Quick-change clamping mechanism and transferring assembly

Abstract

The utility model discloses a quick-change clamping mechanism and a transferring assembly. The quick-change clamping mechanism comprises a base and a grabbing piece. The base is provided with an installation cavity and a receding hole, the installation cavity is provided with a positioning face and a supporting face which are opposite, and the installation cavity is used for installation of the installation part of the grabbing piece. The base is further provided with a limiting face perpendicular to the positioning face and the supporting face, and the limiting face is used for prompting installation completion. The receding hole penetrates through the supporting face, and the mounting part can enter the mounting cavity through the receding hole. The grabbing piece is provided with a mounting part and a grabbing part, the mounting part is suitable for entering the mounting cavity from the receding hole and is suitable for rotating relative to the base when abutting against the positioning surface, and the positioning surface plays a positioning role, so that when the mounting part cannot move upwards, a user is prompted to rotate the grabbing piece. After rotation, the installation part abuts against the limiting face and cannot rotate continuously, and in-place installation is prompted. The mounting part is clamped by the positioning surface and the supporting surface, so that the mounting part is prevented from moving up and down to break away from the mounting state; the grabbing part is suitable for grabbing materials, the grabbing part can be installed without tools, the grabbing part is simpler and more convenient to install, and disassembly and assembly are more rapid.

Description

Technical Field

[0001] The utility model relates to the field of manipulators, in particular to a quick-change clamping mechanism and a transfer component. Background Art

[0002] Due to changes in the volume or shape of the material, the gripping member usually needs to be replaced to adapt to the gripping of the material. In the prior art, the gripping member is usually fixed by screws, and corresponding tools are required during installation and assembly, which makes installation and disassembly troublesome. Utility Model Content

[0003] The purpose of the utility model is to overcome the above-mentioned defects or problems existing in the background technology and provide a quick-change clamping mechanism and a transfer assembly.

[0004] In order to achieve the above-mentioned purpose, the present invention and its preferred embodiments adopt the following technical solutions, but the embodiments are not limited to the following solutions:

[0005] Solution 1: A quick-change clamping mechanism, comprising:

[0006] The base is provided with a mounting cavity and a clearance hole, the mounting cavity is provided with a relative positioning surface and a supporting surface, the base is also provided with a limiting surface perpendicular to the positioning surface and the supporting surface; the clearance hole penetrates the supporting surface;

[0007] A gripping member is provided with a mounting portion and a gripping portion, wherein the mounting portion is adapted to enter the mounting cavity through the clearance hole and is adapted to rotate relative to the base when abutting against the positioning surface, so that the mounting portion abuts against the limiting surface and is clamped by the positioning surface and the supporting surface; and the gripping portion is adapted to grip materials.

[0008] Option 2, based on Option 1, a starting point positioning portion and an end point positioning portion are provided on the outer wall of the base, and an installation positioning portion is provided on the outer wall of the grabbing member, when the installation positioning portion is opposite to the starting point positioning portion, the installation portion is suitable for entering the installation cavity through the make way hole, and when the installation positioning portion is opposite to the end point positioning portion, the installation portion is against the limiting surface; the starting point positioning portion, the end point positioning portion and the installation positioning portion are expressed as marks or protrusions or grooves.

[0009] Solution three, based on solution one, further includes a spring pin, which is installed on the base, and an end point groove is provided on the mounting portion, and the spring pin is suitable for entering and exiting the end point groove; when the spring pin enters the end point groove, the mounting portion abuts against the limiting surface.

[0010] Option 4, based on Option 1, the base is also provided with a first air vent, the first air vent passes through the positioning surface and is connected with the mounting cavity; the grasping member is also provided with a vent portion, the vent portion is provided with a second air vent, the vent portion is suitable for sealing and plugging into the first air hole so that the second air hole and the first air hole are connected, the first air hole and the second air hole are suitable for air intake or exhaust so that the grasping portion grasps or releases the material.

[0011] Option 5, based on Option 4, also includes a sealing ring, the base is provided with a sealing groove, the sealing groove opens to the hole wall of the first vent hole, the sealing ring is placed in the sealing groove, and its inner ring and outer ring respectively abut against the outer wall of the vent part and the bottom of the sealing groove.

[0012] Solution six, based on solutions one to five, also includes a background plate, which is fixed to the grabbing member and is located on a side of the grabbing portion close to the base.

[0013] Solution seven, based on solution six, the background plate is detachably fixed to the grabbing member.

[0014] Option 8, a transfer assembly, including a transfer member and a quick-change clamping mechanism as described in any one of Options 1 to 5, wherein the base is installed on the output end of the transfer member so that the transfer member is suitable for driving the quick-change clamping mechanism to move and / or rotate.

[0015] Solution nine, based on solution eight, further includes a background plate and a camera, wherein the background plate is fixedly connected to the gripping member and is located on a side of the gripping portion close to the base, and the camera is suitable for obtaining pictures of the material.

[0016] Solution 10, based on Solution 9, the background plate is detachably fixed to the grabbing member.

[0017] From the above description of the utility model and its preferred embodiments, it can be seen that, compared with the prior art, the technical solution of the utility model and its preferred embodiments have the following beneficial effects due to the adoption of the following technical means:

[0018] 1. In scheme 1 and its preferred embodiment, a quick-change clamping mechanism includes a base and a gripping member.

[0019] The base is provided with an installation cavity and a clearance hole. The installation cavity is provided with a relative positioning surface and a supporting surface. The installation cavity is used for installing the mounting part of the grabber. The base is also provided with a limiting surface perpendicular to the positioning surface and the supporting surface. The limiting surface is used to prompt that the installation is completed; the clearance hole passes through the supporting surface, and the clearance hole allows the mounting part to enter the installation cavity.

[0020] The grabbing part is provided with a mounting part and a grabbing part. The mounting part is suitable for entering the mounting cavity through the clearance hole and is suitable for rotating relative to the base when it abuts against the positioning surface. The positioning surface plays a positioning role, so that when the mounting part cannot move upward, it prompts the user to rotate the grabbing part. After rotation, the mounting part abuts against the limiting surface and cannot continue to rotate, prompting that the installation is in place. The mounting part is clamped by the positioning surface and the supporting surface to prevent the mounting part from moving up and down, resulting in separation from the installation state; the grabbing part is suitable for grabbing materials. This method does not require tools for the installation of the grabbing part, is simpler and more convenient, and is also faster to disassemble and install.

[0021] 2. In Scheme 2 and its preferred embodiment, a starting point positioning portion and an end point positioning portion are provided on the outer wall of the base, and an installation positioning portion is provided on the outer wall of the grabbing member. When the installation positioning portion is opposite to the starting point positioning portion, the installation portion is suitable for entering the installation cavity through the clearance hole. The user can know the installation position only by observing from the outside, and there is no need to confirm the position of the clearance hole (usually requires looking up) before installation, which is more convenient.

[0022] When the installation positioning part is opposite to the end positioning part, the installation part abuts against the limiting surface, so that the user can know that it has been installed in place, and prevent the user from mistakenly thinking that it has abutted against the limiting surface due to processing errors and difficulty in rotation, which causes the gripper to fall off in the subsequent process. The starting positioning part, the end positioning part and the installation positioning part are marked or convex or concave, and the processing is convenient and simple.

[0023] 3. Scheme 3 and its preferred embodiment further include a spring pin, which is mounted on the base, and an end point slot is provided on the mounting portion, and the spring pin is suitable for entering and exiting the end point slot; when the spring pin enters the end point slot, the mounting portion abuts against the limiting surface, and the sound of the spring pin when entering the end point slot is used to determine that the mounting portion abuts against the limiting surface, thereby preventing the mounting portion from being mistakenly believed to have abutted against the limiting surface due to processing errors and difficulty in rotation, causing the grabbing part to fall off in the subsequent process. At the same time, since force needs to be applied to overcome the elastic force of the spring pin in order to make the spring pin exit the end point slot in advance, a greater force is required to rotate the mounting portion. Therefore, when the spring pin enters the end point slot, it also has a certain anti-rotation effect, thereby preventing the mounting portion from rotating and detaching from the base due to vibration of the machine, etc.

[0024] 4. In scheme 4 and its preferred embodiment, the base is also provided with a first vent hole, the first vent hole passes through the positioning surface and is connected with the installation cavity; the grasping member is also provided with a vent portion, the vent portion is provided with a second vent hole, the vent portion is suitable for sealing and plugging into the first vent hole to connect the second vent hole with the first vent hole, the first vent hole and the second vent hole are suitable for air intake or exhaust to enable the grasping member to grasp or release the material, and the material is taken in and put away by gas, which is more economical and safe.

[0025] 5. In Solution Five and its preferred embodiments, the base is provided with a sealing groove which opens on the pore wall of the first ventilation hole. The sealing ring is placed in the sealing groove, and its inner and outer rings respectively abut against the outer wall of the ventilation part and the bottom of the sealing groove, thereby achieving sealing. This is simple and convenient. Compared with installing the sealing ring on the grasping part, each grasping part to be replaced needs to have a sealing ring, and this method has a lower cost.

[0026] 6. In Solution Six and its preferred embodiments, the background plate is fixedly connected to the grasping part and is located on the side of the grasping part close to the base. When the contour appearance of the material needs to be detected, the background plate serves as the background of the material, making its contour more clearly visible and facilitating the acquisition of defective images.

[0027] 7. In Solution Seven and its preferred embodiments, the background plate is detachably fixedly connected to the grasping part. By replacing the background plate, different colors of materials can be adapted, facilitating the detection of materials.

[0028] 8. In Solution Eight and its preferred embodiments, a transfer assembly includes a transfer piece and a quick-change gripping mechanism. The base is installed at the output end of the transfer piece so that the transfer piece is adapted to drive the quick-change gripping mechanism to move and / or rotate to perform operations such as detecting or transferring materials.

[0029] 9. In Solution Nine and its preferred embodiments, it further includes a background plate and a camera. The background plate is fixedly connected to the grasping part and is located on the side of the grasping part close to the base. The background plate serves as the background of the material, making its contour more clearly visible and facilitating the camera to acquire defective images of the material.

[0030] 10. In Solution Ten and its preferred embodiments, the background plate is detachably fixedly connected to the grasping part. By replacing the background plate, different colors of materials can be adapted, facilitating the detection of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for description in the embodiments. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0032] Figure 1 It is a perspective view of the quick-change gripping mechanism in Embodiment One;

[0033] Figure 2 It is a structural schematic diagram of the quick-change gripping mechanism in Embodiment One;

[0034] Figure 3 It is a bottom view of the base in Embodiment One;

[0035] Figure 4Isometric view of the base in Embodiment 1;

[0036] Figure 5 Isometric view of the gripper in Embodiment 1.

[0037] Description of main reference numerals:

[0038] Base 1; mounting cavity 11; positioning surface 111; supporting surface 112; relief hole 12; limiting surface 13; first ventilation hole 14; sealing groove 15; starting point positioning portion 16; ending point positioning portion 17; gripper 2; mounting portion 21; substrate 211; limit pin 212; ending point groove 213; gripping portion 22; mounting positioning portion 23; ventilation portion 24; second ventilation hole 241; background plate 3; spring pin 4; sealing ring 5; Detailed implementation manners

[0039] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are the preferred embodiments of the present invention and should not be regarded as excluding other embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0040] In the claims, the description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, when using terms such as "first", "second" or "third", etc., are used to distinguish different objects and not for describing a specific order.

[0041] In the claims, the description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, for orientation terms, when using terms such as "center", "horizontal", "longitudinal", "level", "vertical", "top", "bottom", "inner", "outer", "upper", "lower", "front", "rear", "left", "right", "clockwise", "counterclockwise", etc. to indicate the orientation or position relationship, it is based on the orientation and position relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, so it should not be construed as limiting the specific protection scope of the present invention.

[0042] In the claims, the description and the above-mentioned drawings of the present invention, unless otherwise clearly defined, when using terms such as "fixed connection" or "fixedly connected", should be understood in a broad sense, that is, any connection method without displacement relationship and relative rotation relationship between the two, that is, including non-detachable fixed connection, detachable fixed connection, being integrated as a whole, and being fixedly connected through other devices or elements.

[0043] In the claims, description and the above-mentioned drawings of the present utility model, when terms such as "comprising", "having" and their variants are used, they are intended to mean "including but not limited to".

[0044] A transfer component includes a transfer member, a quick-change gripping mechanism and a camera.

[0045] The transfer member is at least adapted to move in the z-axis direction, and it may also have movement in the x-axis and y-axis directions. In addition to linear degrees of freedom, in other embodiments, it may also have corresponding rotational degrees of freedom.

[0046] The quick-change gripping mechanism includes a base 1, a gripping member 2, a background plate 3, a spring pin 4 and a sealing ring 5.

[0047] The base 1 is installed at the output end of the transfer member so that the transfer member is adapted to drive the quick-change gripping mechanism to move and / or rotate. The base 1 is provided with an installation cavity 11, a relief hole 12, a limiting surface 13, a first ventilation hole 14 and a sealing groove 15.

[0048] The installation cavity 11 is provided with opposite positioning surfaces 111 and supporting surfaces 112, wherein the positioning surface 111 is arranged downward.

[0049] The first ventilation hole 14 penetrates through the positioning surface 111 and communicates with the installation cavity 11. The first ventilation hole 14 is substantially cylindrical.

[0050] The sealing groove 15 opens on the pore wall of the first ventilation hole 14.

[0051] The relief hole 12 penetrates through the supporting surface 112.

[0052] The limiting surface 13 is perpendicular to the positioning surface 111 and the supporting surface 112. The limiting surface 13 can be formed jointly by the cavity wall of the installation cavity 11 and the pore wall of the relief hole 12, or formed independently by one of the above two.

[0053] On the outer wall of the base 1, there are a starting point positioning portion 16 and an end point positioning portion 17. The starting point positioning portion 16 and the end point positioning portion 17 are in the form of marks or protrusions or grooves. In this embodiment, the starting point positioning portion 16 and the end point positioning portion 17 are in the form of grooves.

[0054] The spring pin 4 is installed on the base 1. In this embodiment, the spring pin 4 protrudes from the positioning surface 111.

[0055] The gripper 2 is provided with an installation part 21, a gripping part 22, an installation positioning part 23, and a ventilation part 24. The installation part 21 is adapted to enter the installation cavity 11 through the relief hole 12 and is adapted to rotate relative to the base 1 along the axis parallel to the z-axis when abutted against the positioning surface 111, so that the installation part 21 abuts against the limiting surface 13, and the two surfaces of the installation part 21 perpendicular to the z-axis and facing away from each other are respectively clamped by the positioning surface 111 and the supporting surface 112. Specifically, the installation part 21 includes a substrate 211 and a limit pin 212. The substrate 211 is adapted to be clamped by the positioning surface 111 and the supporting surface 112, and the limit pin 212 is installed on the substrate 211 and is adapted to abut against the limiting surface 13.

[0056] The upper surface of the installation part 21 is provided with an end slot 213, and the spring pin 4 is adapted to enter and exit the end slot 213. When the spring pin 4 enters the end slot 213, the installation part 21 abuts against the limiting surface 13.

[0057] The installation positioning part 23 is arranged on the outer wall of the gripper 2. The installation positioning part 23 also presents as a groove. In other embodiments, the installation positioning part 23 can present as a protrusion or a mark. When the installation positioning part 23 is opposite to the starting point positioning part 16, the installation part 21 is adapted to enter the installation cavity 11 through the relief hole 12. When the installation positioning part 23 is opposite to the end point positioning part 17, the installation part 21 abuts against the limiting surface 13.

[0058] The ventilation part 24 protrudes upward from the installation part 21. The ventilation part 24 is provided with a second ventilation hole 241. The ventilation part 24 is adapted to be hermetically inserted into the first ventilation hole 14 so that the second ventilation hole 241 and the first ventilation hole 14 are communicated. Specifically, the sealing ring 5 is placed in the sealing groove 15, and its inner circle and outer circle respectively abut against the outer wall of the ventilation part 24 and the bottom of the sealing groove 15. The first ventilation hole 14 and the second ventilation hole 241 are adapted to intake or exhaust air so that the gripping part 22 can grip or release the material. It can be in the form of a suction cup or in the form of two clamping jaws + a sliding part. After intake or exhaust of air, the sliding part is prompted to slide, and the two clamping jaws are opened or closed through the cooperation of the sliding part and the inclined surfaces of the two clamping jaws, so as to realize the picking and placing of the material. In this embodiment, an elastic part can also be correspondingly arranged so that the clamping jaws can return to a certain state when not affected by the acting force of the sliding part.

[0059] The background plate 3 is detachably fixed to the gripper 2 and is located on the side of the gripping part 22 close to the base 1. The background plate 3 can be above the end of the gripping part 22, that is, above the material. The background plate 3 can be connected to the gripper 2 by means of threaded connection, snap connection, etc. In this embodiment, the background plate 3 is provided with a pin hole, and the outer wall of the gripper 2 is provided with a pin slot. The pin is inserted into the pin slot after passing through the pin hole to realize the connection between the two. In other embodiments, the pin can be replaced by a screw, and the screw passes through the pin hole and is screwed with the pin slot.

[0060] The camera is suitable for obtaining a picture of the material. In the picture, the background plate 3 on the back of the material is also photographed. The background plate 3 and the material have a large color difference, so that the outline of the material is clear, thereby facilitating the detection of defects in the material.

[0061] During installation, the installation positioning portion 23 of the grabbing member 2 is aligned with the starting positioning portion 16 of the base 1, and the grabbing member 2 is moved toward the base 1. The installation portion 21 enters the installation cavity 11 through the clearance hole 12 until the installation portion 21 abuts against the positioning surface 111. At this time, the installation portion 21 cannot move further, so that the grabbing member 2 rotates toward the terminal positioning portion 17. During the rotation, the spring pin 4 is pressed and compressed by the installation portion 21 until it rotates to the installation positioning portion 23 and the terminal positioning portion 17. At this time, the spring pin 4 is reset and enters the terminal groove 213. At the same time, the installation portion 21 abuts against the limiting surface 13.

[0062] When disassembling, rotate the grabbing piece 2 in the opposite direction. As the rotation proceeds, the grabbing piece 2 compresses the spring pin 4, and the spring pin 4 withdraws from the end groove 213 until the mounting portion 21 is no longer supported by the supporting surface 112 to allow the spring pin 4 to return to its original position. During the return process of the spring pin 4, the mounting portion 21 is pushed toward the clearance hole 12, and then the mounting piece is removed.

[0063] Compared with the prior art, this embodiment has the following beneficial effects:

[0064] In an exemplary embodiment, a quick-change clamping mechanism includes a base 1 and a gripping member 2 .

[0065] The base 1 is provided with an installation cavity 11 and a clearance hole 12. The installation cavity 11 is provided with a relative positioning surface 111 and a supporting surface 112. The installation cavity 11 is used for installing the installation portion 21 of the grabbing member 2. The base 1 is also provided with a limiting surface 13 perpendicular to the positioning surface 111 and the supporting surface 112. The limiting surface 13 is used to prompt that the installation is completed; the clearance hole 12 passes through the supporting surface 112, and the clearance hole 12 allows the installation portion 21 to enter the installation cavity 11.

[0066] The grabbing member 2 is provided with a mounting portion 21 and a grabbing portion 22. The mounting portion 21 is suitable for entering the mounting cavity 11 through the clearance hole 12, and is suitable for rotating relative to the base 1 when it abuts against the positioning surface 111. The positioning surface 111 plays a positioning role, so that when the mounting portion 21 cannot move upward, it prompts the user to rotate the grabbing member 2. After rotation, the mounting portion 21 abuts against the limiting surface 13 and cannot continue to rotate, prompting that the installation is in place. The mounting portion 21 is clamped by the positioning surface 111 and the supporting surface 112 to prevent the mounting portion 21 from moving up and down, resulting in the separation from the installation state; the grabbing portion 22 is suitable for grabbing materials. This method does not require tools for the installation of the grabbing member 2, is simpler and more convenient, and the disassembly and installation are also faster.

[0067] In an exemplary embodiment, a starting point positioning portion 16 and an end point positioning portion 17 are provided on the outer wall of the base 1, and an installation positioning portion 23 is provided on the outer wall of the grabbing member 2. When the installation positioning portion 23 is opposite to the starting point positioning portion 16, the installation portion 21 is suitable for entering the installation cavity 11 through the clearance hole 12. The user can know the installation position only by observing from the outside, and there is no need to confirm the position of the clearance hole 12 (usually requires looking up) before installation, which is more convenient.

[0068] When the installation positioning portion 23 is opposite to the final positioning portion 17, the installation portion 21 abuts against the limiting surface 13, so that the user can know that it has been installed in place, and prevent the user from mistakenly thinking that it has abutted against the limiting surface 13 due to processing errors and difficulty in rotation, which causes the gripper 2 to fall off in the subsequent process. The starting point positioning portion 16, the final positioning portion 17 and the installation positioning portion 23 are represented by marks or protrusions or grooves, which are convenient and simple to process.

[0069] In an exemplary embodiment, a spring pin 4 is further included. The spring pin 4 is mounted on the base 1. The mounting portion 21 is provided with an end point groove 213. The spring pin 4 is suitable for entering and exiting the end point groove 213. When the spring pin 4 enters the end point groove 213, the mounting portion 21 abuts against the limiting surface 13. The sound of the spring pin 4 when entering the end point groove 213 can be used to determine that the mounting portion 21 abuts against the limiting surface 13, thereby preventing the mounting portion 21 from being mistakenly believed to have abutted against the limiting surface 13 due to processing errors and difficulty in rotation, causing the gripping member 2 to fall off in the subsequent process. At the same time, since the spring pin 4 is preliminarily withdrawn from the end point groove 213, force needs to be applied to overcome the elastic force of the spring pin 4, so rotating the mounting portion 21 requires greater force. Therefore, when the spring pin 4 enters the end point groove 213, it also has a certain anti-rotation effect to prevent the mounting portion 21 from rotating and detaching from the base 1 due to machine vibration, etc.

[0070] In an exemplary embodiment, the base 1 is further provided with a first air vent 14, which passes through the positioning surface 111 and is connected with the installation cavity 11; the grasping member 2 is further provided with a vent portion 24, and the vent portion 24 is provided with a second air vent 241. The vent portion 24 is suitable for being sealed and plugged into the first air vent 14 so that the second air vent 241 is connected with the first air vent 14. The first air vent 14 and the second air vent 241 are suitable for air intake or exhaust so that the grasping portion 22 grasps or releases the material, and the material is taken in and put out by gas, which is more economical and safer.

[0071] In an exemplary embodiment, the base 1 is provided with a sealing groove 15, which opens at the hole wall of the first vent hole 14, and the sealing ring 5 is placed in the sealing groove 15, and its inner ring and outer ring respectively abut against the outer wall of the vent portion 24 and the bottom of the sealing groove 15, thereby achieving sealing, which is simple and convenient. Compared with the sealing ring 5 installed on the grasping member 2, each grasping member 2 that is replaced needs to have a sealing ring 5, and this method has lower costs.

[0072] In an exemplary embodiment, the background plate 3 is fixedly connected to the grasping member 2. The background plate 3 is located on the side of the grasping portion 22 close to the base 1. When the contour appearance of the material needs to be detected, the background plate 3 serves as the background of the material, making its contour more clearly visible and facilitating the acquisition of defect images.

[0073] In an exemplary embodiment, the background plate 3 is detachably fixedly connected to the grasping member 2. By replacing the background plate 3, materials of different colors can be adapted, facilitating the detection of the materials.

[0074] In an exemplary embodiment, a transfer assembly includes a transfer member and a quick-change gripping mechanism. The base 1 is installed at the output end of the transfer member so that the transfer member is adapted to drive the quick-change gripping mechanism to move and / or rotate to perform operations such as detecting or transferring the material.

[0075] The descriptions of the above specification and embodiments are used to explain the protection scope of the present invention, but do not constitute a limitation to the protection scope of the present invention. Through the inspiration of the present invention or the above embodiments, those of ordinary skill in the art, in combination with common general knowledge, ordinary technical knowledge in the art, and / or the prior art, can obtain modifications, equivalent replacements, or other improvements to the embodiments of the present invention or some of its technical features through logical analysis, reasoning, or limited experiments, which should all be included within the protection scope of the present invention.

Claims

1. A quick-change clamping mechanism, characterized in that: include A base (1) is provided with a mounting cavity (11) and a clearance hole (12); the mounting cavity (11) is provided with a positioning surface (111) and a supporting surface (112) which are opposite to each other; the base (1) is further provided with a limiting surface (13) which is perpendicular to the positioning surface (111) and the supporting surface (112); the clearance hole (12) passes through the supporting surface (112); A gripping member (2) is provided with a mounting portion (21) and a gripping portion (22); the mounting portion (21) is adapted to enter the mounting cavity (11) through the clearance hole (12), and is adapted to rotate relative to the base (1) when abutting against the positioning surface (111), so that the mounting portion (21) abuts against the limiting surface (13) and is clamped by the positioning surface (111) and the supporting surface (112); and the gripping portion (22) is adapted to grip materials.

2. A quick-change clamping mechanism according to claim 1, characterized in that: The outer wall of the base (1) is provided with a starting point positioning portion (16) and an end point positioning portion (17); the outer wall of the grabbing member (2) is provided with an installation positioning portion (23); when the installation positioning portion (23) is opposite to the starting point positioning portion (16), the installation portion (21) is suitable for entering the installation cavity (11) through the clearance hole (12); when the installation positioning portion (23) is opposite to the end point positioning portion (17), the installation portion (21) is against the limiting surface (13); the starting point positioning portion (16), the end point positioning portion (17) and the installation positioning portion (23) are represented as marks or protrusions or grooves.

3. A quick-change clamping mechanism according to claim 1, characterized in that: It also comprises a spring pin (4), the spring pin (4) being mounted on the base (1), the mounting portion (21) being provided with an end point slot (213), the spring pin (4) being suitable for entering and exiting the end point slot (213); when the spring pin (4) enters the end point slot (213), the mounting portion (21) abuts against the limiting surface (13).

4. A quick-change clamping mechanism as claimed in claim 1, characterized in that: The base (1) is also provided with a first ventilation hole (14), and the first ventilation hole (14) passes through the positioning surface (111) and is connected with the installation cavity (11); the grasping member (2) is also provided with a ventilation portion (24), and the ventilation portion (24) is provided with a second ventilation hole (241), and the ventilation portion (24) is suitable for being sealed and plugged into the first ventilation hole (14) so ​​that the second ventilation hole (241) and the first ventilation hole (14) are connected, and the first ventilation hole (14) and the second ventilation hole (241) are suitable for air intake or exhaust so that the grasping portion (22) can grasp or release the material.

5. A quick-change clamping mechanism as claimed in claim 4, characterized in that: It also comprises a sealing ring (5), the base (1) being provided with a sealing groove (15), the sealing groove (15) opening into the hole wall of the first vent hole (14), the sealing ring (5) being placed in the sealing groove (15), and the inner ring and the outer ring of the sealing ring (5) respectively abutting against the outer wall of the vent portion (24) and the bottom of the sealing groove (15).

6. A quick-change clamping mechanism according to any one of claims 1 to 5, characterized in that: It also comprises a background plate (3) which is fixed to the grabbing member (2) and is located on a side of the grabbing portion (22) close to the base (1).

7. A quick-change clamping mechanism as claimed in claim 6, characterized in that: The background plate (3) is detachably fixed to the grabbing member (2).

8. A transfer assembly, characterized in that: It comprises a transfer member and a quick-change clamping mechanism as described in any one of claims 1 to 5, wherein the base (1) is installed on the output end of the transfer member so that the transfer member is suitable for driving the quick-change clamping mechanism to move and / or rotate.

9. A transfer assembly according to claim 8, characterized in that: It also includes a background plate (3) and a camera. The background plate (3) is fixed to the gripping member (2) and is located on a side of the gripping portion (22) close to the base (1). The camera is suitable for acquiring images of the material.

10. A transfer assembly according to claim 9, characterized in that: The background plate (3) is detachably fixed to the grabbing member (2).

Images