CN217833689U - Integrated structure for robot tail end actuating mechanism - Google Patents
Integrated structure for robot tail end actuating mechanism Download PDFInfo
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- CN217833689U CN217833689U CN202220622405.9U CN202220622405U CN217833689U CN 217833689 U CN217833689 U CN 217833689U CN 202220622405 U CN202220622405 U CN 202220622405U CN 217833689 U CN217833689 U CN 217833689U
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- mounting plate
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- clamping jaw
- sucker
- vision camera
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Abstract
The application discloses an integrated structure for a robot end actuator, which is characterized by comprising an end flange fixing structure and an end actuator assembly; the tail end flange fixing structure comprises a tail end flange mounting plate, an electric sucker mounting plate, an electric clamping jaw mounting plate and a vision camera mounting plate, wherein the electric sucker mounting plate, the electric clamping jaw mounting plate and the vision camera mounting plate are integrally mounted on the tail end flange mounting plate; the end effector component comprises an electric sucker, an electric clamping jaw and a vision camera, and the electric sucker, the electric clamping jaw and the vision camera are respectively connected with an electric sucker mounting plate, an electric clamping jaw mounting plate and a vision camera mounting plate. Compare current mode, the beneficial effect of this application lies in: it carries out integration in same structure top with vision camera, electric chuck and electric clamping jaw, gets the action back at the execution material clamp and can directly carry out the material and absorb or visual inspection, has avoided using the frequent switching problem that single equipment brought, and efficiency uses the first mode of quick change relatively and can greatly improve.
Description
Technical Field
The application relates to an integrated structure for a robot end actuating mechanism, in particular to a medical detection composite robot end effector, belonging to the technical field of medical detection robots.
Background
At present, during medical detection, due to the fact that the detected material products are various in types, the requirement for the working capacity of the robot is higher and higher, the robot is required to have the capacity of efficient operation, the robot is required to have the capacity of processing various types of products, and the function of one machine with multiple products is achieved. Because the shape, the structure and the size of the target material are different, the structure of the end effector of the composite robot and the application mode of the target material are also distinguished, once the target material is changed, the corresponding end effector needs to be replaced, and the characteristics of time and labor consumption, high efficiency, universality and convenience which are not favorable for detecting the operation requirements are achieved.
SUMMERY OF THE UTILITY MODEL
The purpose of this application is in the single application to current end effector, provides an integrated structural design, and it has simple structure, and is compact, integrates advantages such as design, range of application are wide, can adapt to the multi-process application that medical treatment detected the scene, possesses better application prospect.
In order to achieve the above purpose, the technical solution of the present application is to provide an integrated structure for a robot end effector, which is characterized by comprising an end flange fixing structure and an end effector component; the tail end flange fixing structure comprises a tail end flange mounting plate, an electric sucker mounting plate, an electric clamping jaw mounting plate and a vision camera mounting plate, wherein the electric sucker mounting plate, the electric clamping jaw mounting plate and the vision camera mounting plate are integrally mounted on the tail end flange mounting plate; the end effector component comprises an electric sucker, an electric clamping jaw and a vision camera, and the electric sucker, the electric clamping jaw and the vision camera are respectively connected with an electric sucker mounting plate, an electric clamping jaw mounting plate and a vision camera mounting plate.
Preferably, electric chuck is equipped with directly links the trachea joint, electric chuck has switching trachea joint through sucking disc linking bridge, and switching trachea joint is connected with the sucking disc, directly link trachea joint and switching trachea joint and pass through the trachea intercommunication, electric chuck moves and forms negative pressure environment or release negative pressure in sucking disc department. The working range of the electric sucker can be expanded by the sucker connecting support, and the working range of the sucker can be expanded only by increasing the length of the sucker connecting support.
Preferably, the front end of the electric clamping jaw is connected with a replaceable tail end clamping support, and the width of the tail end clamping support is matched with the width of the material to be clamped.
Preferably, the tail end flange mounting plate is provided with a circular bulge and a positioning pin mounting hole for mounting and fixing corresponding to the tail end flange structure of the robot
Compare current mode, the beneficial effect of this application lies in: it integrates vision camera, electric chuck and electronic clamping jaw in same structure top, can directly carry out material absorption or visual inspection after carrying out the material clamp and getting the action, has avoided the frequent switching problem that uses single equipment to bring, and efficiency uses the first mode of trading fast relatively and can greatly improve.
Drawings
FIG. 1 is a schematic diagram of an integrated structure of an end effector for a robot provided in an embodiment;
FIG. 2 is a side view of the structure of FIG. 1
FIG. 3 is a schematic top view of the structure of FIG. 1;
reference numerals: 1-end gripping a stent; 2-an electric clamping jaw; 3-electric clamping jaw mounting plate; 4-end flange mounting plate; 5, an electric sucker; 6-a sucker; 7-a visual camera; 21-a vision camera mounting plate; 31-electric suction cup mounting plate; 32-direct connection air pipe joint; 33-a suction cup connection bracket; 34-switching air pipe joint.
Detailed Description
The present invention will be further described with reference to the following specific examples. It should be understood that these examples are for illustrative purposes only and are not intended to limit the scope of the present invention. Furthermore, it should be understood that various changes and modifications of the present invention may be made by those skilled in the art after reading the teachings of the present invention, and these equivalents also fall within the scope of the appended claims.
The embodiment provides an integrated structure for a robot end actuating mechanism, which helps a robot to flexibly and efficiently complete operations such as material taking and placing, detection and identification, and avoids the problems of low efficiency, high implementation difficulty and the like caused by switching of an end actuator; the structure is shown in fig. 1-3.
As shown in fig. 1, the integrated structure adopts an electric suction cup 5, an electric clamping jaw 2 and a vision camera 7 as main executing tools, which are respectively installed on an electric suction cup mounting plate 31, an electric clamping jaw mounting plate 3 and a vision camera mounting plate 21, the electric suction cup mounting plate 31, the electric clamping jaw mounting plate 3 and the vision camera mounting plate 21 are integrally installed on an end flange mounting plate 4, the end flange mounting plate 4 is installed at the tail end of the robot, and the robot drives the executing position.
As shown in fig. 1, the front end of the electric clamping jaw 2 is connected with a replaceable terminal clamping support 1, the electric clamping jaw 2 drives the terminal clamping support 1 to clamp, and the clamping width of the terminal clamping support 1 can be adjusted and replaced according to the width of a specific material.
As shown in fig. 1 and fig. 3, electric suction cup 5 is installed on electric suction cup mounting panel 31, be equipped with direct-connected air pipe joint 32 on electric suction cup 5, electric suction cup 5 passes through sucking disc linking bridge 33 and connects switching air pipe joint 34, sucking disc 6 is installed on switching air pipe joint 34, direct-connected air pipe joint 32 and switching air pipe joint 34 pass through the trachea intercommunication, form the structure of absorbing of ventilating, under electric suction cup 5's drive, through direct-connected air pipe joint 32, trachea and switching air pipe joint 34, finally form negative pressure environment or release negative pressure in sucking disc 6 department, the absorption and the placement of getting the material.
Specifically, the terminal flange mounting plate 4 is provided with a corresponding circular protrusion and a positioning pin mounting hole for mounting and fixing a terminal flange structure of the robot.
The robot end is connected with electric chuck mounting plate 3, electric chuck mounting plate 31 and vision camera mounting plate 21, and integrated electric chuck 5, electric chuck 2 and the vision camera 7 of using realize absorbing, press from both sides the integrated design of getting and detecting the operation to all can independently carry out visual detection, material clamp and get the material and absorb the operation.
For those skilled in the art, variations can be made in the specific embodiments and applications according to the concepts of the present invention. In summary, the content of the present specification should not be construed as a limitation of the present invention.
Claims (4)
1. An integrated structure for a robot end effector, comprising an end flange mounting structure and an end effector assembly; the tail end flange fixing structure comprises a tail end flange mounting plate (4), an electric sucker mounting plate (31), an electric clamping jaw mounting plate (3) and a vision camera mounting plate (21), wherein the electric sucker mounting plate (31), the electric clamping jaw mounting plate and the vision camera mounting plate are integrally mounted on the tail end flange mounting plate (4); the end effector component comprises an electric sucker (5), an electric clamping jaw (2) and a vision camera (7), wherein the electric sucker (5), the electric clamping jaw (2) and the vision camera (7) are respectively connected with an electric sucker mounting plate (31), an electric clamping jaw mounting plate (3) and a vision camera mounting plate (21).
2. The integrated structure for the robot end effector is characterized in that the electric sucker is provided with a direct connection air pipe connector (32), the electric sucker (5) is connected with a switching air pipe connector (34) through a sucker connecting bracket (33), the switching air pipe connector (34) is connected with a sucker (6), the direct connection air pipe connector (32) and the switching air pipe connector (34) are communicated through an air pipe, and the electric sucker (5) acts to form a negative pressure environment or release negative pressure at the sucker (6).
3. The integrated structure for the robot end effector according to claim 1, characterized in that the front end of the electric gripper (2) is connected with a replaceable end gripping bracket (1), and the width of the end gripping bracket (1) matches the width of the material to be gripped.
4. The integrated structure for the robot end actuator according to claim 1, wherein the end flange mounting plate (4) is provided with a circular protrusion and a positioning pin mounting hole for mounting and fixing the corresponding robot end flange structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220622405.9U CN217833689U (en) | 2022-03-21 | 2022-03-21 | Integrated structure for robot tail end actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220622405.9U CN217833689U (en) | 2022-03-21 | 2022-03-21 | Integrated structure for robot tail end actuating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217833689U true CN217833689U (en) | 2022-11-18 |
Family
ID=84009337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220622405.9U Active CN217833689U (en) | 2022-03-21 | 2022-03-21 | Integrated structure for robot tail end actuating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217833689U (en) |
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2022
- 2022-03-21 CN CN202220622405.9U patent/CN217833689U/en active Active
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