CN212887668U - Robot clamping mechanism - Google Patents
Robot clamping mechanism Download PDFInfo
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- CN212887668U CN212887668U CN202021385911.8U CN202021385911U CN212887668U CN 212887668 U CN212887668 U CN 212887668U CN 202021385911 U CN202021385911 U CN 202021385911U CN 212887668 U CN212887668 U CN 212887668U
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- China
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- socket portion
- camera
- driving system
- parallel clamping
- clamping jaw
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Abstract
The utility model discloses a mechanism is got to robot clamp, including robotic arm and parallel clamping jaw, realize being connected through quick change mechanism between robotic arm and the parallel clamping jaw, and robotic arm one side installs the camera of taking visual detection system, quick change mechanism is including socket portion and plug portion, the socket portion is by the closed region that curved wall and plane wall formed, plug portion just inserts the closed region of socket portion, a screw thread through-hole is left out to the socket portion after inserting plug portion on its plane wall, passes through the screw thread through-hole is realized socket portion and plug portion threaded connection can directly find the direction when inserting and insert, and the male position is only, fixes through the screw and realizes dismantling fast and connecting equally.
Description
Technical Field
The utility model relates to a technical field of automation equipment specifically is a mechanism is got to robot clamp.
Background
Parallel clamping jaw is a spare part commonly used in automation equipment, can imitate the staff and do and snatch and release the action, its cooperation is gone up the manipulator and is expanded its working range, but parallel clamping jaw and manipulator are two independent parts, consequently need realize connecting through other subassemblies, instrument quick change device mainly adopts locking mechanism in the existing market, locking mechanism needs more parts such as sensor, all assembles locking mechanism in the mechanism is got to numerous robot clamp, need huge cost undoubtedly.
Disclosure of Invention
An object of the utility model is to provide a mechanism is got to robot clamp, especially changed the structure of quick change mechanism, can regard as the basic point through socket portion and plug portion according to the plane wall, conveniently peg graft and pass through the screw fixation.
In order to achieve the above object, the utility model provides a following technical scheme: the utility model provides a mechanism is got to robot clamp, includes robotic arm and parallel clamping jaw, realize being connected through quick change mechanism between robotic arm and the parallel clamping jaw, and robotic arm one side installs the camera of taking visual detection system, quick change mechanism is including the first keysets of connecting the robotic arm tip to and the second keysets of connecting parallel clamping jaw tip, and central point department of putting on the first keysets installs the socket portion rather than a body structure, and central point department of putting on the second keysets is equipped with the plug portion rather than a body structure, the socket portion is by the closed region of curved wall and plane wall formation, plug portion just inserts the closed region of socket portion, a screw through-hole is left to the socket portion on its plane wall after inserting plug portion, passes through the screw through-hole realizes socket portion and plug portion threaded connection.
Further, the height of the socket part is consistent with that of the plug part.
Furthermore, the mechanical arm sequentially comprises a first supporting arm, a second supporting arm and a third supporting arm from head to tail, and the rotating angles of the supporting arms corresponding to the mechanical arm are driven by a first driving system, a second driving system and a third driving system respectively.
Furthermore, the first driving system, the second driving system and the third driving system all comprise motors, and the motors realize angular rotation through the circuit modules.
Further, the camera is installed on one side of the first support arm, and the camera is used for shooting a target image at the parallel clamping jaws.
Compared with the prior art, the beneficial effects of the utility model are that: fungible locking mechanism, its simple structure, it is with low costs, convenient to use, the utility model discloses a mode that the quick change structure adopted plug portion and took out the oral area to peg graft, and its structure adopts plane wall and curved wall to constitute, consequently can directly find the direction of aiming at when inserting and insert, and male position is only, fixes realizing dismantling fast and connecting equally through the screw.
Drawings
Fig. 1 is a schematic structural view of the quick-change mechanism of the present invention;
fig. 2 is a schematic structural view of the clamping mechanism of the present invention.
In the figure: 1. a threaded through hole; 2. a plug portion; 3. a socket portion; 4. a first transfer plate; 5. a second adapter plate; 6. a screw; 11. parallel clamping jaws; 12. a camera; 13. a first support arm; 14. a second support arm; 15. a third support arm.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1-2, the present invention provides a technical solution: the utility model provides a mechanism is got to robot clamp, includes robotic arm and parallel clamping jaw 11, realize being connected through quick change mechanism between robotic arm and the parallel clamping jaw 11, and robotic arm one side installs camera 12 of taking visual inspection system, and robotic arm includes first support arm 13, second support arm 14 and third support arm 15 from head to tail in proper order, drives the rotation angle rather than corresponding support arm through first actuating system, second actuating system and third actuating system respectively, and first actuating system, second actuating system and third actuating system all include the motor, and the motor passes through circuit module and realizes the angular rotation, and camera 12 installs one side of first support arm 13, and camera 12 is used for ingesting the target image of parallel clamping jaw 11 department, this robotic arm is the robotic arm of cooperation robot.
The quick-change mechanism comprises a first adapter plate 4 connected with the end part of the mechanical arm and a second adapter plate 5 connected with the end part of the parallel clamping jaw 11, a socket part 3 integrated with the first adapter plate 4 is arranged at the central position of the first adapter plate 4, a plug part 2 integrated with the second adapter plate 5 is arranged at the central position of the second adapter plate 5, the socket part 3 is a closed area formed by a curved wall and a flat wall, the plug part 2 is just inserted into the closed area of the socket part 3, the height of the socket part 3 is consistent with that of the plug part 2, therefore, the direction can be directly aligned and inserted during the insertion, the inserted position is unique, the socket part 3 leaves a threaded through hole 1 on the plane wall after the plug part 2 is inserted, the socket part 3 and the plug part 2 are in threaded connection through a screw 6 penetrating through the threaded through hole 1, and quick detachment and connection are achieved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (5)
1. The utility model provides a mechanism is got to robot clamp, includes robotic arm and parallel clamping jaw, its characterized in that: the utility model discloses a visual detection system, including manipulator, camera portion, socket portion, screw thread through-hole, the camera is connected through quick change mechanism realization between manipulator and the parallel clamping jaw, and manipulator one side installs the camera of taking visual detection system, quick change mechanism is including the first keysets of connecting the manipulator tip to and the second keysets of connecting parallel clamping jaw tip, and central point on the first keysets department installs the socket portion rather than a body structure, central point department on the second keysets is equipped with the plug portion rather than a body structure, the socket portion is by the closed region of curved surface wall and plane wall formation, plug portion just inserts the closed region of socket portion, a screw thread through-hole is left to the socket portion after inserting plug portion on its plane wall, passes through the screw thread through-.
2. The robot gripper mechanism of claim 1, further comprising: the height of the socket part is consistent with that of the plug part.
3. The robot gripper mechanism of claim 2, wherein: the mechanical arm sequentially comprises a first supporting arm, a second supporting arm and a third supporting arm from head to tail, and the rotating angles of the supporting arms corresponding to the mechanical arm are driven by a first driving system, a second driving system and a third driving system respectively.
4. The robot gripper mechanism of claim 3, wherein: the first driving system, the second driving system and the third driving system all comprise motors, and the motors realize angle rotation through the circuit modules.
5. The robot gripper mechanism of claim 3, wherein: the camera is installed on one side of the first support arm, and the camera is used for shooting a target image at the parallel clamping jaws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021385911.8U CN212887668U (en) | 2020-07-15 | 2020-07-15 | Robot clamping mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021385911.8U CN212887668U (en) | 2020-07-15 | 2020-07-15 | Robot clamping mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212887668U true CN212887668U (en) | 2021-04-06 |
Family
ID=75288513
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021385911.8U Active CN212887668U (en) | 2020-07-15 | 2020-07-15 | Robot clamping mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212887668U (en) |
-
2020
- 2020-07-15 CN CN202021385911.8U patent/CN212887668U/en active Active
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