CN208132989U - It is a kind of can flexible modulation pose robot end executing agency - Google Patents
It is a kind of can flexible modulation pose robot end executing agency Download PDFInfo
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- CN208132989U CN208132989U CN201820508928.4U CN201820508928U CN208132989U CN 208132989 U CN208132989 U CN 208132989U CN 201820508928 U CN201820508928 U CN 201820508928U CN 208132989 U CN208132989 U CN 208132989U
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- guide rail
- sliding block
- hydraulic cylinder
- pose
- hydraulic
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Abstract
The utility model belongs to robot field, and disclose it is a kind of can flexible modulation pose robot end executing agency, including rack and guide rail group, sliding block group, hydraulic cylinder group, grabbing assembly, connecting flange, retarder, motor and pose adjustment frame, guide rail group includes the first guide rail, the second guide rail and third guide rail, three is horizontally disposed, and the first guide rail is parallel with third guide rail, and the second guide rail is perpendicular to first guide rail；The sliding block group includes the first sliding block, the second sliding block and third sliding block, and connecting flange is fixedly mounted on second sliding block；Hydraulic cylinder group includes first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder；The grabbing assembly, which is arranged side by side, two groups, and grabbing assembly described in every group includes two picking units, and each picking unit includes crawl hydraulic cylinder and gripper；Multiple pin holes are provided on the pose adjustment frame.The utility model can be realized to different positions and pose, the various sizes of flexibility and reliability crawl for being crawled object.
Description
Technical field
The utility model belongs to robot field, more particularly, to a kind of robot end executing agency.
Background technique
End effector mechanism is the device that robot directly contacted and carried out operation with object, it is to the work for improving robot
Make efficiency, expansion application range has important role.For robot, different positions and pose, various sizes of object are faced, such as
What improves end effector mechanism to the adaptability of object outline size, improves crawl precision and chucking power, realizes the spirit to object
Crawl living is the evaluation important indicator of robot end executing agency ability to work and setting for robot end executing agency
Count difficult point.
In general, be crawled object pose and size it is different, however, traditional robot end executing agency
It is unable to flexible modulation pose and gripper position, it is difficult to adapt to diversified object, cause existing robot end executing agency suitable
Small with range, crawl precision is low, and working efficiency is low.
Utility model content
Aiming at the above defects or improvement requirements of the prior art, the utility model provide one kind can flexible modulation pose with
The robot end executing agency of gripper position realizes that the flexibility and reliability for being crawled object to different positions and pose, different sizes grabs,
It is high to grab precision.
To achieve the above object, according to the utility model, provide it is a kind of can the robot end of flexible modulation pose hold
Row mechanism, which is characterized in that including rack and the guide rail group being commonly mounted in the rack, sliding block group, hydraulic cylinder group, grab
Take component, connecting flange, retarder, motor and pose adjustment frame, wherein
The guide rail group includes the first guide rail, the second guide rail and third guide rail, and three is horizontally disposed, and described first
Guide rail is parallel with third guide rail, and second guide rail is perpendicular to first guide rail；
The sliding block group include the first sliding block, the second sliding block and third sliding block, and first sliding block, the second sliding block and
Third sliding block is separately mounted on first guide rail, the second guide rail and third guide rail, and institute is fixedly mounted on second sliding block
State connecting flange；
The input shaft of the retarder is connect with the motor, and the output shaft of the retarder and the connecting flange connect
It connects；
The motor and retarder are fixedly mounted in mounting base；
The pose adjustment frame is mounted in the mounting base；
The hydraulic cylinder group includes first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder, the cylinder of the first hydraulic cylinder
The cylinder body of body, the cylinder body of second hydraulic cylinder and third hydraulic cylinder is installed in the rack, the first hydraulic cylinder it is hydraulic
The hydraulic stem of bar, the hydraulic stem of second hydraulic cylinder and third hydraulic cylinder is separately connected first sliding block, the second sliding block and third
Sliding block；
The grabbing assembly, which is arranged side by side, two groups, and grabbing assembly described in every group includes two picking units, and this
Two picking units are symmetrical set, and each picking unit includes crawl hydraulic cylinder and gripper, wherein the crawl
The cylinder body of hydraulic cylinder is mounted on the rack, and the hydraulic stem of the crawl hydraulic cylinder passes through the hinged gripper of the first hinged shaft
The other end of one end, the gripper is hinged in the rack by the second hinged shaft, and first hinged shaft and the second hinged shaft are parallel；
Multiple pin holes being parallel to each other are provided on the pose adjustment frame, to be used to connect with robot end, and
The central axis of the output shaft of the center line of the pin hole and the retarder.
Preferably, the hydraulic stem of the crawl hydraulic cylinder is parallel with second guide rail.
Preferably, force sensor is mounted on each gripper.
Preferably, it is also equipped with buzzer and indicator light in the rack, when object is produced in any position of each gripper
Active force be more than setting secure threshold when, stop crawl task, and pass through indicator light and buzzer warning.
Preferably, the centerline parallel of the pin hole is in first guide rail.
In general, it can obtain down the above technical solutions conceived by the present invention are compared with the prior art,
Column beneficial effect：
The utility model can be moved with flexible modulation gripper along the plane parallel with guide rail by the cooperation between each component
It is dynamic, and in the plane internal rotation parallel with guide rail, gripper can also be realized around pin aperture centerline by the movement of robot
Rotation, and the position of gripper can be adjusted by adjusting the extension elongation of the hydraulic stem of crawl hydraulic cylinder, realize to different positions and pose,
The various sizes of flexibility and reliability crawl for being crawled object.
Detailed description of the invention
Fig. 1 is the top view of the utility model；
Fig. 2 is the bottom view of the utility model；
Fig. 3 is the left view of the utility model；
Fig. 4 is the rearview of the utility model；
Fig. 5~Fig. 7 is three dimensional structure diagram of the utility model under different perspectives；
Fig. 8 is the decomposition diagram of the utility model.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Referring to Fig.1~Fig. 8, it is a kind of can flexible modulation pose robot end executing agency, including rack 7 and common
Be mounted on guide rail group in the rack 7, sliding block group, hydraulic cylinder group, grabbing assembly, connecting flange 24, retarder 23, motor and
Pose adjustment frame 22, wherein
The guide rail group includes the first guide rail 1, the second guide rail 2 and third guide rail 3, and three is horizontally disposed, and described
First guide rail 1 is parallel with third guide rail 3, and second guide rail 2 is perpendicular to first guide rail 1；
The sliding block group includes the first sliding block 4, the second sliding block 5 and third sliding block 6, and first sliding block 4, second is sliding
Block 5 and third sliding block 6 are separately mounted on first guide rail 1, the second guide rail 2 and third guide rail 3, on second sliding block 5
The connecting flange 24 is fixedly mounted；
The input shaft of the retarder 23 is connect with the motor, the output shaft and the connecting flange of the retarder 23
24 connections, for driving the connecting flange 24 to rotate；
The motor and retarder 23 are fixedly mounted in mounting base；
The pose adjustment frame 22 is mounted in the mounting base；
The hydraulic cylinder group includes first hydraulic cylinder 16, second hydraulic cylinder 17 and third hydraulic cylinder 18, and described first is hydraulic
The cylinder body of the cylinder body of cylinder 16, the cylinder body of second hydraulic cylinder 17 and third hydraulic cylinder 18 is installed in the rack 7, and described first
It is sliding that the hydraulic stem of the hydraulic stem of hydraulic cylinder 16, the hydraulic stem of second hydraulic cylinder 17 and third hydraulic cylinder 18 is separately connected described first
Block 4, the second sliding block 5 and third sliding block 6, to drive first sliding block 4, the second sliding block 5 and third sliding block 6 to slide respectively；
The grabbing assembly, which is arranged side by side, two groups, and grabbing assembly described in every group includes two picking units, and this
Two picking units are symmetrical set, and to grab object for cooperating jointly, each picking unit includes crawl liquid
Cylinder pressure and gripper, wherein the cylinder body of the crawl hydraulic cylinder is mounted in the rack 7, the hydraulic stem of the crawl hydraulic cylinder
By one end of the hinged gripper of the first hinged shaft, the other end of the gripper is hinged in the rack 7 by the second hinged shaft,
First hinged shaft and the second hinged shaft are parallel；
Multiple pin holes being parallel to each other are provided on the pose adjustment frame 22, to be used to connect with robot end, and
And the central axis of the output shaft of the center line of the pin hole and the retarder 23.
Further, the hydraulic stem of the crawl hydraulic cylinder is parallel with second guide rail 2.
Further, force sensor is mounted on each gripper.
Further, it is also equipped with buzzer and indicator light in the rack 7, when subject is raw in any position of each gripper
When the active force of production is more than the secure threshold of setting, stop crawl task, and pass through indicator light and buzzer warning.
Further, the centerline parallel of the pin hole is in first guide rail 1.
It further, further include the 4th hydraulic cylinder being arranged side by side with the second hydraulic cylinder, the 4th hydraulic cylinder body
It is mounted in the rack 7, hydraulic stem connects second sliding block 5, for pushing institute jointly with the second hydraulic cylinder
It is mobile to state the second sliding block 5.
The pose adjustment frame 22 of the utility model and the shell of mounting base are bolted, and retarder 23 passes through connection method
Orchid 24 connect with the second sliding block 5, and when Motor drive decelerator 23 rotates, retarder 23 drives the rotation of the second sliding block 5, and then band
Entire end effector mechanism is moved in the rotation in surface parallel with guide rail.
There is deviation when being crawled object and object pose, using the end effector mechanism of the utility model, is led by first
Rail 1, the second guide rail 2, third guide rail 3, the first sliding block 4, the second sliding block 5, third sliding block 6 and first hydraulic cylinder 16, second are hydraulic
The work of cylinder 17, third hydraulic cylinder 19, the 4th hydraulic cylinder 18 passes through the connection on retarder electric machine assembly 23 and the second sliding block 5
24 rotational end executing agency posture of flange, is overlapped end effector mechanism with object pose.Then according to the profile ruler of object
It is very little, the first crawl hydraulic cylinder 12, second is adjusted respectively grabs hydraulic cylinder 13, third crawl hydraulic cylinder 14 and the 4th crawl hydraulic cylinder
15 arrive required stroke, make the first gripper 8, the second gripper 9,11 adaption object of third gripper 10 and the 4th gripper, and then clamp
Crawl.
The first pin hole 20 being arranged on pose adjustment frame is connect with the second pin hole 21 with robot end, forms complete machine
Device people's operating system, can thus be adjusted by robot body by pose variation entire end effector mechanism around with pin hole
The straight line of centerline parallel rotates, and by this method, the spatial pose of end effector mechanism is adjusted flexibly, in order to grab object.
Due to the diversification of object, for the safety for guaranteeing end effector mechanism work, in the first gripper 8, the second gripper
9, force sensor is installed respectively at third gripper 10 and the 4th gripper 11, when crawl object the first gripper 8, the second gripper 9,
When third gripper 10 and the active force of 11 any position of the 4th gripper production are more than the secure threshold of setting, stop crawl task,
And alarm signal is generated by indicator light and buzzer.
The utility model clever structure is reasonable, reduces labor intensity of workers, improves safety coefficient, accurate positioning, pose tune
Section flexibly, can stablize the object of safety holding different positions and pose Yu differently contoured size, have a wide range of application.
As it will be easily appreciated by one skilled in the art that the above is only the preferred embodiment of the utility model only, not
To limit the utility model, any modification made within the spirit and principle of the present invention, equivalent replacement and change
Into etc., it should be included within the scope of protection of this utility model.
Claims (5)
1. one kind can flexible modulation pose robot end executing agency, which is characterized in that including rack and common installation
Guide rail group, sliding block group, hydraulic cylinder group, grabbing assembly, connecting flange, retarder, motor and pose adjustment in the rack
Frame, wherein
The guide rail group includes the first guide rail, the second guide rail and third guide rail, and three is horizontally disposed, and first guide rail
Parallel with third guide rail, second guide rail is perpendicular to first guide rail；
The sliding block group includes the first sliding block, the second sliding block and third sliding block, and first sliding block, the second sliding block and third
Sliding block is separately mounted on first guide rail, the second guide rail and third guide rail, and the company is fixedly mounted on second sliding block
Acting flange；
The input shaft of the retarder is connect with the motor, and the output shaft of the retarder is connect with the connecting flange；
The motor and retarder are fixedly mounted in mounting base；
The pose adjustment frame is mounted in the mounting base；
The hydraulic cylinder group includes first hydraulic cylinder, second hydraulic cylinder and third hydraulic cylinder, the cylinder body of the first hydraulic cylinder,
The cylinder body of two hydraulic cylinders and the cylinder body of third hydraulic cylinder are installed in the rack, the hydraulic stem of the first hydraulic cylinder,
The hydraulic stem of two hydraulic cylinders and the hydraulic stem of third hydraulic cylinder are separately connected first sliding block, the second sliding block and third sliding block；
The grabbing assembly, which is arranged side by side, two groups, and grabbing assembly described in every group includes two picking units, and the two
Picking unit is symmetrical set, and each picking unit includes crawl hydraulic cylinder and gripper, wherein the crawl is hydraulic
The cylinder body of cylinder is mounted on the rack, it is described crawl hydraulic cylinder hydraulic stem by the first hinged shaft hingedly the gripper one
End, the other end of the gripper are hinged in the rack by the second hinged shaft, and first hinged shaft and the second hinged shaft are parallel；
Multiple pin holes being parallel to each other are provided on the pose adjustment frame, to be used to connect with robot end, and it is described
The central axis of the output shaft of the center line of pin hole and the retarder.
2. one kind according to claim 1 can flexible modulation pose robot end executing agency, which is characterized in that institute
The hydraulic stem for stating crawl hydraulic cylinder is parallel with second guide rail.
3. one kind according to claim 1 can flexible modulation pose robot end executing agency, which is characterized in that it is every
Force sensor is mounted on a gripper.
4. one kind according to claim 3 can flexible modulation pose robot end executing agency, which is characterized in that institute
It states and is also equipped with buzzer and indicator light in rack, when object is more than setting in the active force that any position of each gripper produces
When secure threshold, stop crawl task, and pass through indicator light and buzzer warning.
5. one kind according to claim 1 can flexible modulation pose robot end executing agency, which is characterized in that institute
The centerline parallel of pin hole is stated in first guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820508928.4U CN208132989U (en) | 2018-04-11 | 2018-04-11 | It is a kind of can flexible modulation pose robot end executing agency |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820508928.4U CN208132989U (en) | 2018-04-11 | 2018-04-11 | It is a kind of can flexible modulation pose robot end executing agency |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132989U true CN208132989U (en) | 2018-11-23 |
Family
ID=64292287
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820508928.4U Active CN208132989U (en) | 2018-04-11 | 2018-04-11 | It is a kind of can flexible modulation pose robot end executing agency |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132989U (en) |
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2018
- 2018-04-11 CN CN201820508928.4U patent/CN208132989U/en active Active
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