CN108890668A - A kind of scalable and rotation end effector - Google Patents
A kind of scalable and rotation end effector Download PDFInfo
- Publication number
- CN108890668A CN108890668A CN201810608338.3A CN201810608338A CN108890668A CN 108890668 A CN108890668 A CN 108890668A CN 201810608338 A CN201810608338 A CN 201810608338A CN 108890668 A CN108890668 A CN 108890668A
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- China
- Prior art keywords
- fixed
- upper plate
- lower plate
- rod
- parallel
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Classifications
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- 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
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of scalable and rotation end effectors, including driving hollow motor, driven gear, parallelogram connection-rod and upper plate, upper plate is connected and fixed with lower plate by connecting column, hollow motor is driven to be fixed on upper plate, driving gear is fixed on motor output shaft, driven gear is fixed to be engaged on center shaft and with driving gear, central axis is fixed with angular contact ball bearing, there is bearing holder (housing, cover) outside angular contact ball bearing, parallelogram connection-rod is connect by sliding block and sliding slot with upper plate, and is fixed with sucker connector and cylinder.The configuration of the present invention is simple, save space, parallelogram connection-rod stability is strong, and can realize end effector rotational freedom, realize adjustable interambulacrum away from, solve the problems, such as previous end effector cannot by rotation adjustment end pose, cannot change interambulacrum away from.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of scalable and rotation end effector.
Background technique
One end effector of robot refers to that any one is connected to robot edge (joint) with certain function
Tool.This may include robot gripper, robot tool fast replacing device, robot crash sensor, rotation company of robot
Connect device, robot compression tools, compliant device, Control During Paint Spraying by Robot rifle, robot deburred tool, robot arc-welding welding gun,
Robot electric torch etc..End effector of robot is typically considered the peripheral equipment of robot, the attachment of robot,
Robot tool, arm end-of-arm tooling (EOA).Current end effector cannot adjust end pose, Bu Nenggai by rotation
Become interambulacrum away from.
Summary of the invention
The purpose of the present invention is to overcome the disadvantages of the prior art, provides that a kind of structure is simple, saves space, parallel four side
Shape connecting rod stability is strong, and can realize end effector rotational freedom, scalable and rotation end effector.
The present invention to achieve the above object, the technical scheme is that：
A kind of scalable and rotation end effector, including lower plate and the upper bottom being arranged in parallel in right above lower plate
Plate is fixedly connected by connecting column between the lower plate and upper plate, is fixed on the right side of the upper plate top surface
There is the hollow motor of driving, the motor output shaft of the hollow motor of driving is arranged along the vertical direction；It is hollow in the driving
It is fixed with driving gear on the motor output shaft of motor, bearing holder (housing, cover), an axis are fixed among the upper plate top surface
The angular contact ball bearing outer ring being arranged along the vertical direction is fixed in bearing holder (housing, cover), a central axis lower end and angular contact ball bearing
Inner ring be rotatedly connected and be fixed on the central axis engaged with driving gear cooperation driven gear, it is described from
Flange is fixed on central axis above moving gear, the flange is used to be fixed on the projecting shaft of robot end, in institute
It is fixed with sliding rail along floor length direction among the upper plate bottom surface stated, is opened in the centre of the sliding rail along sliding rail length direction
There is straight, be fixed with cylinder among the top surface of the lower plate, is opened respectively in the left and right sides of the lower plate
There are the track groove of twice front and back parallel interval setting each other, the twice track groove of the every side sucker connector with an arch respectively
It is correspondingly arranged, two supporting leg lower ends of each sucker connector are each passed through ipsilateral twice track groove, connect in each sucker
Two supporting leg bottoms that part passes through twice track groove are respectively fixed with a sucker, and a parallelogram connection-rod is parallel by three groups
Four-bar mechanism composition, the cylinder fixing end and telescopic end pass through one group of the centre of screw and parallelogram connection-rod respectively
The front and back bending part of parallel four-bar linkage is rotatedly connected, the parallel four-bar linkage of the left and right sides of parallelogram connection-rod
The bending part of left end and upper end of the bending part respectively with the sucker connector of corresponding side of right end turn along the vertical direction
Dynamic connection, the scissor position of parallelogram connection-rod and the bending part of left and right ends are rotatably connected to a sliding block respectively,
Whole sliding blocks are slidably connected with straight respectively, and in the case where the contraction of the cylinder drives, parallelogram connection-rod is along lower plate
Length direction is flexible.
The configuration of the present invention is simple saves space, and parallelogram connection-rod stability is strong, and can realize that end effector rotates
Freedom degree realizes adjustable interambulacrum away from end pose cannot be adjusted by rotation, cannot change suction by solving previous end effector
The problem of disk spacing.
Detailed description of the invention
Fig. 1 is the configuration schematic diagram of scalable and rotation end effector of the invention；
Fig. 2 is the schematic perspective view of scalable and rotation end effector of the invention；
Fig. 3 is the left view of structure shown in Fig. 2.
Specific embodiment
The present invention is described in detail in the following with reference to the drawings and specific embodiments.
As shown in Figure 1-3, a kind of scalable and rotation end effector, including lower plate 20 and it is arranged in parallel in bottom
Upper plate 14 right above plate 20 is fixedly connected, in institute by connecting column 21 between the lower plate 20 and upper plate 14
The hollow motor 1 of driving, 3 edge of motor output shaft of the hollow motor 1 of driving are fixed on the right side of 14 top surface of upper plate stated
Vertical direction setting；
Driving the lower end surface of hollow motor 1 can be fixed on 14 top surface of upper plate by attachment device 2, attachment device 2
It can be fixed disk or the cylindrical body that can be bolted；
It is fixed with driving gear 4 on the motor output shaft 3 of the described hollow motor 1 of driving, as a kind of fixed form,
The driving gear 4 is fixed on motor output shaft 3 by gasket 5 and lock-screw 6.
Bearing holder (housing, cover) 10, the angular contact that an axis is arranged along the vertical direction are fixed among 14 top surface of upper plate
11 outer ring of ball bearing is fixed in bearing holder (housing, cover) 10, and the inner ring of 9 lower end of central axis and angular contact ball bearing 11 is rotatedly connected simultaneously
And the driven gear 8 that cooperation is engaged with driving gear 4 is fixed on the central axis 9, above the driven gear 8
Central axis 9 on be fixed with flange 7, the flange 7 is used to be fixed on the projecting shaft of robot end, in the band of robot
Dynamic lower mechanism can move horizontally or vertically in working space, along floor length among 14 bottom surface of upper plate
Direction is fixed with sliding rail, is provided with straight 15 along sliding rail length direction in the centre of the sliding rail.
Cylinder 18 is fixed among the top surface of the lower plate 20, cylinder 18 can also be replaced using electric cylinders, in institute
The left and right sides for the lower plate 20 stated has the twice track groove that front and back parallel interval is arranged each other, the twice track of every side
Sucker connector 17 of the slot respectively with an arch is correspondingly arranged, and two supporting leg lower ends of each sucker connector 17 are each passed through
Ipsilateral twice track groove is respectively fixed with one in two supporting leg bottoms that each sucker connector 17 passes through twice track groove
Sucker 16.
One parallelogram connection-rod 12 is made of three groups of parallel four-bar linkages, 18 fixing end of cylinder and flexible
End is rotated by the front and back bending part of screw 19 and one group of the centre parallel four-bar linkage of parallelogram connection-rod 12 respectively
It is connected, the bending of the bending part and right end of the left end of the parallel four-bar linkage of the left and right sides of parallelogram connection-rod 12
Upper end of the position respectively with the sucker connector 17 of corresponding side is rotatablely connected along the vertical direction, the scissor of parallelogram connection-rod 12
The bending part of position and left and right ends is rotatably connected to a sliding block 13 respectively, and whole sliding blocks are sliding with straight 15 respectively
Dynamic connection, in the case where the contraction of the cylinder 18 drives, parallelogram connection-rod 12 is flexible along lower plate length direction.
Working principle：It drives the hollow rotation of motor 1 to drive driving gear 4, and drives 8 turns of driven gear engaged
Dynamic, so that entire end effector is rotated around central axis 9, so that changing end places pose, cylinder 18 (electric cylinders) is flexible to be driven
Parallelogram connection-rod 12 is flexible so that sucker 16 is moved by sliding block 13 along 15 horizontal direction of sliding slot, realization sucker 16 it
Between spacing change, do not increase the product that different size is adapted in the case where part with this and can be in supplied materials spacing and blowing spacing
It is realized in the case where not equal adaptive.
The standardized element that the present invention uses can commercially, and shaped piece is according to specification and attached drawing note
Load can carry out customized, and the specific connection type of each part is all made of in the prior art mature bolt, rivet, welding etc.
Conventional means, mechanical, part and equipment are all made of in the prior art, conventional model, if being related to the circuit being not described in detail,
The circuit connection is also using connection type conventional in the prior art, and this will not be detailed here.
Certainly, the above description is not a limitation of the present invention, and the present invention is also not limited to the example above, the art
Those of ordinary skill, within the essential scope of the present invention, variation, change, addition or the replacement made all should belong to the present invention
Protection scope.
Claims (1)
1. a kind of scalable and rotation end effector, including lower plate and the upper bottom being arranged in parallel in right above lower plate
Plate is fixedly connected between the lower plate and upper plate by connecting column, it is characterised in that：In the upper plate top surface
Right side be fixed with the hollow motor of driving, the motor output shaft of the hollow motor of driving is arranged along the vertical direction；Described
The hollow motor of driving motor output shaft on be fixed with driving gear, be fixed with bearing among the upper plate top surface
Set, the angular contact ball bearing outer ring that an axis is arranged along the vertical direction are fixed in bearing holder (housing, cover), a central axis lower end and angle
The inner ring of contact ball bearing is rotatedly connected and is fixed with the driven tooth for engaging cooperation with driving gear on the central axis
Wheel is fixed with flange on the central axis above the driven gear, and the flange is for being fixed on robot end's
On projecting shaft, it is fixed with sliding rail along floor length direction among the upper plate bottom surface, on the intermediate edge of the sliding rail
Sliding rail length direction is provided with straight, is fixed with cylinder among the top surface of the lower plate, in the lower plate
The left and right sides has the twice track groove that front and back parallel interval is arranged each other, and the twice track groove of every side encircles with one respectively
The sucker connector of shape is correspondingly arranged, and two supporting leg lower ends of each sucker connector are each passed through ipsilateral twice track groove,
A sucker, a parallelogram are respectively fixed in two supporting leg bottoms that each sucker connector passes through twice track groove
Connecting rod is made of three groups of parallel four-bar linkages, and the cylinder fixing end and telescopic end pass through screw and parallelogram respectively
The front and back bending part of one group of the centre parallel four-bar linkage of connecting rod is rotatedly connected, the left and right sides of parallelogram connection-rod
The bending part of the left end of parallel four-bar linkage and the bending part of right end are upper with the sucker connector of corresponding side respectively
End is rotatablely connected along the vertical direction, the bending part of the scissor position of the parallelogram connection-rod and left and right ends company of rotation respectively
It is connected to a sliding block, whole sliding blocks are slidably connected with straight respectively, parallel four side in the case where the contraction of the cylinder drives
Shape connecting rod is flexible along lower plate length direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810608338.3A CN108890668A (en) | 2018-06-13 | 2018-06-13 | A kind of scalable and rotation end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810608338.3A CN108890668A (en) | 2018-06-13 | 2018-06-13 | A kind of scalable and rotation end effector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108890668A true CN108890668A (en) | 2018-11-27 |
Family
ID=64345110
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810608338.3A Pending CN108890668A (en) | 2018-06-13 | 2018-06-13 | A kind of scalable and rotation end effector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108890668A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114761186A (en) * | 2019-11-20 | 2022-07-15 | 川崎重工业株式会社 | Robot system and method for operating the same |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103043249A (en) * | 2012-12-31 | 2013-04-17 | 武汉人天包装技术有限公司 | Extensible gripping device |
| CN203294394U (en) * | 2013-05-22 | 2013-11-20 | 河南华通化工有限公司 | Telescopic device |
| CN103481290A (en) * | 2013-08-29 | 2014-01-01 | 合肥雄鹰自动化工程科技有限公司 | Sucking disc tongs device of robot palletizer |
| CN103753589A (en) * | 2013-12-25 | 2014-04-30 | 江苏中科机器人科技有限公司 | Robot sucker gripper |
| WO2017157482A1 (en) * | 2016-03-16 | 2017-09-21 | Ks Control Gmbh | Device for receiving, holding and/or positioning planar workpieces, in particular sheets of glass |
-
2018
- 2018-06-13 CN CN201810608338.3A patent/CN108890668A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103043249A (en) * | 2012-12-31 | 2013-04-17 | 武汉人天包装技术有限公司 | Extensible gripping device |
| CN203294394U (en) * | 2013-05-22 | 2013-11-20 | 河南华通化工有限公司 | Telescopic device |
| CN103481290A (en) * | 2013-08-29 | 2014-01-01 | 合肥雄鹰自动化工程科技有限公司 | Sucking disc tongs device of robot palletizer |
| CN103753589A (en) * | 2013-12-25 | 2014-04-30 | 江苏中科机器人科技有限公司 | Robot sucker gripper |
| WO2017157482A1 (en) * | 2016-03-16 | 2017-09-21 | Ks Control Gmbh | Device for receiving, holding and/or positioning planar workpieces, in particular sheets of glass |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114761186A (en) * | 2019-11-20 | 2022-07-15 | 川崎重工业株式会社 | Robot system and method for operating the same |
| CN114761186B (en) * | 2019-11-20 | 2023-08-15 | 川崎重工业株式会社 | Robot system and method for operating same |
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Application publication date: 20181127 |
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