TWM506691U - Robot arm gripper replacement structure - Google Patents

Description

Mechanical arm jaw replacement structure

This creation is about the mechanical arm clamping jaw replacement structure, which provides the practical effect of the robot arm to quickly and accurately replace the jaws.

According to the requirements of the process, the object (such as metal parts or electronic components) can be used for different preset operations in different equipment, such as cutting or drilling in NC processing machines, or painting processing in painting equipment. One to a plurality of working equipments are arranged in the work place for different processing operations on the objects.

For example, if the object needs to be drilled and ground, the operator configures the NC drilling machine and the NC grinding machine at the job site, the NC drilling machine drills the workpiece, and the NC grinding machine planarly grinds the object, because the NC drilling machine is Z (vertical) direction processing, and NC grinding machine is XY (planar) processing, the processing direction of the two is different, which causes the upper and lower materials to be mostly carried out manually, but the disadvantages are that it is labor-intensive and the positioning is not accurate; , cutting, is limited to the same machine, the same type of object processing, can not transfer the processed material to the next processing machine for processing, and the idle time of the robot arm during processing also causes electricity consumption.

This creation is to improve the above shortcomings, the main technology, the purpose is:

First, it provides a structure that can be processed by different tools and can be loaded and unloaded by the robot arm, saving manpower and increasing work efficiency.

Secondly, the structure of the mechanical arm replaceable jaw is provided, and the processed material can stably hold the structure.

The mechanical arm jaw replacement structure capable of achieving the above purpose is mainly composed of a robot arm, a track jaw library, and a clamping jaw. The front end of the robot arm is provided with a quick connector and a visual identification unit, and the lower end of the robot arm has a frame. The bottom edge is provided with a plurality of pulleys for sliding on the track, the track is laid between the machine tool and the jaw storage, the jaw library is for the clamping jaws, the clamping jaws are for holding the material, and the opposite clamping ends thereof The other end is provided with a joint portion and a two-dimensional identification unit, wherein the mechanical arm is displaced to the jaw library through the track, and the visual recognition unit of the robot arm recognizes the two-dimensional identification unit of the jaw, confirms the jaw type and position, and is fast The joint is combined with the jaws, so that the utility model can quickly replace the jaws and perform the practical function of processing different objects.

"This creation"

10‧‧‧ Robotic arm

11‧‧‧ front end

111‧‧‧Quick joint

112‧‧‧Visual Identification Unit

12‧‧‧Bottom

121‧‧‧ Shelf

122‧‧‧ pulley

20‧‧‧ Track

30‧‧‧claw library

31‧‧‧claw

311‧‧‧Clamping end

312‧‧‧ joints

313‧‧‧Two-dimensional identification unit

A‧‧‧Tool Machine

B‧‧ Tools machine

The first picture is a perspective view of the creation

The second picture is a schematic diagram of the replacement jaw of the present creation.

The third picture is a schematic diagram of the identification jaw of the present creation.

The fourth picture is a schematic diagram of the actual application of this creation.

In order to enable your review board to have a better understanding and recognition of the features and characteristics of this creation, the following preferred examples are listed below with the following description: Please refer to the first, second and third figures. The main mechanical jaw replacement structure is mainly composed of a robot arm 10, a rail 20, a jaw library 30 and a clamping jaw 31. The front end 11 of the robot arm 10 is provided with a quick joint 111. And the visual recognition unit 112, the lower end 12 of the robot arm 10 has a frame 121, and a plurality of pulleys 122 are disposed on the bottom edge thereof for sliding on the rail 20, and the rail 20 is laid between the machine tool and the jaw library 30, the clip The claw magazine 30 is provided with one or more clamping jaws 31. The clamping jaw 31 is provided with a joint portion 312 and a two-dimensional identification unit 313 at the other end of the clamping end 311. Therefore, the robot arm 10 is moved to the jaw library by the rail 20 30. The visual recognition unit 112 of the robot arm 10 determines the two-dimensional identification unit 313 of the jaw 31, confirms the model and position of the jaw 31, and is combined with the jaw 31 by the quick connector 111. Therefore, the present invention has a quick change of the jaw 31. Practical effects of different object processing.

Through the above components, the following functions and advantages can be obtained:

(1) The gripper library 30 of this creation is arranged in a horizontal direction, and compared with the conventional NC cylinder cutter structure, it does not require a complicated control structure, and is easier to edit in subsequent programs.

(2) The two-dimensional identification unit 313 of the jaw 31 is selected from a QR code, and the visual recognition unit 112 of the robot arm 10 obtains the jaw information, which is compared with the conventional NC cylinder knife structure. The person does not need to worry about whether the jaw 31 number is in the correct position.

(3) Please refer to the first, second, third and fourth figures. Actually, the design of the robot arm 10 jaws 31 is used to replace the structure. First, a rail 20 is laid between the machine tool and the jaw library 30 for sliding displacement of the robot arm 10, In the fourth figure, the machine tool A is an NC cutting center machine, the machine tool B is an NC grinding machine, and the robot arm 10 picks up unprocessed materials to the machine tool A for processing. When the material is lowered, the workpiece is moved to the jaw library 30 to replace the jaws. 31 for clip After the machining of the machine tool A, the machine arm 10 picks up the cut material to the machine tool for grinding, and the robot moves to the jaw library 30 to replace the jaw 31 for clamping the unprocessed The jaws 31 for the material are clamped to the machine tool A for processing, and the robot arm 10 is moved to the jaw library 30 to replace the object jaws 31 for clamping and grinding. Thus, the repeated setting provides manual elimination. Up and down the material and fully use the robot arm 10 to increase productivity and improve accuracy and increase industrial competitiveness.

The above is only the preferred embodiment provided by the present invention, and is not intended to limit the scope of implementation of the present invention. All of the related art in the art are equivalent to the present invention, and should belong to the present invention. The scope of coverage.

10‧‧‧ Robotic arm

11‧‧‧ front end

111‧‧‧Quick joint

112‧‧‧Visual Identification Unit

12‧‧‧Bottom

121‧‧‧ Shelf

122‧‧‧ pulley

30‧‧‧claw library

311‧‧‧Clamping end

312‧‧‧ joints

Claims (3)

The utility model relates to a mechanical arm jaw replacement structure, which mainly comprises: a robot arm, a track, a jaw library and a clamping jaw. The front end of the robot arm is provided with a quick connector and a visual identification unit, and the lower end of the robot arm has a frame and a bottom edge thereof. a plurality of pulleys are arranged for sliding on the rail, the rail is laid between the machine tool and the jaw storage, the jaw library is provided with more than one clamping jaw, and the clamping jaw is provided with a joint portion at the other end of the clamping end and The two-dimensional identification unit is that the robot arm moves to the jaw library by the track, and the visual recognition unit of the robot arm determines the two-dimensional identification unit of the jaw, confirms the type and position of the jaw, and combines the quick joint with the jaw, so This creation has the practical effect of quickly changing the jaws for different object processing. The mechanical arm jaw replacement structure of claim 1, wherein the jaw library is arranged in a lateral direction. For example, the mechanical arm jaw replacement structure of claim 1 is characterized in that the two-dimensional identification unit of the jaw is selected from a QR code, and the visual recognition unit of the robot arm is provided to obtain the jaw information.