CN111573559B - Robot end effector - Google Patents
Robot end effector Download PDFInfo
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- CN111573559B CN111573559B CN201910115984.0A CN201910115984A CN111573559B CN 111573559 B CN111573559 B CN 111573559B CN 201910115984 A CN201910115984 A CN 201910115984A CN 111573559 B CN111573559 B CN 111573559B
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- lifting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
- B66F7/085—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated pneumatically operated
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/28—Constructional details, e.g. end stops, pivoting supporting members, sliding runners adjustable to load dimensions
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to an end effector of automation equipment, in particular to a robot end effector, wherein a pressing cylinder and a reverse scratching cylinder are respectively arranged on a base, the output end of the pressing cylinder is connected with a pressing plate, the output end of the reverse scratching cylinder is connected with a lifting block through a lifting guide rail sliding block, and the lifting block is connected with a lifting plate; horizontal blocks and connecting rods are arranged on two sides of the lifting block, the horizontal block on each side is respectively connected with the base in a sliding manner, one end of each connecting rod on each side is hinged to the lifting block, and the other end of each connecting rod on each side is hinged to the horizontal block on the same side; all install the lift connecting plate on the horizontal piece of every side, equal sliding connection has anti-finger of digging on the lift connecting plate of every side, and the both sides of lifter plate link to each other with the anti-finger of digging of both sides respectively. The invention realizes that the elastic finger sleeve at one side hooks the picked article at the end to be lifted and the pressing plate at the other side presses the picked article at the end to provide a force for resisting the overturning bending moment, so that the picked article at the end is stably carried; the invention has high automation degree and improves the working efficiency and the working quality.
Description
Technical Field
The invention relates to an end effector of automation equipment, in particular to a robot end effector.
Background
For special-shaped pieces in the household appliance and bathroom industry, such as a toilet, manual carrying is generally adopted, the labor intensity is high, the production efficiency is low, and the controllability of production beats is poor; the heavy labor is easy to cause the waist of the carrying worker to be off, and the dust in the working environment is also easy to cause the respiratory system to be lowered.
Disclosure of Invention
In order to solve the above problems of manual transportation, an object of the present invention is to provide a robot end effector that can be adapted to home appliances and sanitary and bathroom industries.
The purpose of the invention is realized by the following technical scheme:
the lifting device comprises a base, a pressing cylinder, a pressing plate, a reverse-digging cylinder, a lifting block, a lifting guide rail sliding block, a connecting rod, a horizontal block, a reverse-digging finger, a lifting connecting plate and a lifting plate, wherein the pressing cylinder and the reverse-digging cylinder are respectively arranged on the base; horizontal blocks and connecting rods are arranged on two sides of the lifting block, the horizontal block on each side is connected with the base in a sliding mode, one end of each connecting rod on each side is hinged to the lifting block, and the other end of each connecting rod is hinged to the horizontal block on the same side; the horizontal block on each side is provided with a lifting connecting plate, the lifting connecting plate on each side is connected with a reverse-digging finger in a sliding manner, and two sides of the lifting plate are respectively connected with the reverse-digging fingers on two sides; the reverse-digging cylinder drives the horizontal blocks on the two sides to synchronously slide through the lifting guide rail sliding block, the lifting block and the connecting rod so as to drive the reverse-digging fingers on the two sides to synchronously expand outwards or contract inwards, and meanwhile, the reverse-digging fingers on the two sides realize synchronous lifting; the pressing cylinder drives the pressing plate to press the picked-up object on one side of the reverse finger;
wherein: the lower end of the lifting guide rail sliding block is linked with the lifting block through a pin shaft, and one end of each connecting rod on two sides is hinged to the pin shaft;
the base is provided with a horizontal guide rail, and the horizontal blocks at two sides are respectively connected with the horizontal guide rail in a sliding manner through horizontal guide rail sliding blocks;
the lifting connecting plate on each side is provided with a lifting guide rail, the upper end of the reverse finger on each side is connected with the lifting guide rail on the same side in a sliding mode through a lifting slide block, and the lower end of the reverse finger is provided with an elastic finger sleeve; the contact part of the elastic finger sleeve and the picked-up object at the end is an inclined plane or a conical surface;
the lower surface of the pressure plate is provided with an elastic pressure pad which is contacted with an object to be picked up;
a pressing guide sleeve is arranged on the base, and a guide pillar which is penetrated by the pressing guide sleeve is arranged on the upper surface of the pressing plate;
the reverse finger hooks an end picked-up article, and the pressing plate presses the hooked side of the end picked-up article.
The invention has the advantages and positive effects that:
1. the invention has high automation degree and improves the working efficiency and the working quality.
2. The invention realizes that the elastic finger sleeve at one side hooks the picked article at the end to be lifted and the pressing plate at the other side presses the picked article at the end to provide a force for resisting the overturning bending moment, so that the picked article at the end is stably carried.
Drawings
FIG. 1 is a schematic perspective view of the present invention in an operating state;
FIG. 2 is a front view of the structure of the working state of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
FIG. 4 is a structural left side view of the present invention in an operating state;
FIG. 5 is a cross-sectional view B-B of FIG. 4;
FIG. 6 is a top view of the structure in the working state of the present invention;
wherein: 1 is the base, 2 is compressing tightly the cylinder, 3 is compressing tightly the guide pin bushing, 4 is the clamp plate, 5 is the elasticity pressure pad, 6 is the toilet bowl, 7 is the cylinder of digging inversely, 8 is the elevator, 9 is the elevator slider, 10 is the connecting rod, 11 is the horizontal block, 12 is the horizontal guide slider, 13 is the elevator slider, 14 is digging inversely the finger, 15 is the elasticity finger cover, 16 is the guide pillar, 17 is the horizontal guide rail, 18 is the lifting connecting plate, 19 is lifting guide, 20 is the lifter plate.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 6, the invention comprises a base 1, a pressing cylinder 2, a pressing guide sleeve 3, a pressing plate 4, an elastic pressing pad 5, a counter-scratching cylinder 7, a lifting block 8, a lifting guide rail slider 9, a connecting rod 10, a horizontal block 11, a horizontal guide rail slider 12, a lifting slider 13, a counter-scratching finger 14, an elastic finger sleeve 15, a guide post 16, a horizontal guide rail 17, a lifting connecting plate 18, a lifting guide rail 19 and a lifting plate 20, wherein one end fixed by the pressing cylinder 2 and one end fixed by the counter-scratching cylinder 7 are respectively fixed on the base 1, the telescopic output end of the pressing cylinder 2 is connected with the pressing plate 4, the elastic pressing pad 5 contacting with an object to be picked is installed on the lower surface of the pressing plate 4, and the pressing plate 4 provides a force of counter-overturning bending moment for the object to be picked up in the end picking up and carrying process through the elastic pressing pad 5. The pressing guide sleeves 3 are symmetrically and fixedly connected to the bases 1 on the left side and the right side of the pressing cylinder 2, the guide pillars 16 are symmetrically and fixedly connected to the left side and the right side of the upper surface of the pressing plate 4, the guide pillars 16 on each side are penetrated through the pressing guide sleeves 3 on the same side, and the guide pillars 16 and the pressing guide sleeves 3 play a role in guiding in the process that the pressing cylinder 2 drives the pressing plate 4 and the elastic pressing pad 5 to ascend and descend.
The telescopic output end of the counter-digging cylinder 7 is connected with the upper end of a lifting guide rail slide block 9, the lower end of the lifting guide rail slide block 9 is connected with a lifting block 8 through a pin shaft, and the lower end of the lifting block 8 is fixedly connected with a lifting plate 20. Horizontal blocks 11 and connecting rods 10 are arranged on two sides of the lifting block 8, a horizontal guide rail 17 is mounted on the base 1, and the horizontal blocks 11 on the two sides are respectively in sliding connection with the horizontal guide rail 17 through horizontal guide rail sliders 12; one end of each side connecting rod 10 is hinged on the pin shaft, and the other end is hinged with the horizontal block 11 at the same side. Each horizontal block 11 is provided with a lifting connecting plate 18, the inner side of each lifting connecting plate 18 is fixed with a lifting guide rail 19, and the lifting guide rail 19 on each side is connected with a lifting slide block 13 in a sliding manner. The left side and the right side of the lifting block 8 are symmetrically provided with reverse fingers 14, the upper end of each reverse finger 14 is connected with a lifting guide rail 19 at the same side in a sliding manner through a lifting slide block 13 at the same side, the lower end of each reverse finger is in a hook shape and is respectively provided with an elastic finger sleeve 15, and the contact part of the elastic finger sleeve 15 and an object to be picked up is an inclined plane or a conical surface. The two sides of the lifting plate 20 are respectively connected with the lifting slide blocks 13 at the two sides.
The elastic pressure pad 5 and the elastic finger sleeves 15 are elastic bodies made of rubber, and the transmission of carrying stress is provided by compensating the position relation between the elastic pressure pad and a curved surface on an object to be picked up; meanwhile, the curved surface on the object picked up by the end can be protected through elastic deformation.
The compressing cylinder 2 and the counter-digging cylinder 7 can be replaced by a servo motor, a pull wire, a hydraulic cylinder, a linear motor and the like.
The working principle of the invention is as follows:
the base 1 of the present invention is connected to any automated handling equipment (e.g., a six degree-of-freedom industrial robot) for locking and unlocking the automated handling equipment and the end-picked item. The picked-up articles are taken as the toilet bowl 6.
The output that compresses tightly cylinder 2 stretches out, and drive clamp plate 4 and elasticity pressure pad 5 press on toilet bowl 6, are located one side of anti-finger 14 of digging. The two-sided counter fingers 14 project into the toilet bowl 6 in the initial position. The output end of the reverse-digging cylinder 7 contracts to drive the lifting block 8 and the lifting plate 20 to ascend through the lifting guide rail slide block 9, the connecting rods 10 on the two sides drive the horizontal blocks 11 on the two sides to synchronously slide on the horizontal guide rail 17 in opposite directions, and then the reverse-digging fingers 14 on the two sides are driven to synchronously expand outwards. When the lifting plate 20 rises, the lifting slide blocks 13 on the two sides are driven to respectively slide upwards along the lifting guide rails 19 on the same side, and the counter-digging fingers 14 on the two sides synchronously rise; the horizontal blocks 11 on each side mechanically limit the lifting of the counter finger 14 on the same side. The reverse digging fingers 14 on the two sides hook the inner concave surface of the pedestal pan 6 reversely through the elastic finger sleeves 15, and the reverse digging cylinder 7 stops working after a supporting force is generated; the two reverse fingers 14 generate two supporting forces, and the force of the pressure plate 4 for resisting the overturning bending moment and the gravity are added to form four-force space convergence, so that the end picking work function is achieved.
After the work is finished, the output end of the reverse-digging cylinder 7 extends out, the reverse-digging fingers 14 on two sides are driven to retract through the lifting guide rail sliding blocks 9, the lifting blocks 8 and the connecting rods 10, and when the reverse-digging fingers retract, the reverse-digging fingers still descend along the lifting guide rail 19 until reset. The output end of the pressing cylinder 2 contracts, and the pressing plate 4 and the elastic pressing pad 5 ascend and reset.
The invention is not limited to the pedestal pan 6, and is applicable to all sprayed workpieces in the spraying industry and the bathroom industry as long as the workpieces are provided with concave surfaces.
Claims (8)
1. The utility model provides a robot end effector, includes the base, counter the cylinder and counter the finger, its characterized in that: the lifting device is characterized by further comprising a pressing cylinder (2), a pressing plate (4), a lifting block (8), a lifting guide rail sliding block (9), a connecting rod (10), a horizontal block (11), a lifting connecting plate (18) and a lifting plate (20), wherein the pressing cylinder (2) and a reverse-digging cylinder (7) are respectively installed on the base (1), the output end of the pressing cylinder (2) is connected with the pressing plate (4), the output end of the reverse-digging cylinder (7) is connected with the lifting block (8) through the lifting guide rail sliding block (9), and the lifting plate (20) is connected onto the lifting block (8); horizontal blocks (11) and connecting rods (10) are arranged on two sides of the lifting block (8), the horizontal block (11) on each side is connected with the base (1) in a sliding mode, one end of each connecting rod (10) on each side is hinged to the lifting block (8), and the other end of each connecting rod is hinged to the horizontal block (11) on the same side; the horizontal block (11) on each side is provided with a lifting connecting plate (18), the lifting connecting plate (18) on each side is connected with a reverse finger (14) in a sliding manner, and two sides of the lifting plate (20) are respectively connected with the reverse fingers (14) on two sides; the reverse-digging cylinder (7) drives the horizontal blocks (11) on the two sides to synchronously slide through the lifting guide rail sliding block (9), the lifting block (8) and the connecting rod (10), so as to drive the reverse-digging fingers (14) on the two sides to synchronously expand outwards or contract inwards, and meanwhile, the reverse-digging fingers (14) on the two sides realize synchronous lifting; the pressing cylinder (2) drives the pressing plate (4) to press the end-picked article on one side of the counter finger (14).
2. The robotic end effector of claim 1, wherein: the lower end of the lifting guide rail sliding block (9) is linked with the lifting block (8) through a pin shaft, and one end of the connecting rod (10) on two sides is respectively hinged on the pin shaft.
3. The robotic end effector of claim 1, wherein: the base (1) is provided with a horizontal guide rail (17), and the horizontal blocks (11) on two sides are respectively connected with the horizontal guide rail (17) in a sliding manner through a horizontal guide rail sliding block (12).
4. The robotic end effector of claim 1, wherein: every side all install lifting guide (19) on lifting connection board (18), every side the upper end of finger (14) is scratched reversely through lifting slide (13) and lifting guide (19) sliding connection of homonymy, and elasticity finger stall (15) are installed to the lower extreme.
5. The robotic end effector of claim 4, wherein: the contact part of the elastic finger sleeve (15) and the picked-up object is an inclined plane or a conical surface.
6. The robotic end effector of claim 1, wherein: and the lower surface of the pressure plate (4) is provided with an elastic pressure pad (5) contacted with an object to be picked up.
7. The robotic end effector of claim 1, wherein: the pressing guide sleeve (3) is mounted on the base (1), and a guide post (16) penetrated by the pressing guide sleeve (3) is mounted on the upper surface of the pressing plate (4).
8. The robotic end effector of claim 1, wherein: the reverse finger (14) hooks an end picked-up article, and the pressing plate (4) presses the hooked side of the end picked-up article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910115984.0A CN111573559B (en) | 2019-02-15 | 2019-02-15 | Robot end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910115984.0A CN111573559B (en) | 2019-02-15 | 2019-02-15 | Robot end effector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111573559A CN111573559A (en) | 2020-08-25 |
| CN111573559B true CN111573559B (en) | 2021-08-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910115984.0A Active CN111573559B (en) | 2019-02-15 | 2019-02-15 | Robot end effector |
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| Country | Link |
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| CN (1) | CN111573559B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2810749A1 (en) * | 2013-06-07 | 2014-12-10 | FFT Produktionssysteme GmbH & Co. KG | Device for use in handling a load and method for producing such a device |
| CN206367018U (en) * | 2016-12-27 | 2017-08-01 | 山东科技大学 | Double pawl Pneumatic manipulators may be reversed in one kind |
| CN107635524A (en) * | 2015-05-12 | 2018-01-26 | 克瑞肖株式会社 | Auxiliary robot for carrying |
| CN208053926U (en) * | 2018-04-20 | 2018-11-06 | 福建南安市满天星水暖有限公司 | A kind of toilet seat transport fixed case |
| CN208052508U (en) * | 2018-04-10 | 2018-11-06 | 昆山同日工业自动化有限公司 | A kind of mechanical gripper for capturing toilet seat lower housing |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729082B (en) * | 2016-02-26 | 2017-11-28 | 广东省自动化研究所 | A kind of automatic disassembly system of ceramic pedestal pan tank lid |
| CN207256265U (en) * | 2017-05-23 | 2018-04-20 | 深圳市连硕教育投资管理有限公司 | A kind of fast replacing device and workbench for robot clamp |
| CN207495486U (en) * | 2017-09-29 | 2018-06-15 | 烟台智源自动化工程有限公司 | A kind of multi-arm rotary conveying device |
-
2019
- 2019-02-15 CN CN201910115984.0A patent/CN111573559B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2810749A1 (en) * | 2013-06-07 | 2014-12-10 | FFT Produktionssysteme GmbH & Co. KG | Device for use in handling a load and method for producing such a device |
| CN107635524A (en) * | 2015-05-12 | 2018-01-26 | 克瑞肖株式会社 | Auxiliary robot for carrying |
| CN206367018U (en) * | 2016-12-27 | 2017-08-01 | 山东科技大学 | Double pawl Pneumatic manipulators may be reversed in one kind |
| CN208052508U (en) * | 2018-04-10 | 2018-11-06 | 昆山同日工业自动化有限公司 | A kind of mechanical gripper for capturing toilet seat lower housing |
| CN208053926U (en) * | 2018-04-20 | 2018-11-06 | 福建南安市满天星水暖有限公司 | A kind of toilet seat transport fixed case |
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| Publication number | Publication date |
|---|---|
| CN111573559A (en) | 2020-08-25 |
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