CN219946250U - Robot vision guiding grabbing mechanism - Google Patents
Robot vision guiding grabbing mechanism Download PDFInfo
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- CN219946250U CN219946250U CN202321354557.6U CN202321354557U CN219946250U CN 219946250 U CN219946250 U CN 219946250U CN 202321354557 U CN202321354557 U CN 202321354557U CN 219946250 U CN219946250 U CN 219946250U
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- rod
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- buckle
- clamp
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- 244000309464 bull Species 0.000 claims description 3
- 238000000465 moulding Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
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Abstract
The utility model discloses a robot vision guiding grabbing mechanism, which comprises a clamping rod, wherein a buckle is arranged on the clamping rod, a fixing rod is arranged in the middle of the buckle, an air cylinder is arranged in the middle of the fixing rod, rotating rods are arranged at two sides of the air cylinder, two grooves are formed in the right end of the clamping rod, springs are arranged in the grooves, a fixing clamp is arranged in the middle of the grooves, a rotating shaft is arranged in the middle of the fixing clamp, clamping blocks are arranged at two sides of the rotating shaft, the clamping blocks are symmetrically arranged in an inclined shape, when an article is clamped, pressure generated by clamping the article can push a clamping plate to rotate around the rotating shaft, a buckling groove is connected below the clamping plate, the buckling groove is connected with the springs, the clamping plate can be pushed to reversely rotate by elastic force provided by the springs, and the angle of the clamping blocks for clamping the article can be automatically adapted under balance of the two, so that the article clamping is more stable and firm.
Description
Technical Field
The utility model relates to a grabbing mechanism in the technical field of mechanical claws, in particular to a robot vision guiding grabbing mechanism.
Background
The utility model relates to a grabbing mechanism for grabbing articles, which generally consists of two parts of a clamping rod and an air cylinder, wherein a vision system is a technology for measuring, judging and operating computer software and hardware by using a machine instead of human eyes, and the vision system is a branch in a computing department, so that the labor consumption in industry can be reduced through an industrial robot vision system, the grabbing mechanism is quick and effective, the error rate is lower, the grabbing mechanism is used as a main mechanical structure, and the clamping effect is important;
according to the utility model, the robot vision guiding grabbing mechanism comprises a grabbing mechanism body, wherein the grabbing mechanism body comprises a hydraulic cylinder, one end of the hydraulic cylinder is in transmission connection with a telescopic rod, one end of the telescopic rod is provided with a supporting plate, the outer side of the supporting plate is hinged with a grabbing clamp arm through a first pin shaft, one end of the grabbing clamp arm is provided with a grabbing clamp head capable of being adjusted in a telescopic mode, the inner side of the grabbing clamp head is provided with a antiskid plate, the outer side of the antiskid plate is provided with an antiskid pad, one end of the hydraulic cylinder is provided with a connecting plate, a connecting rod is hinged between the connecting plate and the grabbing clamp arm through a second pin shaft, and the lower side of the supporting plate is provided with an upper pressing mechanism.
Although the above-mentioned patent has realized improving the effect of snatching article stability, above-mentioned snatch the mechanism and can appear article rocking even dropping problem when snatching the too little or too big article of volume, and then cause the damaged problem of article.
Aiming at the problems, the novel grabbing mechanism is innovatively designed on the basis of the original grabbing mechanism.
Disclosure of Invention
The utility model aims to provide a robot vision guiding grabbing mechanism so as to solve the problem that the grabbing mechanism in the market at present, which is proposed by the background technology, cannot grab articles with too small or too large volume.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a robot vision guide snatchs mechanism, includes the clamp lever, preferably, be equipped with the buckle on the clamp lever, and be equipped with the dead lever in the middle of the buckle, be equipped with the cylinder in the middle of the dead lever, and the cylinder both sides are equipped with the bull stick, the clamp lever right-hand member is equipped with two recesses, and is equipped with the spring in the recess, be equipped with the fixing clip in the middle of the recess, and be equipped with the pivot in the middle of the fixing clip, the pivot both sides are equipped with the clamp splice, and the clamp splice is slope molding symmetry setting.
Preferably, the clamping rod comprises a cross rod and a first protruding block, the first protruding block is connected with the middle of the cross rod, the first protruding block is connected with the rotating rod, the rotating rod rotates on the first protruding block, the left side of the cross rod is connected with the buckle, and the buckle moves left and right on the cross rod.
Preferably, the fixing rod comprises a vertical rod and a chute, the chute is arranged in the middle of the vertical rod, two ends of the vertical rod are connected with buckles, and an air cylinder is arranged in the chute
Preferably, the cylinder comprises a hydraulic rod and a lug, wherein the right end of the hydraulic rod is symmetrically connected with two lugs II, the lugs II are connected with a rotating rod, the rotating rod rotates on the lugs II, the hydraulic rod is arranged in the sliding groove, and the hydraulic rod moves left and right in the sliding groove.
Preferably, the right end of the cross rod is provided with two grooves, a spring is arranged in each groove, the right end of the cross rod is connected with a fixing clamp, the middle of the fixing clamp is connected with a rotating shaft, and the rotating shaft is connected with a clamping block.
Preferably, the clamp splice is including splint, commentaries on classics card and catching groove, connect the catching groove below splint one end, and the catching groove is connected spring one end to the horizontal pole right-hand member is connected to the spring other end, the splint other end is connected and is changeed the card, and changes the card and connect the pivot to changeing the card and rotate in the pivot.
Compared with the prior art, the utility model has the beneficial effects that: the articles can be more stably and firmly grabbed;
1. the hydraulic rod stretches and contracts to drive the second lug to move left and right, and then drives the rotating rod to move left and right while rotating on the second lug, the rotating rod is connected with the first lug, and the rotating rod moves left and right to drive the cross rod to slide in the buckle, so that articles are clamped.
2. When the article is clamped, the pressure generated by clamping the article can push the clamping plate to rotate around the rotating shaft, the buckling groove is connected below the clamping plate, the buckling groove is connected with the spring, the elastic force provided by the spring can push the clamping plate to reversely rotate, and under the balance of the clamping plate and the buckling groove, the angle of the clamping block for clamping the article can be automatically adapted, so that the article is clamped more stably and firmly.
Drawings
FIG. 1 is a schematic view of a three-dimensional structure of the present utility model;
FIG. 2 is a schematic side view of the present utility model;
FIG. 3 is an enlarged schematic view of the clamping block according to the present utility model;
fig. 4 is an enlarged view of the right side of the clamping block according to the present utility model.
In the figure: 1. a clamping rod; 101. a cross bar; 102. a first bump; 2. a fixed rod; 201. a vertical rod; 202. a chute; 3. a cylinder; 301. a hydraulic rod; 302. a second bump; 4. a buckle; 5. a rotating rod; 6. a groove; 7. a fixing clip; 8. a spring; 9. clamping blocks; 901. a clamping plate; 902. transferring cards; 903. a buckling groove; 10. a rotating shaft.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1-4, the present utility model provides a technical solution: robot vision guide snatchs mechanism, including clamping lever 1, be equipped with buckle 4 on the clamping lever 1, and be equipped with dead lever 2 in the middle of the buckle 4, be equipped with cylinder 3 in the middle of the dead lever 2, and cylinder 3 both sides are equipped with bull stick 5, clamping lever 1 right-hand member is equipped with two recesses 6, and is equipped with spring 8 in recess 6, be equipped with fixing clip 7 in the middle of the recess 6, and be equipped with pivot 10 in the middle of the fixing clip 7, pivot 10 both sides are equipped with clamp splice 9, and clamp splice 9 is the setting of slope molding symmetry.
The clamping rod 1 comprises a cross rod 101 and a first protruding block 102, the first protruding block 102 is connected to the middle of the cross rod 101, the first protruding block 102 is connected with the rotating rod 5, the rotating rod 5 rotates on the first protruding block 102, the left side of the cross rod 101 is connected with the buckle 4, and the buckle 4 moves left and right on the cross rod 101.
The fixed rod 2 comprises a vertical rod 201 and a chute 202, the chute 202 is arranged in the middle of the vertical rod 201, two ends of the vertical rod 201 are connected with buckles 4, and a cylinder 3 is arranged in the chute 202
The cylinder 3 comprises a hydraulic rod 301 and a convex block 302, the right end of the hydraulic rod 301 is symmetrically connected with two convex blocks II 302, the convex blocks II 302 are connected with the rotary rod 5, the rotary rod 5 rotates on the convex blocks II 302, the hydraulic rod 301 is arranged in the chute 202, and the hydraulic rod 301 moves left and right in the chute 202.
The right end of the cross rod 101 is provided with two grooves 6, springs 8 are arranged in the grooves 6, the right end of the cross rod 101 is connected with a fixing clamp 7, a rotating shaft 10 is connected in the middle of the fixing clamp 7, and the rotating shaft 10 is connected with a clamping block 9.
The clamping block 9 comprises a clamping plate 901, a rotating clamp 902 and a buckling groove 903, wherein the buckling groove 903 is connected below one end of the clamping plate 901, the buckling groove 903 is connected with one end of a spring 8, the other end of the spring 8 is connected with the right end of the cross rod 101, the other end of the clamping plate 901 is connected with the rotating clamp 902, the rotating clamp 902 is connected with the rotating shaft 10, and the rotating clamp 902 rotates on the rotating shaft 10.
Working principle: when the grabbing mechanism is used, the hydraulic rod 301 stretches and drives the lug II 302 connected with the right end of the hydraulic rod 301 to move left and right, the lug II 302 is connected with one end of the rotating rod 5, the lug II 302 moves left and right to drive the rotating rod 5 to rotate and simultaneously move left and right, the other end of the rotating rod 5 is connected with the lug I102, the rotating rod 5 rotates to drive the lug I102 to rotate in the rotating rod 5 and simultaneously move up and down, the cross rod 101 is further driven to move up and down in the buckle 4, the article is clamped, the cross rod 101 is connected with the fixing clamp 7, the rotating shaft 10 is connected with the rotating clamp 902, the rotating clamp 902 is connected with the clamping plate 901, two grooves 6 are formed in the right end of the cross rod 101, a spring 8 is arranged in one end of the groove 6, the other end of the spring 8 is connected with the clamping groove 903, when the clamping plate 903 is connected with the article, the clamping plate 901 is pushed to rotate around the rotating shaft 10 by pressure generated by extrusion of the article, the clamping plate 901 is pushed by elasticity of the spring 8 to rotate the clamping plate 903, and then the clamping plate 901 is driven to rotate, and the clamping plate 901 is driven to rotate to a proper angle, so that the articles with different shapes and the article can be clamped stably and firmly.
Although the present utility model has been described with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present utility model.
Claims (6)
1. Robot vision guide snatchs mechanism, including clamping lever (1), its characterized in that: be equipped with buckle (4) on clamp lever (1), and be equipped with dead lever (2) in the middle of buckle (4), be equipped with cylinder (3) in the middle of dead lever (2), and cylinder (3) both sides are equipped with bull stick (5), clamp lever (1) right-hand member is equipped with two recess (6), and is equipped with spring (8) in recess (6), be equipped with fixing clip (7) in the middle of recess (6), and be equipped with pivot (10) in the middle of fixing clip (7), pivot (10) both sides are equipped with clamp splice (9), and clamp splice (9) are slope molding symmetry setting.
2. The robotic vision-guided gripping mechanism of claim 1, wherein: the clamping rod (1) comprises a cross rod (101) and a first protruding block (102), the first protruding block (102) is connected in the middle of the cross rod (101), the first protruding block (102) is connected with the rotating rod (5), the rotating rod (5) rotates on the first protruding block (102), the left side of the cross rod (101) is connected with the buckle (4), and the buckle (4) moves left and right on the cross rod (101).
3. The robotic vision-guided gripping mechanism of claim 1, wherein: the fixing rod (2) comprises a vertical rod (201) and a sliding groove (202), the sliding groove (202) is arranged in the middle of the vertical rod (201), two ends of the vertical rod (201) are connected with buckles (4), and an air cylinder (3) is arranged in the sliding groove (202).
4. The robotic vision-guided gripping mechanism of claim 1, wherein: the cylinder (3) comprises a hydraulic rod (301) and two convex blocks (302), the right end of the hydraulic rod (301) is symmetrically connected with the two convex blocks (302), the two convex blocks (302) are connected with the rotating rod (5), the rotating rod (5) rotates on the two convex blocks (302), the hydraulic rod (301) is arranged in the sliding groove (202), and the hydraulic rod (301) moves left and right in the sliding groove (202).
5. The robotic vision-guided gripping mechanism of claim 2, wherein: the right-hand member of horizontal pole (101) is equipped with two recess (6) and is equipped with spring (8) in recess (6), fixing clip (7) are connected to horizontal pole (101) right-hand member, and connect pivot (10) in the middle of fixing clip (7), and clamp splice (9) are connected in pivot (10).
6. The robotic vision-guided gripping mechanism of claim 1, wherein: the clamping block (9) comprises a clamping plate (901), a rotating clamp (902) and a buckling groove (903), the buckling groove (903) is connected below one end of the clamping plate (901), the buckling groove (903) is connected with one end of a spring (8), and the other end of the spring (8) is connected with the right end of the cross rod (101), the other end of the clamping plate (901) is connected with the rotating card (902), the rotating card (902) is connected with the rotating shaft (10), and the rotating card (902) rotates on the rotating shaft (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321354557.6U CN219946250U (en) | 2023-05-30 | 2023-05-30 | Robot vision guiding grabbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321354557.6U CN219946250U (en) | 2023-05-30 | 2023-05-30 | Robot vision guiding grabbing mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219946250U true CN219946250U (en) | 2023-11-03 |
Family
ID=88538649
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321354557.6U Active CN219946250U (en) | 2023-05-30 | 2023-05-30 | Robot vision guiding grabbing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219946250U (en) |
-
2023
- 2023-05-30 CN CN202321354557.6U patent/CN219946250U/en active Active
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