CN106541418B - End effector and industrial robot - Google Patents
End effector and industrial robot Download PDFInfo
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- CN106541418B CN106541418B CN201510591514.3A CN201510591514A CN106541418B CN 106541418 B CN106541418 B CN 106541418B CN 201510591514 A CN201510591514 A CN 201510591514A CN 106541418 B CN106541418 B CN 106541418B
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Abstract
The invention discloses a kind of end effector and industrial robots.The end effector includes pneumatic device, bottom plate, STATEMENT OF FEDERALLY SPONSORED and an at least linear motor, linear motor and pneumatic device are installed on bottom plate, STATEMENT OF FEDERALLY SPONSORED is fixedly connected with linear motor and pneumatic device, so that STATEMENT OF FEDERALLY SPONSORED can move under the drive of pneumatic device and/or linear motor.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 set on cutting element and bottom plate is fixedly connected with the end of mechanical arm.End effector of the invention effectively overcomes pneumatic system dynamic response difference and controls the low disadvantage of precision, improves stability, accuracy and the reliability of entire continuously contacting with property process.
Description
Technical field
The present invention relates to machining fields, and in particular to a kind of end effector and industrial robot.
Background technique
It is most basic one to the post-processing of the surface contact properties such as the polishing grinding of workpiece in precision machinery manufacturing process
Process, traditional such work are often completed by manually.However, as labor cost is higher and higher, it is this not need culture
The post of technology, instead in occupation of very hyperbaric wages expenditure, therefore mechanical industry is hesitated to move forward.Not with industrial technology
Disconnected development, higher requirements are also raised to process such as the surface polishings of mechanical workpieces, corner angle deburrings by people, therefore,
Using mechanical arm replace it is artificial by the way of become in the post-processing work of continuously contacting with property surface the processing method accepted extensively it
One.Which can not only improve the quality of polishing, polishing, and need not recycle and largely manually carry out repeating operation, more
Promote the development of processing industry.
Mechanical arm currently used for processing such as polishing finishings uses two ways mainly to realize the power control in process
System.
One is using force snesor is installed on mechanical arm, the parameter library of force feedback signal and mechanical arm storage inside is utilized
In conjunction with controlling the power output of mechanical arm tail end by controlling the output torque in each joint of robot.Although mechanical arm utilizes
Such method can be realized the control of the power in the operations such as polishing grinding, but since its inner setting parameter is limited, polishing be caused to be beaten
Technique requirement is much not achieved in the precision of the processing such as mill.Meanwhile it being post-processed carrying out continuously contacting with property surface using such method
In power control when, since the inertia of mechanical arm is larger, cause dynamic response poor, make power control precision be difficult to be improved, because
This this side-jet control mode is only applicable to lightweight mechanical arm.
Another power control mode is to install end power control device, this power control mode cost of implementation in mechanical arm tail end
It is low, it independent of robot itself, and easily realizes higher control precision and good dynamic response, therefore is widely adopted.
Existing end flexible control mechanism mostly uses Pneumatic artificial muscle or air bag etc. to realize the adjustable active compliance power control of rigidity
System, but due to pneumatic system low-response, in control is realized there are it is non-linear it is serious, control precision is low and lag time is long etc.
Problem, thus it is unfavorable for the quick control of production process, precision machined demand is also not achieved.
Summary of the invention
The object of the present invention is to provide a kind of end effectors, to solve above-mentioned problems of the prior art.
To solve the above-mentioned problems, according to an aspect of the invention, there is provided a kind of end effector, the end are held
Row device includes pneumatic device, bottom plate, STATEMENT OF FEDERALLY SPONSORED and an at least linear motor, and the linear motor and the pneumatic device are installed
In on the bottom plate, the STATEMENT OF FEDERALLY SPONSORED is fixedly connected with the linear motor and the pneumatic device, thus the STATEMENT OF FEDERALLY SPONSORED energy
It is enough to be moved under the drive of the pneumatic device and/or the linear motor.
Preferably, the end effector is Robot Force control end effector.
Preferably, the bottom plate is made of soft iron.
Preferably, the STATEMENT OF FEDERALLY SPONSORED is extension bar, the end effector further includes end cap, wherein the extension bar is worn
It crosses the end cap and is fixedly connected with the pneumatic device and the linear motor.
Preferably, the end effector includes a linear motor, and the linear motor is voice coil motor, the gas
Dynamic device is set to the inside of the voice coil motor.
Preferably, the voice coil motor includes inner yoke and outer yoke, the inner yoke and the outer yoke and the bottom
Plate is fixedly connected and the pneumatic device is set to the inside of the inner yoke.
Preferably, the voice coil motor further includes guide ring, the guide ring is arranged in the inner yoke and the outer magnetic
It is fixedly connected between yoke and with the bottom plate.
Preferably, the guide ring is made of polyformaldehyde.
Preferably, the voice coil motor further includes interior magnet steel, outer steel, coil retainer and coil, wherein the interior magnetic
Steel is installed in the inner yoke, and the outer steel is installed in the outer yoke, and the coil is installed on the coil and keeps
On frame and the coil retainer is fixedly connected with the extension bar.
Preferably, the interior magnet steel is installed in the inner yoke by way of bonding and the outer steel passes through
The mode of bonding is installed in the outer yoke.
Preferably, the coil retainer is made of non-magnet material.
Preferably, the coil retainer is made of aluminium alloy.
Preferably, the upper surface of the bottom plate is equipped with the first groove and the second groove, first groove is for installing institute
Pneumatic device and second groove are stated for installing the linear motor.
Preferably, the end effector further includes compressed air source unit, the pneumatic device is air bag, and the air bag sets air inlet
Mouthful, one end that the air bag is equipped with air inlet is fixedly connected with the bottom plate, and the other end of the air bag and the extension bar are solid
Fixed connection and the compressed air source unit and the air inlet are in fluid communication.
Preferably, the internal diameter of the inner yoke is 104%~120% of installation diameter needed for the air bag.
Preferably, the length that the extension bar is located at the part of end cap or more is at least when the air bag is in intermediate range
The half of the air bag maximum compressibility.
Preferably, the compressed air source unit includes gas source, filter, pressure reducing valve, electromagnetic switch valve, pressure gauge, pipeline, it is described
One end of pipeline connects gas source, and the other end of the pipeline is connected to the air inlet of the air bag, the gas flowed out from the gas source
Body flows into the pressure reducing valve after filter filtering, the air bag is then flowed into again, in the pressure reducing valve and the gas
The electromagnetic switch valve and the pressure gauge are set between capsule.
Preferably, the end effector further includes bearing, the end cap is equipped with through-hole, and the bearing is set to described logical
In hole, the extension bar is penetrated in the bearing.
Preferably, the pneumatic device is cylinder, the cylinder includes piston, the extension bar and the fixed company of the piston
It connects.
Preferably, the STATEMENT OF FEDERALLY SPONSORED is top plate, the end effector includes 3 linear motors, 3 linear motor rings
It is evenly arranged around the pneumatic device.
Preferably, the linear motor is voice coil motor.
Preferably, the pneumatic device is air bag.
According to another aspect of the present invention, a kind of industrial robot is additionally provided, the industrial robot includes above-mentioned end
Actuator, mechanical arm, chuck, cutting element and sensor are held, wherein the cutting element is installed on the chuck, it is described
Chuck is fixedly connected with one end of the extension bar, the sensor be set on the cutting element and the bottom plate with
The end of the mechanical arm is fixedly connected.
Preferably, the sensor is one-dimensional force snesor.
Preferably, the cutting element includes cutter and grinding tool.
End effector of the invention is gas electric hybrid type Robot Force control end effector, is reducing power using air bag
While impact and vibration in control process, quick force compensating, the two collective effect and basis are realized in conjunction with voice coil motor
Actual processing needs to export different contact forces, realizes the active compliance power control in the process such as polishing, polishing.
Since air bag has many advantages, such as compact-sized, wear-resistant, at low cost, therefore the gas electric hybrid type robot end is held
The shock resistance in process is realized in the selection of row device with air bag.Due to only one air inlet/outlet of air bag, enable air bag given
It stretches after the blowing pressure and exports certain thrust.Since air bag has certain compressibility, by changing inflation in air bag
Pressure and air bag decrement, air bag is applied to the contact force of workpiece during can changing sanding and polishing, while meeting not in processing
When flat surface, the compressibility of air bag can reduce gas electric hybrid type end effector of robot and workpiece to be machined surface
Mutually impact.
The present invention effectively overcomes pneumatic system dynamic response difference and controls the low disadvantage of precision, improves and entirely continuously connects
Stability, accuracy and the reliability of touching property process.
Impact property brought by the compressibility of gas is utilized in the gas electric hybrid type end effector of robot,
And the rapidity and accuracy of motor control are combined, it had both been able to achieve during sanding and polishing to cutting element (grinding tool) and workpiece
Contact forces quick accurate control, and the stability of whole process can be improved.
Compared with the prior art, the present invention has the following advantages:
(1) Pneumatic assembly uses balloon-type cylinder, and structure is simple, and price is low, no internal friction, and the service life is high；
(2) increase voice coil motor on the basis of air bag, improve the rapidity and accuracy of power control；
(3) in such a way that air bag is arranged in voice coil motor inside center, make compact-sized, stability is strong；
(4) power control can be realized as needed independent of robot, versatility is high.
Detailed description of the invention
Fig. 1 is the semi-cutaway of end effector according to an embodiment of the invention, wherein extension bar reaches most amphi position
It sets；
Fig. 2 is the another semi-cutaway of end effector according to an embodiment of the invention, wherein extension bar reaches centre
Position；
Fig. 3 is the cross-sectional view that A-A is splitted along end effector in Fig. 2；
Fig. 4 is the another semi-cutaway of end effector according to an embodiment of the invention, wherein extension bar, which is in, withdraws position
It sets；
Fig. 5 is the application schematic diagram of the end effector of one embodiment of the invention；
Fig. 6 is the cross-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 attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
End effector of the invention generally includes pneumatic device, bottom plate, STATEMENT OF FEDERALLY SPONSORED and an at least linear motor, straight line
Motor and the pneumatic device are installed on bottom plate, and STATEMENT OF FEDERALLY SPONSORED is fixedly connected with the linear motor and pneumatic device, to join
Moving part can move under the drive of pneumatic device and/or linear motor.
Wherein STATEMENT OF FEDERALLY SPONSORED is usually extension bar or top plate.When STATEMENT OF FEDERALLY SPONSORED is extension bar, end effector is also typically included
End cap, end cap are equipped with through-hole, and extension bar passes through the through-hole and is fixedly connected with pneumatic device and linear motor, and extension bar is in the gas
It moves up and down under the drive of dynamic device and/or linear motor.
Wherein, pneumatic device can be air bag, cylinder etc., and linear motor is preferably voice coil motor.It below will be to pneumatic dress
It sets and is described in detail using air bag and linear motor using the embodiment of voice coil motor.
It is described in detail below with reference to the end effector of Fig. 1-3 pairs of one embodiment of the present of invention.
Fig. 1 is the semi-cutaway of the end effector 100 of the present embodiment, wherein extension bar reaches highest distance position, and Fig. 2 is
The semi-cutaway of the end effector 100 of the present embodiment, wherein extension bar reaches middle position；Fig. 3 is that the end in Fig. 2 is held
The cross-sectional view that A-A is splitted along row device；Fig. 4 is the another semi-cutaway of the end effector of the present embodiment, wherein extension bar is in
Retrieving position.
As shown in Figs 1-4, end effector 100 includes end cap 11, bottom plate 12, extension bar 13, air bag 14, bearing 15 and sound
Enclose motor 16.End cap 11 is equipped with through-hole 121, and bearing 15 is installed in through-hole 121, and extension bar 13 passes through through-hole 121 and and air bag
14 are fixedly connected with voice coil motor 16, and air bag 14 and voice coil motor 16 are installed on bottom plate 12.Extension bar 13 in air bag 14 and/or
It can move up and down under the drive of voice coil motor 16.
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 arranges the outside of interior magnet yoke 163, and interior magnet steel 161 is installed on interior
In magnetic yoke 163, outer steel 162 is installed in outer yoke 164, and interior magnet steel 161 and outer steel 162 are positioned opposite.Coil 165 is arranged
In on coil retainer 166, and coil 165 is between interior magnet steel 161 and outer steel 162.Guide ring 167 in end for holding
Further guiding role is provided in the row device course of work for moving up and down for coil retainer.
Air bag 14 is arranged in the middle position of bottom plate 12, and the inner yoke 163 and outer yoke 164 of voice coil motor 16 are arranged in gas
The periphery of capsule 14, and be fixedly connected respectively with bottom plate 12, such as be connected by screw to.Guide ring 167 arranges 163 He of interior magnet yoke
Between outer yoke 164, and it is fixedly installed in the upper surface of bottom plate 12, such as fix by screw.
Preferably, the interior magnet steel 161 and outer steel 162 of voice coil motor 16 are fixed to inner yoke by way of bonding respectively
163 and outer yoke 164.The air inlet of air bag 14 is fixedly installed to the upper surface of bottom plate 12 at one end, such as solid by screw
It is fixed.The other end (non-air inlet institute is at one end) of air bag 14 is fixedly connected, the coil retainer of voice coil motor 16 with extension bar 13
166 are fixedly connected with extension bar 13, so that linkage is realized in flexible and extension bar 13 the up and down motion of air bag 14.It is stretching out
The bearing 15 installed between bar 13 and end cap 11 reduces the frictional force being subject to when extension bar 13 moves up and down.
Wherein, in order to be in coil 165 always in a uniform magnetic field when moving up and down, the line of voice coil motor 16
Circle retainer 166 selects non-magnet material to be made, such as aluminium alloy, to further decrease the friction between coil retainer 166,
Guide ring 167 is made of polyformaldehyde, for the installation essence for improving inner yoke 163, outer yoke 164, guide ring 167 and air bag 14
Degree is equipped with the first groove and the second groove on bottom plate 12, and the first groove is for installing air bag 14, and the second groove is for installing sound
Enclose motor 16.
And to reduce voice coil motor magnetic field leakage field, bottom plate 12 is made of soft iron.
Fig. 5 is the application schematic diagram of end effector 100 of the invention.End effector 100 of the invention is mainly used for
Industrial robot 200.As shown in figure 5, industrial robot 200 includes end effector 100 of the invention, mechanical arm 201, chuck
30, the bottom plate 12 of cutting element 40 and sensor (not shown), end effector 100 is connected on mechanical arm 201, chuck 30
It is connected on extension bar 13, cutting tool 40 is installed on chuck 30.It is provided on cutting element 40 and controller (not shown)
The sensor (not shown) of connection, preferably, sensor is one-dimensional force snesor.Wherein, sensor can be set in skiver
Between tool 40 and chuck 30.
As shown in Figs 1-4, compressed air source unit 20 includes gas source 25, filter 24, pressure reducing valve 23, electromagnetic switch valve 22, pressure
Table 21, pipeline 27.One end of pipeline 27 connects gas source 25, and the other end is connected to the air inlet of air bag 14, the gas flowed out from gas source
Body flows into pressure reducing valve 23 after the filtering of filter 24, then flows into air bag 14 again, is arranged between pressure reducing valve 23 and air bag 14
Electromagnetic switch valve 22 and pressure gauge 21.
In use, being first inflated to air bag 14.Air bag 14 has certain compression zone, is controlled by adjusting pressure reducing valve 23
The blowing pressure of the air bag 14 when compressing intermediate range, the controllable cutting element 40 for being installed on end effector 100 and processed work
Contact force between part 50.It is installed on the sensor detection force signal of 40 end of cutting element and it is fed back into controller, when
After contact force reaches setting value, controller, which issues control signal, closes electromagnetic switch valve 22, so that air bag 14 be made to become one
Hereafter enclosed construction comes into effect polishing or polishing.
When the power control in the courses of work such as being polished or being polished, real-time dynamic force benefit is carried out by voice coil motor 16
It repays.Specifically: when encountering 50 surface irregularity of workpiece to be machined, as cutting element 40 is in the passage of workpiece surface, air bag
14 decrements change, so that the contact force for making air bag 14 be applied to 50 surface of workpiece to be machined also changes.At this point, peace
After sensor loaded on 40 end of cutting element detects contact force, it is fed back into controller；Then, controller contrasting detection
The practical contact force and setting value arrived calculates the contact force size that need to be compensated.Finally, controller issues control signal and will letter
The driver for number feeding back to voice coil motor changes voice coil motor 16 by changing the input current to the coil 165 of voice coil motor
Power output, thus to contact force carry out real-time compensation.After being compensated to contact force, force snesor again to contact force into
Row detection, issues control signal at comparing calculation, and the control mode of such closed loop can remain cutting element 40 and be added
Contact force between work workpiece 50 is controllable as needed, finally completes polishing or polishing in high quality.
During being processed to continuously contacting with property such as complex-curved progress sanding and polishings, if cutting tool and processed table
Contact force between face changes, and sensor can be detected the contact force signal of variation and feed back to controller, and controller is logical
Closed loop control loop is crossed, controls voice coil motor using Ampere force principle by adjusting the electric current for being input to voice coil motor coil
Power output, to realize compensation to contact force.Controller is directly inputted by the way that program will be controlled, realizes that entire power controlled
The offline operation of journey.
It is illustrated below with reference to end effector of the Fig. 6 to another embodiment of the present invention.
Fig. 6 is the cross-sectional view of the end effector of the present embodiment.As shown in fig. 6, the master of the present embodiment and previous embodiment
It distinguishes and is, in the present embodiment, pneumatic device is cylinder.The place being hereafter not described in detail, please refers to previous embodiment
Associated description.
As shown in fig. 6, in the present embodiment, pneumatic device is cylinder, cylinder includes cylinder body 14A, is equipped in cylinder body 14A
Piston 141, piston 141 are fixedly connected with extension bar 13A, so that the up and down motion by piston can apply extension bar 13A
Power, so that extension bar 13A and piston 141 link.
It is illustrated below with reference to end effector of the Fig. 7 to another embodiment of the present invention.The present embodiment is not retouched in detail
The place stated is identical as aforementioned two embodiment, referring specifically to the description of the relevant portion of both of the aforesaid embodiment.
Fig. 7 is the partial sectional view of the end effector of the present embodiment.As shown in fig. 7, end effector 100B includes top
Plate 11B, bottom plate 12B, 3 voice coil motor 16 and 1 air bags 14, wherein air bag 14 is fixedly installed in the middle part of bottom plate 12B, and 3
Voice coil motor 16 is evenly arranged around air bag 14 on bottom plate 12B, and the upper end of air bag is fixedly connected on top plate 11B and 3
The mover of voice coil motor 16 is also fixedly connected on top plate 11B, thus, 3 voice coil motors 16 and air bag 14 can be with top plates
11B realizes linkage.In use, chuck for installing on top plate 11B, cutting element is installed on chuck.
In addition, can also first be fixedly connected with a connecting rod on top plate 11B and then reconnect chuck in connecting rod,
Cutting element is installed on chuck.
Although in the present embodiment, using voice coil motor 16, it will be understood to those skilled in the art that at this
Also other kinds of linear motor can be used in embodiment.
In addition, although in the present embodiment, the scheme of use is using 3 16 uniform rings of voice coil motor around 14 cloth of air bag
It sets, but those skilled in the art can be understanding, the voice coil motor that other numbers also can be used is arranged around air bag, such as
4,5,6,7 etc., and can also be by the way of the non-homogeneous circular air bag arrangement of multiple motors.
According to another aspect of the present invention, a kind of industrial robot is additionally provided.Industrial robot 200 includes mechanical arm
201, the bottom plate 12 of end effector 100 of the invention, chuck 30 and cutting element 40, end effector 100 is connected to machine
On tool arm 201, chuck 30 is connected on extension bar 13, and cutting tool 40 is installed on chuck 30.It is provided on cutting element 40
The sensor (not shown) being connect with controller (not shown), preferably, sensor is one-dimensional force snesor.
Detailed description through the foregoing embodiment, it can be seen that the main characteristic of the invention lies in that, by using pneumatic dress
It sets and realizes control with the mode of linear motor cooperation, the same of impact in power control process and vibration is reduced using air bag
When, quick force compensating is realized in conjunction with voice coil motor, the two collective effect exports different contacts according to actual processing needs
Power realizes the active compliance power control in the process such as polishing, polishing.The present invention effectively overcomes pneumatic system dynamic response
Disadvantage poor and that control precision is low, improves stability, accuracy and the reliability of entire continuously contacting with property process.
In the present invention, being fixedly connected can be realized by the usual manner of this fields such as screw, bolt and bonding,
And cutting element may include cutter and grinding tool etc..
Although in the present invention, form of the STATEMENT OF FEDERALLY SPONSORED using extension bar or top plate, those skilled in the art
It is appreciated that STATEMENT OF FEDERALLY SPONSORED may be other form, link as long as can be realized with pneumatic device and linear motor, thus by gas
The movement of dynamic device and linear motor passes to cutter.
Presently preferred embodiments of the present invention has already been described in detail above, it is understood that having read of the invention above-mentioned say
After awarding content, those skilled in the art can make various modifications or changes to the present invention.Such equivalent forms equally fall within this
Apply for the appended claims limited range.
Claims (9)
1. a kind of end effector, which is characterized in that the end effector includes pneumatic device, bottom plate, STATEMENT OF FEDERALLY SPONSORED and at least
One linear motor, the linear motor and the pneumatic device are installed on the bottom plate, the STATEMENT OF FEDERALLY SPONSORED and the straight line
Motor is fixedly connected with the pneumatic device, so that the STATEMENT OF FEDERALLY SPONSORED can be in the band of the pneumatic device and the linear motor
Dynamic lower movement；The linear motor is voice coil motor；
The STATEMENT OF FEDERALLY SPONSORED is extension bar, and the end effector further includes end cap, wherein the extension bar passes through the end cap simultaneously
It is fixedly connected with the pneumatic device and the linear motor；
The end effector implements polishing or polishing by the pneumatic device, during carrying out polishing or polishing
When power controls, real-time compensation of dynamic forces is carried out by the voice coil motor；
The end effector further includes bearing, and the end cap is equipped with through-hole, and the bearing is set in the through-hole, described to stretch
Rod penetrates in the bearing.
2. end effector according to claim 1, which is characterized in that the end effector includes a straight-line electric
Machine, the pneumatic device are set to the inside of the voice coil motor.
3. end effector according to claim 2, which is characterized in that the voice coil motor includes inner yoke and outer magnetic
Yoke, the inner yoke and the outer yoke are fixedly connected with the bottom plate and the pneumatic device is set to the inner yoke
Inside.
4. end effector according to claim 3, which is characterized in that the voice coil motor further includes guide ring, described
Guide ring is arranged between the inner yoke and the outer yoke and is fixedly connected with the bottom plate.
5. end effector according to claim 3, which is characterized in that the voice coil motor further includes interior magnet steel, outer magnetic
Steel, coil retainer and coil, wherein the interior magnet steel is installed in the inner yoke, and the outer steel is installed on described outer
In magnetic yoke, the coil is installed on the coil retainer and the coil retainer is fixedly connected with the extension bar.
6. end effector according to claim 2, which is characterized in that the end effector further includes compressed air source unit,
The pneumatic device is air bag, and the air bag sets air inlet, and the air bag is equipped with one end and the fixed company of the bottom plate of air inlet
It connects, the other end of the air bag is fixedly connected with the extension bar and the compressed air source unit is in fluid communication with the air inlet.
7. end effector according to claim 2, which is characterized in that the pneumatic device is cylinder, the cylinder packet
Piston is included, the extension bar is fixedly connected with the piston.
8. end effector according to claim 1, which is characterized in that the STATEMENT OF FEDERALLY SPONSORED is top plate, end execution
Device includes 3 linear motors, which is evenly arranged around the pneumatic device.
9. a kind of industrial robot, which is characterized in that the industrial robot includes the described in any item ends claim 1-8
Actuator, and the industrial robot further includes mechanical arm, chuck, cutting element and sensor, wherein the skiver
Tool is installed on the chuck, and the chuck is fixedly connected with the STATEMENT OF FEDERALLY SPONSORED, and the sensor is set to the cutting element
On and the bottom plate be 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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106541418A CN106541418A (en) | 2017-03-29 |
| CN106541418B true CN106541418B (en) | 2019-11-19 |
Family
ID=58361950
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| 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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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112536810B (en) * | 2020-12-16 | 2021-09-24 | 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 |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0179940A1 (en) * | 1984-10-31 | 1986-05-07 | Grumman Aerospace Corporation | An automated chemical milling process |
| CN1595774A (en) * | 2004-07-10 | 2005-03-16 | 华中科技大学 | Short journey high responding linear motor |
| CN102486215A (en) * | 2010-12-02 | 2012-06-06 | 上海微电子装备有限公司 | Gravity compensation device |
| CN102699790A (en) * | 2012-06-08 | 2012-10-03 | 常州大学 | Adaptive polishing robot mechanism |
| CN103429400A (en) * | 2011-03-16 | 2013-12-04 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Active handling apparatus and method for contact tasks |
-
2015
- 2015-09-16 CN CN201510591514.3A patent/CN106541418B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0179940A1 (en) * | 1984-10-31 | 1986-05-07 | Grumman Aerospace Corporation | An automated chemical milling process |
| CN1595774A (en) * | 2004-07-10 | 2005-03-16 | 华中科技大学 | Short journey high responding linear motor |
| CN102486215A (en) * | 2010-12-02 | 2012-06-06 | 上海微电子装备有限公司 | Gravity compensation device |
| CN103429400A (en) * | 2011-03-16 | 2013-12-04 | 菲尔罗伯蒂克斯顺从式机器人技术有限公司 | Active handling apparatus and method for contact tasks |
| CN102699790A (en) * | 2012-06-08 | 2012-10-03 | 常州大学 | Adaptive polishing robot mechanism |
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|---|---|
| CN106541418A (en) | 2017-03-29 |
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