Mechanical arm end camera quick-change structure

Abstract

This utility model relates to a quick-change camera end effector structure for a robotic arm, comprising a multi-axis robotic arm and a fixed ring. The fixed ring is sleeved on the end clamping part of the multi-axis robotic arm. The robotic arm is used to move the fixed ring according to a set path. A tool drive module is fixedly installed on the left side of the fixed ring, and a camera clamping module is fixedly installed on the right side of the fixed ring. The clamping part of the multi-axis robotic arm is used to drive the fixed ring to rotate around the axis. The camera clamping module includes a fixed plate, a pneumatic clamp, and a data connector. The pneumatic clamp is fixedly installed on the bottom rear side of the fixed plate, and the data connector is fixedly installed on the top front side of the fixed plate. The tool drive module can be integrated into the fixed ring. The pneumatic clamp clamps the industrial camera. The robotic arm drives the fixed ring and fixed plate to press down so that the data connector is connected to the data interface on the top of the industrial camera. Then, the pneumatic clamp locks the industrial camera to the bottom of the fixed plate, realizing quick replacement of the industrial camera.

Description

Technical Field

[0001] This utility model relates to the field of metal processing technology, and in particular to a quick-change structure for a camera at the end of a robotic arm. Background Technology

[0002] Industrial cameras are key components in the vision systems of mechanical equipment. Compared with traditional civilian cameras, they have higher image stability, higher transmission capacity, and higher anti-interference capabilities. Industrial cameras have long continuous working times and need to be used in harsh environments, requiring stable and reliable performance. Therefore, the lens structure of the camera needs to be compact, robust, not easily damaged, and easy to install. The lens docking structure of existing industrial cameras is complex and cumbersome to install, making it inconvenient to replace and install various lens models, and thus unsuitable for widespread adoption.

[0003] Currently, Chinese patent CN218567808U discloses an industrial camera lens docking mechanism, including a base, a disc, a cylinder, an industrial camera, a docking structure, and a rotating mechanism. The industrial camera, cylinder, disc, and base are installed sequentially from top to bottom. The docking mechanism includes a turntable, a rotating frame, a support, and a lens. The turntable is fitted onto the outer wall of the disc. The support is arranged in a ring around the top of the rotating frame, which is fitted onto the outer wall of the cylinder. The lens is inserted into the inner cavity of the support, and the lens corresponds to the position of the industrial camera. This utility model has a simple structure and is easy to install. The docking structure allows for the replacement of various lens models quickly and easily. The rotating mechanism allows for fixed-angle rotation every 90 degrees, ensuring that the rotated lens always corresponds to the position of the industrial camera, facilitating the replacement and installation of various lens models and making it suitable for widespread application.

[0004] The aforementioned existing technical solutions have the following drawbacks: they cannot be combined with the cutting tools used in the machining process, requiring separate robotic arms to hold the camera and the cutting tools, which is not conducive to positioning in high-precision machining. Utility Model Content

[0005] The purpose of this invention is to provide a quick-change structure for the end-effector camera of a robotic arm to solve the problems existing in the prior art.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0007] A quick-change camera end effector structure for a robotic arm includes a multi-axis robotic arm and a fixed ring. The fixed ring is sleeved on the end gripping part of the multi-axis robotic arm. The robotic arm is used to move the fixed ring along a set path. A tool drive module is fixedly installed on the left side of the fixed ring, and a camera gripping module is fixedly installed on the right side of the fixed ring. The gripping part of the multi-axis robotic arm is used to drive the fixed ring to rotate around an axis. The camera gripping module includes a fixed plate, a pneumatic clamp, and a data connector. The pneumatic clamp is fixedly installed on the bottom rear side of the fixed plate, and the data connector is fixedly installed on the top front side of the fixed plate.

[0008] By adopting the above technical solution, the camera quick-change structure of this device is mainly used for grinding multiple castings. Therefore, the drive module does not need to have excessively high speed and precision, so the tool drive module can be integrated on the fixed ring. The industrial camera is clamped by a pneumatic clamp. The data connector is connected to the data interface on the top of the industrial camera by the mechanical arm driving the fixed ring and fixed plate to press down. Then, the industrial camera is locked to the bottom of the fixed plate by the pneumatic clamp, realizing the quick replacement of the industrial camera. When using it, after the image data is acquired by the industrial camera, the industrial camera needs to be placed on the designated placement rack, and then the tool is clamped to grind the workpiece.

[0009] In a further embodiment, the pneumatic clamp includes a housing, a positioning ring, a cylinder, and a push plate. The housing is fixedly installed at the bottom of a fixed plate, the cylinder is fixedly installed on the right side of the housing, the telescopic part of the cylinder passes through the housing and extends into the interior of the housing, the push plate is slidably installed inside the housing, a rectangular block is fixedly installed at one end of the telescopic part of the cylinder located inside the housing, the top of the push plate is set as an inclined surface, the positioning ring is fixedly installed at the bottom of the housing, and the bottom of the housing is provided with through holes axially evenly arranged around the axis of the positioning ring. Each through hole is provided with a vertically sliding cylinder, and the bottom end of each cylinder is provided with a slot.

[0010] By adopting the above technical solution, instead of setting blind holes with corresponding cylinders on the top of the industrial camera, a micro linear motor for centrifugal / centripetal motion needs to be set in the blind hole. When the bottom end face of the cylinder is in contact with the bottom end face of the hole, the moving part of the linear motor moves centripetally and locks in the slot. When the industrial camera needs to be lowered, the moving part of the linear motor moves centrifugally, thus achieving clamping of the industrial camera. At the same time, by setting an annular groove on the top of the industrial camera, the annular groove and the positioning ring cooperate to achieve the position positioning of the industrial camera.

[0011] In a further embodiment, the top of the cylinder located inside the outer casing is provided with a centrifugal protrusion.

[0012] By adopting the above technical solution, the protrusion is used to prevent the cylinder from completely detaching from the outer shell.

[0013] In a further embodiment, positioning holes are provided at the four top corners of the data connector, positioning pins corresponding to the positioning holes are fixedly installed at the bottom of the fixing plate, and guide pins are provided at the bottom of the data connector.

[0014] By adopting the above technical solution, the conductive posts inside the data connector can be avoided during docking.

[0015] In a further embodiment, the tool driving module and the camera clamping module have the same mass.

[0016] By adopting the above technical solution, the consistent quality mentioned here refers to the consistent quality under no-load conditions, which makes it easy to install it on the robotic arm.

[0017] In a further embodiment, a plurality of infrared rangefinders are provided at the bottom of the fixing ring.

[0018] The above technical solution is used to assist in detecting the relative position of the fixing ring and the workpiece.

[0019] In summary, this utility model has the following beneficial effects:

[0020] 1. The tool drive module can be integrated into the fixing ring. The industrial camera is clamped by a pneumatic clamp. The data connector is connected to the data interface on the top of the industrial camera by the mechanical arm driving the fixing ring and fixing plate to be pressed down. Then, the industrial camera is locked to the bottom of the fixing plate by the pneumatic clamp, realizing the rapid replacement of the industrial camera. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram illustrating the internal structure of the pneumatic clamp of this utility model.

[0023] In the diagram, 1 is the retaining ring; 2 is the tool drive module; 3 is the camera clamping module; 31 is the fixing plate; 32 is the pneumatic clamp; 33 is the data connector; 321 is the outer shell; 322 is the positioning ring; 323 is the cylinder; and 324 is the push plate. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to the accompanying drawings.

[0025] Identical parts are indicated by the same reference numerals. It should be noted that the terms "front," "rear," "left," "right," "upper," and "lower" used in the following description refer to the attached figures. Figure 1In this specification, the terms "bottom surface" and "top surface," "inner" and "outer" refer to the direction toward or away from the geometry of a specific component. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this specification, "a plurality of" means two or more, unless otherwise explicitly and specifically defined by the direction of the center.

[0026] Example 1:

[0027] like Figures 1-2 As shown, a quick-change camera end effector structure for a robotic arm includes a multi-axis robotic arm and a fixed ring 1. The fixed ring 1 is sleeved on the end gripping part of the multi-axis robotic arm. The robotic arm is used to move the fixed ring 1 along a set path. A tool drive module 2 is fixedly installed on the left side of the fixed ring, and a camera gripping module 3 is fixedly installed on the right side of the fixed ring 1. The gripping part of the multi-axis robotic arm is used to drive the fixed ring 1 to rotate around an axis. The camera gripping module 3 includes a fixed plate 31, a pneumatic clamp 32, and a data connector 33. The pneumatic clamp 32 is fixedly installed on the bottom rear side of the fixed plate 31, and the data connector 33 is fixedly installed on the top front side of the fixed plate 31. The pneumatic clamp 32 includes a housing 321, a positioning ring 322, a cylinder 323, and a push plate 324. The housing 321 is fixedly installed on the bottom of the fixed plate 31, and the cylinder 323 is fixedly installed on the right side of the housing 321. The telescopic part of the cylinder 323 passes through the housing 321. The shell 321 extends into the interior of the outer shell 321. The push plate 324 is slidably installed inside the outer shell 321. A rectangular block is fixedly installed at one end of the telescopic part of the cylinder 323 inside the outer shell 321. The top of the push plate 324 is set as an inclined surface. The positioning ring 322 is fixedly installed at the bottom of the outer shell 321. The bottom of the outer shell 321 is provided with through holes evenly arranged axially around the axis of the positioning ring 322. Each through hole is provided with a vertically sliding cylinder. The bottom end of the cylinder is provided with a slot. The top of the cylinder inside the outer shell 321 is provided with a centrifugal protrusion. The top four corners of the data connector 33 are provided with positioning holes. The bottom of the fixing plate 31 is fixedly installed with positioning pins corresponding to the positioning holes. The bottom of the data connector 33 is provided with guide pins. The tool drive module 2 and the camera clamping module 3 have the same mass. Multiple infrared rangefinders are provided at the bottom of the fixing ring 1.

[0028] Specific implementation process: The quick-change camera structure of this device is mainly used for grinding multiple castings. Therefore, the drive module does not need to have excessively high speed and precision, so the tool drive module can be integrated on the fixed ring. The industrial camera is clamped by a pneumatic clamp. The data connector is connected to the data interface on the top of the industrial camera by the mechanical arm driving the fixed ring and fixed plate to press down. Then, the industrial camera is locked to the bottom of the fixed plate by the pneumatic clamp, realizing the quick replacement of the industrial camera. When using it, after acquiring image data through the industrial camera, the industrial camera needs to be placed on the designated placement rack, and then the tool is clamped to grind the workpiece.

[0029] In the embodiments disclosed in this utility model, the terms "installation," "connection," "linking," and "fixing" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; "linking" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments disclosed in this utility model according to the specific circumstances.

[0030] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. A quick-change structure for a camera at the end effector of a robotic arm, characterized in that: The system includes a multi-axis robotic arm and a fixed ring (1). The fixed ring (1) is sleeved on the end clamping part of the multi-axis robotic arm. The robotic arm is used to move the fixed ring (1) along a set path. A tool drive module (2) is fixedly installed on the left side of the fixed ring (1), and a camera clamping module (3) is fixedly installed on the right side of the fixed ring (1). The clamping part of the multi-axis robotic arm is used to drive the fixed ring (1) to rotate around the axis. The camera clamping module (3) includes a fixed plate (31), a pneumatic clamp (32), and a data connector (33). The pneumatic clamp (32) is fixedly installed on the bottom rear side of the fixed plate (31), and the data connector (33) is fixedly installed on the top front side of the fixed plate (31).

2. The quick-change structure for a robotic arm end-effector camera according to claim 1, characterized in that: The pneumatic clamp (32) includes a housing (321), a positioning ring (322), a cylinder (323), and a push plate (324). The housing (321) is fixedly installed at the bottom of the fixing plate (31). The cylinder (323) is fixedly installed on the right side of the housing (321). The telescopic part of the cylinder (323) passes through the housing (321) and extends into the interior of the housing (321). The push plate (324) is installed inside the housing (321) in a sliding manner. A rectangular block is fixedly installed at one end of the telescopic part of the cylinder (323) inside the housing (321). The top of the push plate (324) is set as an inclined surface. The positioning ring (322) is fixedly installed at the bottom of the housing (321). The bottom of the housing (321) is provided with through holes that are axially and evenly arranged around the axis of the positioning ring (322). Each through hole is provided with a vertically sliding cylinder. The bottom end of each cylinder is provided with a slot.

3. The quick-change structure for a robotic arm end-effector camera according to claim 2, characterized in that: The cylinder has a centrifugal protrusion at its top end inside the outer shell (321).

4. The quick-change structure for a robotic arm end-effector camera according to claim 1, characterized in that: The data connector (33) has positioning holes at its four top corners. The bottom of the fixing plate (31) is fixedly installed with positioning pins that correspond one-to-one with the positioning holes. The bottom of the data connector (33) is provided with guide pins.

5. The quick-change structure for a robotic arm end-effector camera according to claim 1, characterized in that: The tool drive module (2) and the camera clamping module (3) have the same mass.

6. The quick-change structure for a robotic arm end-effector camera according to claim 1, characterized in that: Multiple infrared rangefinders are provided at the bottom of the fixed ring (1).

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