CN113910273A - Terminal protective structure of robot and robot - Google Patents
Terminal protective structure of robot and robot Download PDFInfo
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- CN113910273A CN113910273A CN202111239176.9A CN202111239176A CN113910273A CN 113910273 A CN113910273 A CN 113910273A CN 202111239176 A CN202111239176 A CN 202111239176A CN 113910273 A CN113910273 A CN 113910273A
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- robot
- connecting piece
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- piece
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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
Abstract
The invention belongs to the technical field of industrial automatic production, and discloses a robot tail end protection structure and a robot. This terminal protective structure of robot is provided with the working tool at the robot end, and this terminal protective structure of robot includes: the connecting piece, the connecting piece is the cylinder structure, and the one end parcel of connecting piece is connected in the terminal outside of operation instrument and rather than dismantling, and the other end of connecting piece is provided with the function piece, and the function piece is configured to can stretch into gap or contact plane. The connecting piece of the robot tail end protection structure is of a cylinder structure, the sizes of the upper cross section and the lower cross section of the connecting piece are the same, and the interference condition between a working tool and external equipment can be conveniently detected. The connecting piece realizes the terminal cladding of operation instrument, plays the terminal effect of protection operation instrument. The functional part can be adapted to the gap working condition that the size is narrower or the contact plane working condition that the size is bigger respectively, and the adaptability is stronger.
Description
Technical Field
The invention relates to the technical field of industrial automatic production, in particular to a robot tail end protection structure and a robot.
Background
With the rapid development of industrial automation, industrial robots are widely used in manufacturing. In an actual engineering project, if different types of operation are required, a plurality of operation tools can be additionally arranged at the tail end of the robot so as to meet the requirements of different working conditions. However, different operation tools are additionally arranged at the tail end of the robot, interference between the robot and external equipment is inevitable, and if rigid collision occurs, alarm shutdown of the robot is caused, so that production efficiency is affected.
In order to solve the problem, a mode of adding certain flexibility at the tail end of the robot is adopted in the prior art, namely, a passive flexible wrist is additionally arranged at the tail end of the robot, so that the flexible contact or soft landing between a working tool and a working object is gradually realized, and the collision can be effectively avoided. However, in this way, although collision can be avoided to a certain extent, the tail end of the robot cannot extend into a narrow gap to be operated, or cannot be operated simultaneously in a large space, and the like, and cannot be actually matched with various specific working conditions such as sorting, assembling and polishing, so that the applicability is low, and diversified requirements of users cannot be met.
Disclosure of Invention
The invention aims to provide a robot tail end protection structure and a robot, which are used for protecting the tail end of a machine and have strong applicability.
In order to achieve the purpose, the invention adopts the following technical scheme:
a robot end guard structure provided with a working tool at a robot end, comprising:
the connecting piece, the connecting piece is the cylinder structure, the one end parcel of connecting piece in the terminal outside of operation tool can be dismantled rather than and be connected, the other end of connecting piece is provided with the function piece, the function piece is configured to can stretch into gap or contact plane.
Preferably, the cross section of the connecting piece is of a circular structure or an oblong structure.
Preferably, a fixing hole into which a tip of the work tool is inserted is provided in the inside of the connecting member in the axial direction thereof.
Preferably, the other end of the connecting piece is the functional piece.
Preferably, the other end of the connecting piece and the functional piece are of a split structure.
Preferably, the functional element comprises a transition part and a functional part, one end of the transition part is connected to the connecting part, the other end of the transition part is connected to the functional part, and the functional part is configured to be capable of extending into a gap or a contact plane.
Preferably, the cross section of the functional part is a circular structure, and the diameter of the functional part is smaller than that of the connecting piece.
Preferably, the functional part is arranged coaxially or eccentrically with respect to the connecting piece.
Preferably, the cross section of the functional part is an oblong structure, and the length of the functional part is larger than the diameter of the connecting piece.
In order to achieve the above object, the present invention further provides a robot, including a robot body and the robot end protection structure, wherein a connecting member of the robot end protection structure is wrapped at an end of a working tool.
The invention has the beneficial effects that:
according to the robot tail end protection structure provided by the invention, the connecting piece is of the cylinder structure, the cylinder structure is simpler in structure and lower in production cost, and the interference condition between the operation tool and external equipment can be conveniently detected due to the fact that the sizes of the upper cross section and the lower cross section of the cylinder structure are the same. Through the one end parcel that sets up the connecting piece in the terminal outside of operation tool, realize the terminal cladding of operation tool, play the terminal effect of protection operation tool, avoid the condition that rigid collision appears between the terminal of operation tool and the external equipment. Can dismantle to connect in the operation instrument end through the one end that sets up the connecting piece, can freely change the connecting piece according to the operation operating mode of difference, and is free nimble, the installation and the dismantlement of being convenient for. The other end through setting up the connecting piece is provided with the function piece, and the function piece is configured to can stretch into gap or contact plane for this terminal protective structure of robot can be adapted to the narrower gap operating mode of size or the great contact plane operating mode of size respectively, and the adaptability is stronger.
According to the robot, the connecting piece of the robot tail end protection structure is wrapped at the tail end of the working tool, the connecting piece of the robot tail end protection structure plays a role in connection and protection, the tail end of the robot is protected, and the robot has strong applicability under the condition that the function of the working tool is not influenced.
Drawings
Fig. 1 is a schematic structural diagram of one form of a robot end protection structure according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of another form of a robot end protection structure according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of one form of a robot end protection structure provided in the second embodiment of the present invention;
fig. 4 is a schematic structural diagram of another form of the robot end protection structure according to the second embodiment of the present invention;
fig. 5 is a schematic structural diagram of one form of a robot end protection structure provided by a third embodiment of the present invention;
fig. 6 is a schematic structural diagram of another form of the robot end protection structure according to the third embodiment of the present invention.
In the figure:
1. a connecting member; 2. a functional element; 21. a transition section; 22. a functional section.
Detailed Description
In order to make the technical problems solved, technical solutions adopted and technical effects achieved by the present invention clearer, the technical solutions of the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Example one
In order to ensure the optimal configuration of resources, in the existing industrial automation production, a working tool can be arranged at the tail end of the robot, and different working tools are additionally arranged at the tail end of the robot, so that different types of operation can be completed by using one robot, and the utilization rate of the robot is improved.
Due to the fact that different work tools are different in size, if the work tools are large in size, the problem that the work tools and external equipment are in rigid collision easily occurs, and service life is affected. In order to solve the problem, the existing method is to install a passive flexible wrist at the tail end of the robot and reduce the damage caused by collision by using an elastic mode, but the matching with an operation space cannot be completely met.
In order to solve this problem, the present embodiment provides a robot end protection structure, as shown in fig. 1, the robot end protection structure includes a connecting member 1, one end of the connecting member 1 is wrapped outside the end of the work tool and detachably connected thereto, the other end of the connecting member 1 is provided with a functional member 2, and the functional member 2 is configured to be able to extend into a gap or a contact plane.
The terminal protective structure of robot that this embodiment provided, connecting piece 1 are the cylinder structure, and the structure of cylinder structure is fairly simple, and manufacturing cost is lower, and because the upper and lower cross section size of cylinder structure is the same, can conveniently detect the interference condition between operation instrument and the external equipment. Through the one end parcel that sets up connecting piece 1 in the terminal outside of operation tool, realize the terminal cladding of operation tool, play the terminal effect of protection operation tool, avoid the condition that appears rigid collision between the terminal of operation tool and the external equipment. Can dismantle through the one end that sets up connecting piece 1 and connect in the operation instrument end, can freely change connecting piece 1 according to the operation operating mode of difference, and is free nimble, the installation and the dismantlement of being convenient for. Through setting up the other end of connecting piece 1 and being provided with function piece 2, function piece 2 is configured to can stretch into gap or contact plane for this terminal protective structure of robot can be adapted to the narrower gap operating mode of size or the great contact plane operating mode of size respectively, and the adaptability is stronger.
In order to coat the tail end of the working tool, a fixing hole (not shown in the figure) is formed in the connecting piece 1 along the axial direction, the tail end of the working tool extends into the fixing hole, the fixing hole can fix the working tool, meanwhile, the tail end of the working tool can be wrapped, and the tail end of the working tool is prevented from being subjected to rigid collision.
The other end of the preferred connecting piece 1 of this embodiment is function piece 2, and the one end of connecting piece 1 is the link promptly for connect the operation instrument, the other end of connecting piece 1 is the function end, is used for adapting to the operating mode of different grade type, and 1 integrated connection, protection and functional an organic whole of connecting piece, the function is various, and multiple functions just can be realized to connecting piece 1, and manufacturing cost is lower.
As shown in fig. 1, the cross section of connecting piece 1 is circular structure, and connecting piece 1 specifically is the single cylinder structure promptly, if the operation instrument is the finger of manipulator, is equivalent to connecting piece 1 as the dactylotheca of finger, when protecting the finger, still does not influence the operating flexibility of finger, and the practicality is stronger.
As shown in fig. 2, the cross section of the connecting member 1 is an oblong structure, that is, the connecting member 1 is specifically a double-cylinder translational body, which can be considered as a single cylinder vertically placed, so that the axis of the single cylinder keeps balance with the horizontal plane, and then the single cylinder is translated for a distance along the horizontal direction to form the double-cylinder translational body. The two ends of the double-cylinder translation body are both arc-shaped structures without water chestnuts, the structure is smooth, the scraping and rubbing situation is avoided, and the safety is high.
If the end of the working tool is a straight rod-shaped structure, the straight rod-shaped structure can be embedded into the double-cylinder translation body, and the working tool with the structure is convenient to operate. In addition, if the operation tool is a tool for polishing and the like, a large area of contact with the contact surface is required, the connecting piece 1 is adopted as a double-cylinder translation body, the bottom surface of the double-cylinder translation body is smooth, and compared with a single cylinder, the effective contact area is increased, and the contact and polishing effects are improved.
Specifically, an XYZ coordinate system is provided at the tip of the work tool, and the purpose thereof is, first, to be able to detect the positional relationship between the work tool and the external device, avoiding the occurrence of a rigid collision; secondly, make things convenient for operation instrument and connecting piece 1 to adjust the installation relative position when the installation to guarantee the accuracy nature of installation. Wherein the initial position of the end of the work tool relative to the top surface of the connecting element 1 is Z1, the radius of the single cylinder is R1, the height of the single cylinder is h1, and the radii of the two end portions of the double cylindrical translational body are also R1.
Example two
As shown in fig. 3, the present embodiment is similar to the first embodiment, except that the other end of the connecting member 1 of the first embodiment is the functional member 2, and the other end of the connecting member 1 of the second embodiment is separately provided with the functional member 2, in other words, the other end of the connecting member 1 and the functional member 2 are in a split structure.
Adopt this kind of setting, connecting piece 1 and function piece 2 separately set up, and connecting piece 1 plays the effect of operation instrument and 2 intermediate connections of function piece, and connecting piece 1 can also be to the parcel and the protection of operation instrument when realizing the function of connecting, and function piece 2 is used for adapting to various operating modes, and connecting piece 1 and function piece 2 divide the work of a project clearly and definitely, and mutual independence does not interfere the influence.
Specifically, as shown in fig. 3, the functional element 2 includes a transition portion 21 and a functional portion 22, one end of the transition portion 21 is connected to the connecting element 1, and the other end is connected to the functional portion 22, and the functional portion 22 is configured to be able to extend into a gap or a contact plane. The diameter of transition portion 21 is greater than the diameter of connecting piece 1, and transition portion 21 has played the effect of middle transition, realizes the buffering connection between connecting piece 1 and the functional part 22, and the functional part 22 of being convenient for realizes various functional operation.
In order to solve the problem that the operation effect of the work tool is difficult to ensure due to the large size of the work tool if the work tool needs to extend into a slit or a groove with a small size for operation, the cross section of the function part 22 is of a circular structure, and the diameter of the function part 22 is smaller than that of the connecting piece 1. The functional part 22 is embodied as a single cylinder structure, and if the working tool is a finger of a manipulator, it is equivalent to the functional part 22 serving as an extended fingertip cover of the finger. The diameter of the functional part 22 is smaller than that of the connecting piece 1, and the diameter of the functional part 22 is smaller, so that the functional part 22 can extend into a gap or a groove with smaller size, and influence on function exertion of the functional piece 2 due to overlarge external dimension of the functional piece 2 is avoided.
Alternatively, the functional part 22 is arranged coaxially with respect to the connecting member 1, i.e. the axes of the connecting member 1, the transition part 21 and the functional part 22 are collinear, and the transition part 21 can provide a strength support for the functional part 22 when the functional part 22 extends into the gap.
Alternatively, the functional part 22 may also be arranged eccentrically with respect to the joint part 1, i.e. the axes of the joint part 1, the transition part 21 are collinear. In the embodiment, the functional part 22 is preferably arranged eccentrically relative to the connecting piece 1, the axis of the functional part 22 is located at the edge of the transition part 21, and when the functional part 22 extends into the gap, the functional part 22 and the gap are aligned conveniently, so that the transition part 21 is prevented from interfering with the functional part 22.
It is understood that, as shown in fig. 3 and 4, the number of the eccentrically disposed functional parts 22 may be one or more, and a plurality of functional parts 22 are uniformly arranged around the transition part 21 to ensure a balance effect between the plurality of functional parts 22.
EXAMPLE III
As shown in fig. 5, the difference between the present embodiment and the second embodiment is that the structure of the functional part 22 is different, the cross section of the functional part 22 of the second embodiment is a circular structure, and the cross section of the functional part 22 provided in the present embodiment is an oval structure, so that the functional part 22 is a double-cylinder translational body. The two ends of the double-cylinder translation body are both arc-shaped structures without water chestnuts, the structure is smooth, the scraping and rubbing situation is avoided, and the safety is high.
Wherein the length of the functional part 22 is greater than the diameter of the connecting piece 1. The functional portion 22 corresponds to an increase in the working contact area. If the end of the working tool is a straight rod-shaped structure, the straight rod-shaped structure can be embedded into the double-cylinder translation body, and the working tool with the structure is convenient to operate. In addition, if the operation tool is a tool for polishing and the like, a large area of contact with the contact surface is required, the connecting piece 1 is adopted as a double-cylinder translation body, the bottom surface of the double-cylinder translation body is smooth, and compared with a single cylinder, the effective contact area is increased, and the contact and polishing effects are improved.
Optionally, because the length of the functional part 22 is relatively large, the transition part 21 may also be disposed on one side of the functional part 22 (as shown in fig. 5), preferably, because the functional part 22 is a double-cylinder translation structure, a center line of the circular arc structure at one end of the functional part 22 coincides with an axis of the transition part 21, so that the transition part 21 is disposed eccentrically with respect to the functional part 22, and is suitable for single-side grinding and other working conditions.
Alternatively, the transition portion 21 may be disposed at an intermediate position of the functional portion 22 (as shown in fig. 6), i.e., the functional portion 22 is disposed symmetrically with respect to the axis of the transition portion 21. By adopting the mode, the sizes of the connecting piece 1, the transition part 21 and the function part 22 are sequentially increased, the increasing effect is realized, the transition is uniform, and the balance of the whole structure is good.
Optionally, a flexible structure, such as a rubber connector or a buffer spring, may be provided inside the connector 1, inside the functional element 2, or at the connection between the two, so as to further reduce the damage caused by rigid collision.
This embodiment provides a robot, including robot and the terminal protective structure of foretell robot, terminal protective structure's of robot connecting piece 1 wraps up in the end of operation instrument, and terminal protective structure's of robot connecting piece 1 has played the effect of connecting and protecting, realizes protecting the robot end, under the condition that does not influence the operation instrument function, and the suitability is strong.
In the description herein, it is to be understood that the terms "upper", "lower", "right", and the like are based on the orientations and positional relationships shown in the drawings and are used for convenience in description and simplicity in operation, but do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular operation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used merely for descriptive purposes and are not intended to have any special meaning.
In the description herein, references to the description of "an embodiment," "an example" or the like are intended to mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
In addition, the foregoing is only the preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The utility model provides a terminal protective structure of robot, is provided with working tool at the robot end, its characterized in that includes:
connecting piece (1), connecting piece (1) is the cylinder structure, the one end parcel of connecting piece (1) in the terminal outside of operation tool can be dismantled rather than and be connected, the other end of connecting piece (1) is provided with function piece (2), function piece (2) are configured to can stretch into gap or contact plane.
2. The robot end guard structure according to claim 1, characterized in that the cross-section of the connecting piece (1) is a circular or oblong structure.
3. The robot tip guard structure according to claim 1, wherein a fixing hole into which the tip of the work tool protrudes is provided in an inner portion of the connecting member (1) in an axial direction thereof.
4. Robot end guard structure according to claim 1, characterized in that the other end of the connecting piece (1) is the functional piece (2).
5. The robot end guard structure according to claim 1, characterized in that the other end of the connecting piece (1) and the functional piece (2) are of a split structure.
6. The robot tip guard structure according to claim 5, characterized in that the functional part (2) comprises a transition part (21) and a functional part (22), the transition part (21) being connected to the connector (1) at one end and to the functional part (22) at the other end, the functional part (22) being configured to be able to protrude into a gap or a contact plane.
7. The robot tip guard structure according to claim 6, characterized in that the functional part (22) has a circular cross-section, the diameter of the functional part (22) being smaller than the diameter of the connecting piece (1).
8. Robot tip guard structure according to claim 7, characterized in that the functional part (22) is arranged coaxially or eccentrically with respect to the connecting piece (1).
9. The robot tip guard structure according to claim 6, characterized in that the functional part (22) is an oblong structure in cross-section, the length of the functional part (22) being larger than the diameter of the connecting piece (1).
10. A robot, characterized in that, it comprises a robot body and a robot end protection structure according to any one of claims 1-9, the connecting piece (1) of the robot end protection structure is wrapped around the end of a working tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111239176.9A CN113910273A (en) | 2021-10-25 | 2021-10-25 | Terminal protective structure of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111239176.9A CN113910273A (en) | 2021-10-25 | 2021-10-25 | Terminal protective structure of robot and robot |
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| Publication Number | Publication Date |
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| CN113910273A true CN113910273A (en) | 2022-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111239176.9A Pending CN113910273A (en) | 2021-10-25 | 2021-10-25 | Terminal protective structure of robot and robot |
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| CN112166661A (en) * | 2018-06-01 | 2021-01-01 | 株式会社富士 | Support pin and automatic support pin replacement system |
| CN112768391A (en) * | 2020-12-31 | 2021-05-07 | 上海至纯洁净系统科技股份有限公司 | Mechanical clamping device is listened in wafer box linkage |
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2021
- 2021-10-25 CN CN202111239176.9A patent/CN113910273A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103302674A (en) * | 2013-07-05 | 2013-09-18 | 玉环联帮洁具制造有限公司 | Workpiece clamping head of mechanical hand |
| CN106863343A (en) * | 2016-03-04 | 2017-06-20 | 温州市科泓机器人科技有限公司 | Flexible clamping type manipulator main body mechanism |
| CN112166661A (en) * | 2018-06-01 | 2021-01-01 | 株式会社富士 | Support pin and automatic support pin replacement system |
| CN209304612U (en) * | 2018-12-29 | 2019-08-27 | 南京工程学院 | A kind of experimental provision of the TCP error-detecting for industrial robot |
| CN110039563A (en) * | 2019-04-24 | 2019-07-23 | 北京轩宇智能科技有限公司 | A kind of arm end tool |
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| CN112768391A (en) * | 2020-12-31 | 2021-05-07 | 上海至纯洁净系统科技股份有限公司 | Mechanical clamping device is listened in wafer box linkage |
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