CN106541418A - End effector and industrial robot - Google Patents
End effector and industrial robot Download PDFInfo
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- CN106541418A CN106541418A CN201510591514.3A CN201510591514A CN106541418A CN 106541418 A CN106541418 A CN 106541418A CN 201510591514 A CN201510591514 A CN 201510591514A CN 106541418 A CN106541418 A CN 106541418A
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- end effector
- electric motors
- linear electric
- fixedly connected
- pneumatic means
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Abstract
The invention discloses a kind of end effector and industrial robot.The end effector includes pneumatic means, base plate, STATEMENT OF FEDERALLY SPONSORED and at least one linear electric motors, linear electric motors and pneumatic means are installed on base plate, STATEMENT OF FEDERALLY SPONSORED is fixedly connected with linear electric motors and pneumatic means, so as to STATEMENT OF FEDERALLY SPONSORED can be moved under the drive of pneumatic means and/or linear electric motors.The industrial robot includes end effector, mechanical arm, chuck, cutting element and sensor, and cutting element is installed on chuck, and chuck is fixedly connected with STATEMENT OF FEDERALLY SPONSORED, and sensor is arranged on cutting element, and base plate is fixedly connected with the end of mechanical arm.The end effector of the present invention effectively overcomes the low shortcoming of pneumatic system dynamic response difference and control accuracy, improves stability, accuracy and the reliability of the whole continuous contact course of processing.
Description
Technical field
The present invention relates to machine field, and in particular to a kind of end effector and industrial robot.
Background technology
In precision optical machinery manufacture process, it is most basic to surface contact properties post processings such as the polishing grindings of workpiece
One procedure, traditional such work is often by manually completing.However, with labor cost increasingly
Height, this post for not needing cultural technology, on the contrary in occupation of very hyperbaric wages expenditure, machining
Therefore industry hesitates to move forward.As industrial technology constantly develops, people polish to the surface of mechanical workpieces, corner angle
The courses of processing such as deburring it is also proposed higher requirement, therefore, using mechanical arm replace it is artificial by the way of into
One of processing mode extensively accepted in working for the post processing of continuous contact surface.Which can not only be carried
High polishing, the quality of polishing, and need not recycle a large amount of manually carrying out repeating operation, more promote
The development of processing industry.
Currently used for the processing such as polishing finishing mechanical arm mainly using two ways realizing in the course of processing
Power control.
One kind is using force transducer is installed on mechanical arm, using force feedback signal and mechanical arm storage inside
Parameter library is combined, by controlling the output torque in each joint of robot come the power output of control machinery arm end.
Although mechanical arm can realize the power control in the operations such as polishing grinding using such method, due to inside which
Setup parameter is limited, causes the precision of the processing such as polishing grinding much not reach technological requirement.Meanwhile, in profit
When power in the post processing of continuous contact surface carried out with such method controlling, due to the inertia of mechanical arm it is larger,
Cause dynamic response poor, make power control accuracy be difficult to be improved, therefore this side-jet control mode is only fitted
For lightweight mechanical arm.
Another kind of power control mode is to install end power control device, this power control mode reality in mechanical arm tail end
Existing low cost, does not rely on robot itself, and easily realizes higher control accuracy and good dynamic response,
Therefore it is widely adopted.Using Pneumatic artificial muscle or air bag etc. come real more than existing end Flexible Control mechanism
The now adjustable active compliance power control of rigidity, but due to pneumatic system low-response, exist in control realization
The problems such as non-linear serious, low control accuracy and long lag time, thus it is unfavorable for the quick control of production process
System, does not reach precision machined demand yet.
The content of the invention
It is an object of the invention to provide a kind of end effector, to solve above-mentioned problems of the prior art.
In order to solve the above problems, according to an aspect of the invention, there is provided a kind of end effector, institute
Stating end effector includes pneumatic means, base plate, STATEMENT OF FEDERALLY SPONSORED and at least one linear electric motors, the straight-line electric
Machine and the pneumatic means are installed on the base plate, the STATEMENT OF FEDERALLY SPONSORED and the linear electric motors and described pneumatic
Device is fixedly connected, so as to the STATEMENT OF FEDERALLY SPONSORED can be in the drive of the pneumatic means and/or the linear electric motors
Lower motion.
It is preferred that the end effector is Robot Force control end effector.
It is preferred that the base plate is made up of soft iron.
It is preferred that the STATEMENT OF FEDERALLY SPONSORED is extension bar, the end effector also includes end cap, wherein, it is described
Extension bar is passed through the end cap and is fixedly connected with the pneumatic means and the linear electric motors.
It is preferred that the end effector includes a linear electric motors, and the linear electric motors are voice coil motor,
The pneumatic means is arranged at the inside of the voice coil motor.
It is preferred that the voice coil motor include inner yoke and outer yoke, the inner yoke and the outer yoke with
The base plate is fixedly connected, and the pneumatic means is arranged at the inside of the inner yoke.
It is preferred that the voice coil motor also includes guide ring, the guide ring is arranged in the inner yoke and institute
State between outer yoke and be fixedly connected with the base plate.
It is preferred that the guide ring is made up of polyformaldehyde.
It is preferred that the voice coil motor also includes interior magnet steel, outer steel, coil retainer and coil, wherein,
The interior magnet steel is installed in the inner yoke, and the outer steel is installed in the outer yoke, the coil
It is installed on the coil retainer, and the coil retainer is fixedly connected with the extension bar.
It is preferred that the interior magnet steel is installed in the inner yoke by way of bonding, and the outer magnetic
Steel is installed in the outer yoke by way of bonding.
It is preferred that the coil retainer is made up of non-magnet material.
It is preferred that the coil retainer is made up of aluminium alloy.
It is preferred that the upper surface of the base plate is provided with the first groove and the second groove, first groove is used for
The pneumatic means is installed, and second groove is used to install the linear electric motors.
It is preferred that the end effector also include compressed air source unit, the pneumatic means be air bag, the gas
Capsule sets air inlet, and the air bag is provided with one end of air inlet and is fixedly connected with the base plate, the air bag it is another
One end is fixedly connected with the extension bar, and the compressed air source unit is in fluid communication with the air inlet.
It is preferred that the internal diameter of the inner yoke installs the 104%～120% of diameter for needed for the air bag.
It is preferred that when the air bag is in intermediate range, the extension bar is located at part more than end cap
Length is at least the half of the air bag maximum compressibility.
It is preferred that the compressed air source unit includes source of the gas, filter, air relief valve, electromagnetic switch valve, pressure
Table, pipeline, one end connection source of the gas of the pipeline, the other end of the pipeline are connected to entering for the air bag
QI KOU, the gas flowed out from the source of the gas flow into the air relief valve, Ran Houzai after filter filtration
The air bag is flowed into, the electromagnetic switch valve and the pressure are set between the air relief valve and the air bag
Table.
It is preferred that the end effector also includes bearing, the end cap is provided with through hole, and the bearing is arranged
In the through hole, the extension bar is penetrated in the bearing.
It is preferred that the pneumatic means is cylinder, the cylinder includes piston, the extension bar and the work
Plug is fixedly connected.
It is preferred that the STATEMENT OF FEDERALLY SPONSORED is top board, the end effector includes 3 linear electric motors, this 3
Platform linear electric motors are evenly arranged around the pneumatic means.
It is preferred that the linear electric motors are voice coil motor.
It is preferred that the pneumatic means is air bag.
According to a further aspect in the invention, a kind of industrial robot is additionally provided, the industrial robot includes
Above-mentioned end executor, mechanical arm, chuck, cutting element and sensor, wherein cutting element peace
Loaded on the chuck, the chuck is fixedly connected with one end of the extension bar, and the sensor is arranged at
On the cutting element, and the base plate is fixedly connected with the end of the mechanical arm.
It is preferred that the sensor is one-dimensional force transducer.
It is preferred that the cutting element includes cutter and grinding tool.
The present invention end effector be gas electric hybrid type Robot Force control end effector, using air bag come
While reducing the impact and vibrations in power control process, quick force compensating is realized with reference to voice coil motor, two
Person's collective effect simultaneously needs to export different contact forces according to reality processing, realizes that polishing, polishing etc. are processed
Active compliance power control in journey.
As air bag has compact conformation, a wear-resistant, low cost and other advantages, therefore the gas electric hybrid type machine
The shock resistance in the course of processing is realized in the selection of people's end effector with air bag.As air bag only one of which is passed in and out
QI KOU, makes air bag stretch after given the blowing pressure and exports certain thrust.As air bag has certain pressure
Contracting, therefore by changing the blowing pressure and air bag decrement in air bag, during just can changing sanding and polishing
Air bag is applied to the contact force of workpiece, while when out-of-flatness surface is met in processing, the compressibility of air bag can
Reduce the mutual impact of gas electric hybrid type end effector of robot and workpiece to be machined surface.
The present invention effectively overcomes the low shortcoming of pneumatic system dynamic response difference and control accuracy, improves whole
The stability of the continuous contact course of processing, accuracy and reliability.
The gas electric hybrid type end effector of robot make use of the anti-impact brought by the compressibility of gas
Characteristic is hit, and with reference to the rapidity and accuracy of motor control, can be realized during sanding and polishing to cutting
The quick precise control of instrument (grinding tool) and the contact forces of workpiece is cut, whole process can be improved again
Stability.
The present invention has advantages below compared with prior art：
(1) Pneumatic assembly adopts balloon-type cylinder, and simple structure, price are low, without internal friction, life-span
It is high；
(2) increase voice coil motor on the basis of air bag, improve the rapidity and degree of accuracy of power control；
(3) by the way of air bag is arranged in voice coil motor inside center, compact conformation is made, stability is strong；
(4) do not rely on robot and can realize power control as needed, versatility is high.
Description of the drawings
Fig. 1 is the semi-cutaway of end effector according to an embodiment of the invention, wherein, extension bar is reached
Highest distance position；
Fig. 2 is the another semi-cutaway of end effector according to an embodiment of the invention, wherein, extension bar is stretched
Go out to centre position；
Fig. 3 is the sectional view that the end effector A-A along the line in Fig. 2 cuts open；
Fig. 4 is the another semi-cutaway of end effector according to an embodiment of the invention, wherein, at extension bar
In retrieving position；
Fig. 5 is the application schematic diagram of the end effector of one embodiment of the invention；
Fig. 6 is the sectional view of the end effector of further embodiment of this invention；And
Fig. 7 is the partial sectional view of the end effector of further embodiment of this invention.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to accompanying drawing, to become apparent from understanding this
The objects, features and advantages of invention.It should be understood that embodiment shown in the drawings is not to model of the present invention
The restriction enclosed, and simply to illustrate that the connotation of technical solution of the present invention.
The end effector of the present invention generally includes pneumatic means, base plate, STATEMENT OF FEDERALLY SPONSORED and at least one straight-line electric
Machine, linear electric motors and the pneumatic means are installed on base plate, STATEMENT OF FEDERALLY SPONSORED and the linear electric motors and pneumatic dress
Put and be fixedly connected, so as to STATEMENT OF FEDERALLY SPONSORED can be moved under the drive of pneumatic means and/or linear electric motors.
Wherein STATEMENT OF FEDERALLY SPONSORED is usually extension bar or top board.When STATEMENT OF FEDERALLY SPONSORED is extension bar, end effector is usual
Also include end cap, end cap is provided with through hole, and extension bar is passed through the through hole and fixed with pneumatic means and linear electric motors
Connection, extension bar move up and down under the drive of the pneumatic means and/or linear electric motors.
Wherein, pneumatic means can be air bag, cylinder etc., and linear electric motors are preferably voice coil motor.Below will
Pneumatic means is described in detail using the embodiment of voice coil motor using air bag and linear electric motors.
It is described in detail with reference to the end effector of Fig. 1-3 pair of one embodiment of the present of invention.
Semi-cutaways of the Fig. 1 for the end effector 100 of the present embodiment, wherein, extension bar reaches most amphi position
Put, semi-cutaways of the Fig. 2 for the end effector 100 of the present embodiment, wherein, extension bar reaches interposition
Put；Fig. 3 is the sectional view that the end effector A-A along the line in Fig. 2 cuts open；Fig. 4 is the end of the present embodiment
The another semi-cutaway of end executor, wherein, extension bar is in retrieving position.
As Figure 1-4, end effector 100 includes end cap 11, base plate 12, extension bar 13, air bag
14th, bearing 15 and voice coil motor 16.End cap 11 is provided with through hole 121, and bearing 15 is installed on through hole 121
Interior, extension bar 13 is passed through through hole 121 and is fixedly connected with air bag 14 and voice coil motor 16,14 He of air bag
Voice coil motor 16 is installed on base plate 12.Drive of the extension bar 13 in air bag 14 and/or voice coil motor 16
Under can move up and down.
As shown in figure 1, voice coil motor 16 includes interior magnet steel 161, outer steel 162, inner yoke 163, outer
Yoke 164, coil 165, coil retainer 166 and guide ring 167.Outer yoke 164 is arranged in inner yoke
163 outside, interior magnet steel 161 are installed in inner yoke 163, and outer steel 162 is installed on outer yoke 164
On, interior magnet steel 161 and outer steel 162 it is positioned opposite.Coil 165 is arranged on coil retainer 166,
And coil 165 is located between interior magnet steel 161 and outer steel 162.Guide ring 167 is in end effector
Further guide effect is provided for moving up and down for coil retainer in the course of work.
Air bag 14 is arranged in the centre position of base plate 12, the inner yoke 163 of voice coil motor 16 and outer yoke
164 peripheries for being arranged in air bag 14, and be fixedly connected with base plate 12 respectively, for example it is connected by screw.
Guide ring 167 is arranged between inner yoke 163 and outer yoke 164, and is fixedly installed in the upper of base plate 12
Surface, for example, fixed by screw.
It is preferred that the interior magnet steel 161 and outer steel 162 of voice coil motor 16 are solid by way of bonding respectively
Surely inner yoke 163 and outer yoke 164 are arrived.The air inlet of air bag 14 is fixedly installed to base plate 12 at one end
Upper surface, for example fixed by screw.The other end (non-air inlet institute at one end) of air bag 14 with stretch
Rod 13 is fixedly connected, and the coil retainer 166 of voice coil motor 16 is fixedly connected with extension bar 13, from
And cause the up and down motion of the flexible and extension bar 13 of air bag 14 to realize linkage.In extension bar 13 and end cap
The bearing 15 installed between 11 reduces the frictional force being subject to when extension bar 13 moves up and down.
Wherein, in order that coil 165 is in a uniform magnetic field all the time when moving up and down, voice coil loudspeaker voice coil electricity
The coil retainer 166 of machine 16 is made from non-magnet material, such as aluminium alloy, is further to reduce and line
Friction between circle retainer 166, guide ring 167 is made up of polyformaldehyde, is to improve inner yoke 163, outer
The installation accuracy of yoke 164, guide ring 167 and air bag 14, be provided with base plate 12 first groove and
Second groove, the first groove are used to install air bag 14, and the second groove is used to install voice coil motor 16.
And to reduce voice coil motor magnetic field leakage field, base plate 12 is made up of soft iron.
Fig. 5 is the application schematic diagram of the end effector 100 of the present invention.The end effector 100 of the present invention
It is mainly used in industrial robot 200.As shown in figure 5, industrial robot 200 includes that the end of the present invention is held
Row device 100, mechanical arm 201, chuck 30, cutting element 40 and sensor (not shown), end is held
The base plate 12 of row device 100 is connected on mechanical arm 201, and chuck 30 is connected on extension bar 13, cutting
Cutter 40 is installed on chuck 30.It is provided with what is be connected with controller (not shown) on cutting element 40
Sensor (not shown), it is preferred that sensor is one-dimensional force transducer.Wherein, sensor can be arranged
Between cutting element 40 and chuck 30.
As Figure 1-4, compressed air source unit 20 includes that source of the gas 25, filter 24, air relief valve 23, electromagnetism are opened
Close valve 22, pressure gauge 21, pipeline 27.One end connection source of the gas 25 of pipeline 27, the other end is connected to gas
The air inlet of capsule 14, the gas flowed out from source of the gas flow into air relief valve 23 after the filtration of filter 24, then
Air bag 14 is flowed into again, and electromagnetic switch valve 22 and pressure gauge 21 are set between air relief valve 23 and air bag 14.
During use, first air bag 14 is inflated.Air bag 14 has certain compression zone, is subtracted by adjusting
Pressure valve 23 controls the blowing pressure of the air bag 14 when intermediate range is compressed, controllable to be installed on end effector 100
Cutting element 40 and workpiece to be machined 50 between contact force.It is installed on the biography of 40 end of cutting element
Sensor detects force signal and it is fed back to controller, and after contact force reaches setting value, controller sends control
Signal processed closes electromagnetic switch valve 22, so that air bag 14 becomes an enclosed construction, hereafter starts reality
Injection is ground or is polished.
When the power polished or polished etc. in the course of work is controlled, moved by voice coil motor 16 in real time
State force compensating.Specially：When 50 surface irregularity of workpiece to be machined is run into, as cutting element 40 exists
The passage of surface of the work, 14 decrement of air bag change, so that air bag 14 puts on workpiece to be machined
The contact force on 50 surfaces also changes.Now, the sensor for being installed on 40 end of cutting element is detected
After contact force, it is fed back to into controller；Then, controller comparison and detection is arrived actual contact force and setting
Value, calculates the contact force size that need to be compensated.Finally, controller sends control signal and feeds back to signal
The driver of voice coil motor, by the input current for changing the coil 165 to voice coil motor, changes voice coil loudspeaker voice coil electricity
The power output of machine 16, so as to carry out real-Time Compensation to contact force.After compensating to contact force, power is passed
Sensor carries out detecting to contact force again, comparing calculation, send control signal, the controlling party of such closed loop
Formula can remain that the contact force between cutting element 40 and workpiece to be machined 50 is controllable as needed, most
Complete polishing or polishing eventually in high quality.
Carrying out during the continuous contact such as sanding and polishing processes to complex-curved, if cutting tool and quilt
Contact force between finished surface changes, and sensor can detect that the contact force signal of change and feed back to
Controller, controller are input to voice coil loudspeaker voice coil by adjustment by closed loop control loop using Ampere force principle
The electric current of motor coil, controls the power output of voice coil motor, so as to the compensation of the touch that achieves a butt joint.By inciting somebody to action
Control program directly inputs controller, realizes the offline operation of whole power control process.
The end effector of another embodiment of the present invention is illustrated with reference to Fig. 6.
Sectional views of the Fig. 6 for the end effector of the present embodiment.As shown in fig. 6, the present embodiment and previous reality
Differring primarily in that for example is applied, in the present embodiment, pneumatic means is cylinder.The ground hereafter not described in detail
Side, refer to the associated description of previous embodiment.
As shown in fig. 6, in the present embodiment, pneumatic means is cylinder, and cylinder includes cylinder body 14A, in cylinder
Piston 141 is provided with body 14A, piston 141 is fixedly connected with extension bar 13A, so as to pass through the upper of piston
Lower motion can be to extension bar 13A applying powers so that extension bar 13A is linked with piston 141.
The end effector of another embodiment of the present invention is illustrated with reference to Fig. 7.The present embodiment is not
It is where detailed description identical with aforementioned two embodiment, referring specifically to the relevant portion of both of the aforesaid embodiment
Description.
Partial sectional views of the Fig. 7 for the end effector of the present embodiment.As shown in fig. 7, end effector
100B includes top board 11B, base plate 12B, 3 voice coil motors 16 and 1 air bag 14, wherein, air bag
14 middle parts for being fixedly installed in base plate 12B, 3 voice coil motors 16 are around air bag 14 on base plate 12B
It is evenly arranged, the upper end of air bag is fixedly connected on top board 11B, and the mover of 3 voice coil motors 16
Also it is fixedly connected on top board 11B, so as to, 3 voice coil motors 16 and air bag 14 can be with top board 11B
Realize linkage.During use, chuck for installing on top board 11B installs cutting element on chuck.
Additionally, first can also be fixedly connected on top board 11B a connecting rod then in connecting rod again
Connecting chuck, installs cutting element on chuck.
Although in the present embodiment, using voice coil motor 16, those skilled in the art can be with
Understand, other kinds of linear electric motors can also be used in the present embodiment.
In addition, although in the present embodiment, the scheme of employing be using 3 16 uniform rings of voice coil motor around
Air bag 14 is arranged, but those skilled in the art can be understanding, it is also possible to using the voice coil loudspeaker voice coil of other numbers
Motor arranged around air bag, such as 4,5,6,7 etc., and can also adopt multiple motors
The mode of non-homogeneous circular air bag arrangement.
According to a further aspect in the invention, additionally provide a kind of industrial robot.Industrial robot 200 includes
Mechanical arm 201, the end effector 100 of the present invention, chuck 30 and cutting element 40, end effector
100 base plate 12 is connected on mechanical arm 201, and chuck 30 is connected on extension bar 13, cutting tool
40 are installed on chuck 30.The sensor being connected with controller (not shown) is provided with cutting element 40
(not shown), it is preferred that sensor is one-dimensional force transducer.
By the detailed description of above-described embodiment, it can be seen that the present invention's is mainly characterized by, by adopting
The mode that pneumatic means and linear electric motors coordinate is reduced using air bag in power control process realizing control
While impact and vibrations, quick force compensating is realized with reference to voice coil motor, the two collective effect is according to reality
Processing needs to export different contact forces, realizes the active compliance power control in the courses of processing such as polishing, polishing
System.The present invention effectively overcomes the low shortcoming of pneumatic system dynamic response difference and control accuracy, improves whole
The stability of the continuous contact course of processing, accuracy and reliability.
In the present invention, it is fixedly connected the usual manner that can pass through this areas such as screw, bolt and bonding
To realize, and cutting element can include cutter and grinding tool etc..
Although in the present invention, STATEMENT OF FEDERALLY SPONSORED uses the form of extension bar or top board, the skill of this area
Art personnel are appreciated that STATEMENT OF FEDERALLY SPONSORED can also be other form, as long as can realize and pneumatic means and straight line
Motor linkage, so as to the motion of pneumatic means and linear electric motors is passed to cutter.
Below presently preferred embodiments of the present invention has been described in detail, it is understood that reading this
After bright above-mentioned teachings, those skilled in the art can be made various changes or modifications to the present invention.
These equivalent form of values equally fall within the application appended claims limited range.
Claims (10)
1. a kind of end effector, it is characterised in that the end effector include pneumatic means, base plate,
STATEMENT OF FEDERALLY SPONSORED and at least one linear electric motors, the linear electric motors and the pneumatic means are installed on the base plate,
The STATEMENT OF FEDERALLY SPONSORED is fixedly connected with the linear electric motors and the pneumatic means, so as to the STATEMENT OF FEDERALLY SPONSORED can be
Move under the drive of the pneumatic means and/or the linear electric motors.
2. end effector according to claim 1, it is characterised in that the STATEMENT OF FEDERALLY SPONSORED is to stretch out
Bar, the end effector also include end cap, wherein, the extension bar pass through the end cap and with the gas
Dynamic device is fixedly connected with the linear electric motors.
3. end effector according to claim 2, it is characterised in that the end effector bag
A linear electric motors, and the linear electric motors are included for voice coil motor, the pneumatic means is arranged at the voice coil loudspeaker voice coil
The inside of motor.
4. end effector according to claim 3, it is characterised in that the voice coil motor includes
Inner yoke and outer yoke, the inner yoke and the outer yoke are fixedly connected with the base plate, and the gas
Dynamic device is arranged at the inside of the inner yoke.
5. end effector according to claim 3, it is characterised in that the voice coil motor is also wrapped
Guide ring is included, the guide ring is arranged between the inner yoke and the outer yoke and is fixed with the base plate
Connection.
6. end effector according to claim 3, it is characterised in that the voice coil motor is also wrapped
Interior magnet steel, outer steel, coil retainer and coil are included, wherein, the interior magnet steel is installed on the inner yoke
On, the outer steel is installed in the outer yoke, and the coil is installed on the coil retainer, with
And the coil retainer is fixedly connected with the extension bar.
7. end effector according to claim 3, it is characterised in that the end effector is also
Including compressed air source unit, the pneumatic means is air bag, and the air bag sets air inlet, and the air bag is provided with air inlet
One end of mouth is fixedly connected with the base plate, and the other end of the air bag is fixedly connected with the extension bar, with
And the compressed air source unit is in fluid communication with the air inlet.
8. end effector according to claim 3, it is characterised in that the pneumatic means is gas
Cylinder, the cylinder include piston, and the extension bar is fixedly connected with the piston.
9. end effector according to claim 1, it is characterised in that the STATEMENT OF FEDERALLY SPONSORED be top board,
The end effector includes 3 linear electric motors, and 3 linear electric motors are around the uniform cloth of the pneumatic means
Put.
10. a kind of industrial robot, it is characterised in that the industrial robot includes that claim 1-9 is appointed
End effector, mechanical arm, chuck, cutting element and sensor described in one, wherein the cutting
Instrument is installed on the chuck, and the chuck is fixedly connected with the STATEMENT OF FEDERALLY SPONSORED, and the sensor is arranged at
On the cutting element, and the base plate is fixedly connected with the end of the mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510591514.3A CN106541418B (en) | 2015-09-16 | 2015-09-16 | End effector and industrial robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510591514.3A CN106541418B (en) | 2015-09-16 | 2015-09-16 | End effector and industrial robot |
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| Publication Number | Publication Date |
|---|---|
| CN106541418A true CN106541418A (en) | 2017-03-29 |
| CN106541418B CN106541418B (en) | 2019-11-19 |
Family
ID=58361950
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510591514.3A Active CN106541418B (en) | 2015-09-16 | 2015-09-16 | End effector and industrial robot |
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| Country | Link |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112536810A (en) * | 2020-12-16 | 2021-03-23 | 黑龙江职业学院(黑龙江省经济管理干部学院) | Robot quick connector containing multiple process free-set joint freedom degrees |
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| Publication number | Publication date |
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| CN106541418B (en) | 2019-11-19 |
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