and a clamping part, and the clamping part is connected to the tail end of the inserting part and elastically extends towards the direction of the mounting part; the clamping jaw module comprises a clamping end and a connecting female head arranged on one side of the clamping end, a clamping groove matched with the inserting portion is formed in the connecting female head, and a clamping surface matched with the clamping portion is formed in the clamping groove.
In the above scheme, through the male head of being connected that has insertion part and joint portion and the female first cooperation of being connected that has draw-in groove and joint face, can realize clamping jaw module's quick replacement, improve the robot work efficiency.
Preferably, the clamping jaw device further comprises a base module for placing the clamping jaw module, a placing groove is arranged in the base module, a stop block is vertically arranged at one end or two ends of the placing groove, a convex block is arranged at the top end of the stop block, and the convex block is arranged towards one side of the placing groove; the height of the convex block is matched with the height of the clamping part of the connecting piece inserted behind the clamping jaw module.
The base module is arranged, so that the clamping jaw module can be automatically replaced through the action of the mechanical arm.
Preferably, the bottom of the base module is provided with a fixing pin for fixing the base module, the fixing pin horizontally protrudes from the side wall of the base module, and a mounting hole is formed at the protruding part.
Adopt the fixed mode of detachable through the mounting hole, can be fixed in the optional position of needs with the base module, the flexibility is high.
Preferably, the jaw modules are slidable in the length direction of the standing groove. Like this, a plurality of clamping jaw modules can be placed to the standing groove, and perhaps, the standing groove provides the operation space for clamping or the change of clamping jaw module.
Preferably, the connecting piece is of a bent L-shaped structure, the mounting portion is arranged on one bent edge, and the connecting male head is arranged at the tail end of the other bent edge.
Preferably, the clamping end is any one of a two-finger clamping jaw, a three-finger clamping jaw or a sucker clamping jaw. The realization of diversified processing modes of one machine is facilitated.
The utility model also provides a mechanical arm, including installing the terminal foretell buckle formula quick change structure of mechanical arm.
Compared with the prior art, the beneficial effects of the utility model are that: the structure is simple, the quick replacement is easy, the operation can be completed without professional persons, and the labor cost is saved; the cost is lower, and is much lower compared with the pneumatic quick change and the electromagnetic quick change which are popular in the market; no external equipment is needed, no complex circuit or pneumatic structure is needed, and only the requirements on the structure of the clamping jaw are met.
Drawings
Fig. 1 is a schematic structural view of a coupling member in a snap-in quick-change structure provided by the present invention;
fig. 2 is a schematic structural view of a female connection head in the snap-in quick-change structure provided by the present invention;
FIG. 3 is a schematic cross-sectional view of the card slot of FIG. 2;
fig. 4 is a schematic structural diagram of a base module in the buckle-type quick-change structure provided by the present invention;
fig. 5 is a schematic view of the snap-in quick-change structure provided by the present invention when the coupling member is inserted;
fig. 6 is a schematic diagram of the snap-in quick-change structure according to the present invention after the coupling member is inserted;
fig. 7 is an enlarged schematic view of a portion a in fig. 6.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.
As shown in fig. 4, the present embodiment provides a snap-in quick-change structure including a coupler 1, a jaw module 4 and a base module 7.
As shown in fig. 1, the coupling member 1 is a bent L-shaped structure, a bending edge is a mounting portion 2, and a plurality of mounting holes are distributed on the mounting portion 2 and are used for being correspondingly connected with the robot arm. The other end of the bent edge of the connecting piece 1 is provided with a connecting male head 3.
Connect public head 3 including inserting portion 31 and joint portion 32, joint portion 32 connect in the end of inserting portion 31 and to the direction elasticity extension of installation department 2. The elastic extending finger can make the clamping portion 32 close to the inserting portion 31 when applying force on the clamping portion 32, and restore to the initial state when releasing the force, the initial state is inclined from the connecting position of the elastic extending finger and the inserting portion 31 to the direction far from the inserting portion 31 to form a V shape, and the structure is similar to the structure of the crystal head of the network cable commonly used in the market.
As shown in fig. 2 and 3, the clamping jaw module 4 includes a clamping end 5 and a connecting female head 6 arranged on one side of the clamping end 5, a clamping groove 61 matched with the insertion portion 31 is arranged in the connecting female head 6, and a clamping surface 62 matched with the clamping portion 32 is arranged in the clamping groove 61.
When the male connector 3 is assembled with the female connector 6, the clamping portion 32 faces the clamping surface 62, the inserting portion 31 is vertically inserted into the clamping groove 61, when the inserting portion 31 extends into the bottom of the clamping groove 61, the inserting force is released, and the clamping portion 32 abuts against the clamping surface 62 through the elastic force of the clamping portion 32, so that locking is achieved.
The clamping end 5 is any one of a two-finger clamping jaw, a three-finger clamping jaw or a sucker clamping jaw.
As shown in fig. 4, a placing groove 9 is provided in the base module 7, a stopper 8 is vertically provided at one end or both ends of the placing groove 9, a protrusion 11 is provided at a top end of the stopper 8, and the protrusion 11 is provided toward the placing groove 9. The height of the projection 11 is matched with the height of the clamping part 32 of the connecting piece 1 inserted in the clamping jaw module 4. The clamping jaw module 4 can slide in the length direction of the placing groove 9, and the length of the placing groove 9 is larger than the corresponding thickness dimension of the clamping jaw module 4.
The bottom of the base module 7 is provided with a fixing pin 10 for fixing the base module 7, the fixing pin 10 horizontally protrudes from the side wall of the base module 7, and a mounting hole is formed in the protruding part.
The utility model also provides an arm of including above-mentioned buckle formula quick change structure. When in use, the base module 7 is fixed within the reach of the mechanical arm through the fixing feet 10. According to the actual operation content requirement, the clamping jaw module 4 of the proper clamping end 5 is selected and placed in the placing groove 9 of the base module 7 (a plurality of clamping jaw modules may be needed for completing one set of operation, and then the clamping jaw modules can be placed in one base module, or a plurality of clamping jaw modules can be placed in a plurality of base modules respectively).
The coupling 1 is mounted at the end of the robot arm. As shown in fig. 5 and 6, the mechanical arm moves vertically downward through the coupling member 1, and inserts the connecting male connector 3 into the slot of the connecting female connector 6 of the desired clamping end 5. Can slide clamping jaw module 4 in standing groove 9 to the direction of keeping away from dog 8, make joint portion 32 not contact with lug 11, can utilize the elasticity locking of joint portion 32 on joint face 62. The loading of the gripper module 4 is now complete.
As shown in fig. 6 and 7, when disassembling, the coupling member 1 with the clamping jaw module 4 extends into the placing groove 9 of the base module 7 and moves to the side of the stop block 8, so that the clamping part 32 of the connecting male head 3 contacts with the projection 11 and is extruded and deformed. At this moment, joint portion 32 breaks away from with joint face 62, connects public first 3 and is connected the becoming pine with being connected female head 6, moves connector 1 upward, can accomplish the dismantlement of clamping jaw module 4.
The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.
Claims (7)
1. The buckle type quick-change structure is characterized by comprising a connecting piece (1) and a clamping jaw module (4), wherein one end of the connecting piece (1) is provided with a mounting part (2) which can be connected with a mechanical arm, and the other end of the connecting piece is provided with a connecting male head (3);
the male connecting head (3) comprises an inserting part (31) and a clamping part (32), and the clamping part (32) is connected to the tail end of the inserting part (31) and elastically extends towards the direction of the mounting part (2);
clamping jaw module (4) include exposed core (5) and locate female head (6) of connection of exposed core (5) one side, be equipped with in the female head of connection (6) with draw-in groove (61) that insert portion (31) match, be equipped with in draw-in groove (61) can with joint face (62) that joint portion (32) match.
2. The quick-change buckle structure according to claim 1, further comprising a base module (7) for placing the clamping jaw module (4), wherein a placing groove (9) is arranged in the base module (7), a stop block (8) is vertically arranged at one end or two ends of the placing groove (9), a convex block (11) is arranged at the top end of the stop block (8), and the convex block (11) is arranged towards one side of the placing groove (9); the height of the convex block (11) is matched with the height of a clamping part (32) of the connecting piece (1) inserted and arranged behind the clamping jaw module (4).
3. A snap-on quick-change structure according to claim 2, characterized in that the bottom of the base module (7) is provided with fixing feet (10) for fixing the base module (7), the fixing feet (10) horizontally protruding from the side walls of the base module (7) and provided with mounting holes at the protruding parts.
4. A snap-on quick-change structure according to claim 2, characterized in that the jaw modules (4) are slidable in the length direction of the standing groove (9).
5. A snap-on quick-change structure according to any one of claims 1-4, characterized in that the coupling member (1) is of a bent L-shaped configuration, with the mounting portion (2) on one bent side and the connecting male (3) at the end of the other bent side.
6. A snap-on quick-change construction according to any one of claims 1-4, characterized in that the gripping end (5) is any one of a two-finger jaw, a three-finger jaw or a suction cup jaw.
7. A robot arm, characterized in that it comprises a snap-in quick-change structure according to any one of claims 1 to 6 mounted on the end of the robot arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022858837.3U CN212312060U (en) | 2020-12-03 | 2020-12-03 | Mechanical arm and buckle type quick-change structure thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022858837.3U CN212312060U (en) | 2020-12-03 | 2020-12-03 | Mechanical arm and buckle type quick-change structure thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212312060U true CN212312060U (en) | 2021-01-08 |
Family
ID=74016966
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022858837.3U Expired - Fee Related CN212312060U (en) | 2020-12-03 | 2020-12-03 | Mechanical arm and buckle type quick-change structure thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212312060U (en) |
-
2020
- 2020-12-03 CN CN202022858837.3U patent/CN212312060U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20210108 |