CN106003126A - Robot terminal executor - Google Patents
Robot terminal executor Download PDFInfo
- Publication number
- CN106003126A CN106003126A CN201610607299.6A CN201610607299A CN106003126A CN 106003126 A CN106003126 A CN 106003126A CN 201610607299 A CN201610607299 A CN 201610607299A CN 106003126 A CN106003126 A CN 106003126A
- Authority
- CN
- China
- Prior art keywords
- robot
- contact plate
- plate
- end effector
- compliance unit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0075—Means for protecting the manipulator from its environment or vice versa
Abstract
The invention discloses a robot terminal executor. The robot terminal executor comprises a robot terminal connection surface, a smoothening unit, a mechanical paw mechanism and a positioning mechanism, the smoothening unit is arranged at the top end of the robot terminal connection surface, and the mechanical paw mechanism and the positioning mechanism are arranged on the smoothening unit; the smoothening unit comprises a rigid contact plate, a rubber plate, a smooth contact plate, a control shaft, a guide column, an upper support sleeve, a middle support plate and a lower support sleeve; the upper support sleeve is connected with the lower support sleeve through the middle support plate, and the control shaft sequentially penetrates through the rigid contact plate, the rubber plate, the smooth contact plate, the middle support plate and the robot terminal connection surface and is used for being connected with a robot. The robot terminal executor is simple in structure, high in universality and high in work efficiency.
Description
Technical field
The present invention relates to a kind of end effector of robot, belong to robot building technical field.
Background technology
End effector of robot is installed in operating the front end of tractor driver's wrist, in order to directly to perform task.According to the difference of job task, it is divided into clamper or specific purpose tool etc..
At present, in automobile body welding processing, fixture to keep accurate location and attitude, thus to coordinate robot to carry out clamping, carrying or adjust operation after location adjustment terminates under certain rigidity.The most preferably coordinating robot, the structure of end effector is the most crucial.
Summary of the invention
Purpose: in order to overcome the deficiencies in the prior art, the present invention provides a kind of end effector of robot.
Technical scheme: for solving above-mentioned technical problem, the technical solution used in the present invention is:
A kind of end effector of robot, including: robot end's joint face, compliance unit, mechanical paw mechanism, detent mechanism, described robot end's joint face top is provided with compliance unit, described compliance unit is provided with mechanical paw mechanism, detent mechanism；Described compliance unit includes: rigid contact plate, rubber slab, compliant contact plate, control axle, guide pillar, upper support set, intermediate support plate, lower support set, in the middle part of described rigid contact plate, underrun rubber slab is connected with compliant contact plate, rubber slab and compliant contact sleeve-board are connected in middle through-hole by described upper support set, and described compliant contact plate is fixed with upper support set by guide pillar；Described upper support set is connected with lower support set by intermediate support plate；Described control axle sequentially passes through rigid contact plate, rubber slab, compliant contact plate, intermediate support plate, robot end's joint face, for being connected with robot.
Also include axle sleeve, between described control axle and intermediate support plate, be provided with axle sleeve.
Also including that fixed component, described fixed component are arranged on bottom compliant contact plate, fixed component is connected to control on axle.
Preferably, described detent mechanism includes: locating piece, locking pin, and described locating piece is arranged on compliance unit top, and described locking pin is arranged on locating piece.
Preferably, described mechanical paw mechanism includes: support, screw mandrel, rotating shaft, bar shaped pawl, and described compliance unit top is provided with two supports, is provided with screw mandrel between support, and screw mandrel two ends are all mobile is provided with bar shaped pawl, and screw mandrel end is connected with rotating shaft.
Preferably, also include limited block, in the middle part of described screw mandrel, be provided with limited block.
Beneficial effect: a kind of end effector of robot that the present invention provides, can be sent to robot by compliance unit after the impulsive force that rigid contact plate is subject to being slowed down, reduce the damage to robot.It addition, the design of mechanical paw mechanism, detent mechanism can effectively realize the function of end effector.The design simple structure, highly versatile, work efficiency is high.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the structural representation of compliance unit.
Detailed description of the invention
Below in conjunction with the accompanying drawings the present invention is further described.
As shown in Figure 1 and Figure 2, a kind of end effector of robot, including: robot end's joint face 1, compliance unit 2, mechanical paw mechanism 3, detent mechanism 4, described robot end's joint face 1 top is provided with compliance unit 2, and described compliance unit 2 is provided with mechanical paw mechanism 3, detent mechanism 4；Described compliance unit 2 includes: rigid contact plate 21, rubber slab 22, compliant contact plate 23, control axle 24, guide pillar 25, upper support set 26, intermediate support plate 27, lower support set 28, in the middle part of described rigid contact plate 21, underrun rubber slab 22 is connected with compliant contact plate 23, rubber slab 22 and compliant contact plate 23 are socketed in middle through-hole by described upper support set 26, and described compliant contact plate 23 is fixed with upper support set 26 by guide pillar 25；Described upper support set 26 is connected with lower support set 28 by intermediate support plate 27；Described control axle 24 sequentially passes through rigid contact plate 21, rubber slab 22, compliant contact plate 23, intermediate support plate 27, robot end's joint face 1, for being connected with robot.
Also include axle sleeve 29, between described control axle 24 and intermediate support plate 27, be provided with axle sleeve 29.
Also including that fixed component 30, described fixed component 30 are arranged on bottom compliant contact plate 23, fixed component 30 is connected to control on axle 24.
Described detent mechanism 4 includes: locating piece 41, locking pin 42, and described locating piece 41 is arranged on compliance unit 2 top, and described locking pin 42 is arranged on locating piece 41.
Described mechanical paw mechanism 3 includes: support 31, screw mandrel 32, rotating shaft 33, bar shaped pawl 34, described compliance unit 2 top is provided with two supports 31, being provided with screw mandrel 32 between support 31, screw mandrel 32 two ends are all mobile is provided with bar shaped pawl 34, and screw mandrel 32 end is connected with rotating shaft 33.
Also include limited block 35, in the middle part of described screw mandrel 32, be provided with limited block 35.
The above is only the preferred embodiment of the present invention; it is noted that, for those skilled in the art; under the premise without departing from the principles of the invention, it is also possible to make some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
1. an end effector of robot, including: robot end's joint face, it is characterized in that: also include: compliance unit, mechanical paw mechanism, detent mechanism, described robot end's joint face top is provided with compliance unit, and described compliance unit is provided with mechanical paw mechanism, detent mechanism；Described compliance unit includes: rigid contact plate, rubber slab, compliant contact plate, control axle, guide pillar, upper support set, intermediate support plate, lower support set, in the middle part of described rigid contact plate, underrun rubber slab is connected with compliant contact plate, rubber slab and compliant contact sleeve-board are connected in middle through-hole by described upper support set, and described compliant contact plate is fixed with upper support set by guide pillar；Described upper support set is connected with lower support set by intermediate support plate；Described control axle sequentially passes through rigid contact plate, rubber slab, compliant contact plate, intermediate support plate, robot end's joint face, for being connected with robot.
A kind of end effector of robot the most according to claim 1, it is characterised in that: also include axle sleeve, between described control axle and intermediate support plate, be provided with axle sleeve.
A kind of end effector of robot the most according to claim 1, it is characterised in that: also including that fixed component, described fixed component are arranged on bottom compliant contact plate, fixed component is connected to control on axle.
A kind of end effector of robot the most according to claim 1, it is characterised in that: described detent mechanism includes: locating piece, locking pin, and described locating piece is arranged on compliance unit top, and described locking pin is arranged on locating piece.
A kind of end effector of robot the most according to claim 1, it is characterized in that: described mechanical paw mechanism includes: support, screw mandrel, rotating shaft, bar shaped pawl, described compliance unit top is provided with two supports, screw mandrel it is provided with between support, screw mandrel two ends are all mobile is provided with bar shaped pawl, and screw mandrel end is connected with rotating shaft.
A kind of end effector of robot the most according to claim 5, it is characterised in that: also include limited block, in the middle part of described screw mandrel, be provided with limited block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607299.6A CN106003126B (en) | 2016-07-29 | 2016-07-29 | A kind of end effector of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610607299.6A CN106003126B (en) | 2016-07-29 | 2016-07-29 | A kind of end effector of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106003126A true CN106003126A (en) | 2016-10-12 |
| CN106003126B CN106003126B (en) | 2019-04-05 |
Family
ID=57114849
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610607299.6A Active CN106003126B (en) | 2016-07-29 | 2016-07-29 | A kind of end effector of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106003126B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4124078A1 (en) * | 1990-07-23 | 1992-02-06 | Fuji Heavy Ind Ltd | DRILLING UNIT OF AN ASSEMBLY ROBOT |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN102357891A (en) * | 2011-09-24 | 2012-02-22 | 申超 | Pneumatic manipulator |
| CN205219116U (en) * | 2015-12-14 | 2016-05-11 | 新乡职业技术学院 | Mechanical automatic gripping device |
| CN205835400U (en) * | 2016-07-29 | 2016-12-28 | 苏州高通机械科技有限公司 | A kind of end effector of robot |
-
2016
- 2016-07-29 CN CN201610607299.6A patent/CN106003126B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4124078A1 (en) * | 1990-07-23 | 1992-02-06 | Fuji Heavy Ind Ltd | DRILLING UNIT OF AN ASSEMBLY ROBOT |
| CN102350704A (en) * | 2011-09-24 | 2012-02-15 | 李阳阳 | Novel pneumatic mechanical claw |
| CN102357891A (en) * | 2011-09-24 | 2012-02-22 | 申超 | Pneumatic manipulator |
| CN205219116U (en) * | 2015-12-14 | 2016-05-11 | 新乡职业技术学院 | Mechanical automatic gripping device |
| CN205835400U (en) * | 2016-07-29 | 2016-12-28 | 苏州高通机械科技有限公司 | A kind of end effector of robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106003126B (en) | 2019-04-05 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20190417 Address after: 215000 Pangjin Road, Wujiang Economic and Technological Development Zone, Suzhou City, Jiangsu Province, 1888 Patentee after: Suzhou Zhongshi Intelligent Equipment Technology Co., Ltd. Address before: 215000 No. 179 Songshi Road, Yongzhi Town, Wuzhong District, Suzhou City, Jiangsu Province Patentee before: SUZHOU GAOTONG MACHINERY TECHNOLOGY CO., LTD. |