CN211761596U - Robot tail end actuating mechanism - Google Patents
Robot tail end actuating mechanism Download PDFInfo
- Publication number
- CN211761596U CN211761596U CN202020143673.3U CN202020143673U CN211761596U CN 211761596 U CN211761596 U CN 211761596U CN 202020143673 U CN202020143673 U CN 202020143673U CN 211761596 U CN211761596 U CN 211761596U
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- robot
- driving device
- guide
- end effector
- actuating mechanism
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- 210000000078 claw Anatomy 0.000 claims abstract description 15
- 230000006698 induction Effects 0.000 claims description 4
- 239000012636 effector Substances 0.000 claims 8
- 238000000034 method Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 238000003754 machining Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Abstract
The utility model discloses a robot end actuating mechanism, which comprises a robot end, wherein a fixing part is arranged at the robot end, a guide part is arranged on the fixing part, a movable plate is arranged on the guide part, a feeding air claw is arranged on the movable plate, and a driving device for driving the movable plate to move along the guide direction of the guide part is fixed on the fixing part; through robot joint difference benefit with material and fixture center well, stop on fixed position, again through the cylinder with material propelling movement to lathe chuck, the terminal actuating mechanism of robot is because so the stroke by cylinder propelling movement material, the pay-off dynamics is all limited, can effectually avoid damaging the robot body when material and fixture hit the machine, reach accurate material loading, unloading, easy operation, improve work efficiency, avoid the material extravagant, save time guarantees the material outward appearance on this basis, the saving cost.
Description
Technical Field
The utility model relates to a robot field especially relates to terminal actuating mechanism of robot.
Background
The machine tool is a master machine in the manufacturing industry, the numerical control lathe is indispensable mechanical equipment in machining, when the numerical control lathe is used for machining a workpiece in the market at present, manual clamping is usually adopted, a mode of manual top clamping is adopted by combining with an ejector pin of a tailstock, or a simple automatic feeding device for clamping one top is adopted, the feeding modes are complex in operation, low in installation precision, long in use time and low in working efficiency, feeding cannot be completed on materials with small size and high precision, meanwhile, the appearance of a product is damaged to a certain extent, so that the integral working quality is reduced, the working strength is increased, if the problem of precision of a machined object needs to be solved, a force feedback robot is required, the cost of the force feedback robot body is 6-7 times that of a common domestic robot body, the enterprise benefit cannot be well improved, and the force feedback robot is a large burden for long-term development of an enterprise, however, the robot tail end executing mechanism not only can sense whether the feeding position is correct or not in the feeding process, but also can solve the problem of feeding and discharging of a machine tool chuck of small-size and high-precision parts.
The existing force feedback robot and the joint robot complete feeding through joint difference compensation, a clamping mechanism with small size and high precision requirement cannot achieve accurate positioning in the feeding process, materials collide with the clamping mechanism in the feeding process, the force feedback robot can feed back a system after colliding, and the joint robot is not provided with a force feedback device and can damage a robot body.
SUMMERY OF THE UTILITY MODEL
In order to solve the small-size part that can not send precision and require height for the lathe chuck among the prior art, work efficiency is low, and intensity of labour is big, and is with high costs, can not satisfy the use scheduling problem, the utility model discloses the technical scheme who adopts is:
the utility model provides a terminal actuating mechanism of robot, includes the robot end be equipped with the mounting on be equipped with the guide on be equipped with the fly leaf on be equipped with pay-off gas claw the mounting on be fixed with the drive arrangement that the drive fly leaf removed along guide direction.
Further, the fixing piece is a flat plate.
Furthermore, the fixing piece is a structural piece, and a cavity for accommodating the driving device is arranged on the fixing piece.
Furthermore, the fixing part is a triangular structural part provided with a cavity, one surface of the structural part is connected with the tail end of the robot, and at least one surface of the other two surfaces is provided with a guide part and is fixed with a driving device.
Furthermore, a second air claw is fixed on the fixing piece.
Further, the guide part is a linear bearing.
Further, the driving device is an air cylinder.
Furthermore, a magnetic induction switch is arranged on the driving device.
The utility model discloses terminal actuating mechanism of robot is through robot joint difference benefit with material and fixture center adjusting well, stop on fixed position, again through the cylinder with material propelling movement to the lathe chuck, if there is the deviation at propelling movement in-process material center and lathe chuck center, then the magnetic induction switch of installation above the cylinder can report to the police to the system, thereby the cylinder stops the propelling movement, and terminal actuating mechanism of robot is because so the stroke by cylinder propelling movement material, the pay-off dynamics is all limited, can effectually avoid damaging the robot body when material and fixture hit the machine, reach accurate material loading, the unloading, and the operation is thus simple, and the work efficiency is improved, avoid the material extravagant, and the time is saved, guarantee the material outward appearance on this basis, and the cost is saved.
Drawings
Fig. 1 is a schematic structural view of embodiment 1 of the present invention;
fig. 2 is a schematic structural diagram of embodiment 2 of the present invention.
Detailed Description
The robot end executing mechanism shown in fig. 1 and 2 includes a robot end 1, a fixing member 2 is disposed at the robot end 1, the robot end 1 can drive the fixing member 2 to rotate, a guide member 3 is disposed on the fixing member 2, a movable plate 4 is connected to the guide member 3, a driving device 6 for driving the movable plate 4 to move along the guide direction of the guide member 3 is disposed on the fixing member 2, and a feeding claw 5 is disposed on the movable plate 4.
In embodiments 1 and 2, the guide member 3 is a linear bearing, but a guide rod and a guide sleeve, which are relatively common guide structures, may be used. The driving device 6 in these two embodiments may be implemented by an air cylinder, or a driving device 6 having a linear pushing function such as an electric push rod may be used.
As shown in fig. 1, the fixing member 2 of the embodiment 1 is a flat plate, and the driving device 6, the guide member 3, the movable plate 4 and the feeding claw 5 are all disposed at one end of the flat plate far from the connecting portion of the fixing member 2 and the robot end 1, so that there is enough space for the installation of the driving device 6, and the driving device 6 is prevented from touching the robot end when the robot end 1 drives the flat plate to rotate.
The fixing part 2 can also be a structural part with a cavity 2-1, so that the driving device 6 can be installed in the cavity 2-1, as shown in an embodiment 2 in fig. 2, a triangular structural part is provided, the cavity 2-1 is arranged in the middle for installing the driving device 6, the triangular structural part has three surfaces, one surface is connected with the tail end 1 of the robot, the driving device 6 and the guide part 3 are installed on one surface of the other two surfaces, and a second air claw 7 can be selectively and fixedly installed on the other surface adjacent to the installation of the driving device 6, the two surfaces for installing the air claws are arranged at 90 degrees in the embodiment, of course, the included angles of the two surfaces can be adjusted according to actual requirements, and the tail end is provided with a fixed air claw and an air claw capable of moving linearly. Of course, in practical application, the fixing member 2 is not limited to the triangular structure in embodiment 2, and may be a structural member having more mounting surfaces, and the required air jaws are mounted on each mounting surface according to practical situations, but at least one feeding air jaw 5 capable of moving linearly (i.e. a driving device, a guiding device and a movable plate are mounted on one surface).
For safety reasons, a magnetic induction switch can be arranged on the driving device 6 of the mechanism, and when the conveying mechanism is conveyed to have position deviation or collision, an alarm function can be realized, so that damage to parts and machines is avoided.
During accurate pay-off, the terminal 1 of robot removes 5 clamp material positions of pay-off gas claw and is concentric and have a certain distance apart from fixture with fixture, starts drive arrangement 6 and promotes 5 pay-off gas claws and carry the material to fixture, promptly makes 5 completion linear motion of pay-off gas claw with drive arrangement 6 cooperation guide 3, does not need the multiaxis linkage of rethread robot to accomplish final less distance displacement, has improved pay-off precision and fail safe nature. Wherein the tail end 1 of the robot drives the fixing part 2 to move so as to change the position and direction of the feeding air claw 5, and the process of taking materials or feeding materials is realized at different positions and directions.
The scheme is not limited to the feeding of the chuck of the machine tool in the application scene, and is suitable for the application scene with high precision requirement, and the clamping mode is not limited to the material exchange modes of 90 degrees, 180 degrees and the like or the tail end clamping mode of only feeding and not taking materials without exchanging the feeding.
Claims (8)
1. An end effector mechanism for a robot, comprising a robot end (1), characterized in that: robot end (1) be equipped with mounting (2) on be equipped with guide (3) on be equipped with fly leaf (4) on be equipped with pay-off gas claw (5) mounting (2) on be fixed with drive fly leaf (4) along guide (3) direction drive arrangement (6) that remove.
2. A robotic end effector mechanism according to claim 1, wherein: the fixing piece (2) is a flat plate.
3. A robotic end effector mechanism according to claim 1, wherein: the fixing piece (2) is a structural piece, and a cavity (2-1) for accommodating the driving device (6) is formed in the fixing piece (2).
4. A robotic end effector mechanism according to claim 3, wherein: the fixing piece (2) is a triangular structural piece provided with a cavity (2-1), one surface of the structural piece is connected with the tail end (1) of the robot, and at least one surface of the other two surfaces is provided with a guide piece (3) and is fixed with a driving device (6).
5. A robotic end effector mechanism according to claim 2, 3 or 4, wherein: and a second air claw (7) is also fixed on the fixing piece (2).
6. A robotic end effector mechanism according to claim 1, wherein: the guide piece (3) is a linear bearing.
7. A robotic end effector mechanism according to claim 1, wherein: the driving device (6) is an air cylinder.
8. A robotic end effector mechanism according to claim 7, wherein: the driving device (6) is provided with a magnetic induction switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020143673.3U CN211761596U (en) | 2020-01-21 | 2020-01-21 | Robot tail end actuating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020143673.3U CN211761596U (en) | 2020-01-21 | 2020-01-21 | Robot tail end actuating mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211761596U true CN211761596U (en) | 2020-10-27 |
Family
ID=72903916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020143673.3U Active CN211761596U (en) | 2020-01-21 | 2020-01-21 | Robot tail end actuating mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211761596U (en) |
-
2020
- 2020-01-21 CN CN202020143673.3U patent/CN211761596U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robot end effector Effective date of registration: 20210406 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2021980002420 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20220411 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2021980002420 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robot end actuator Effective date of registration: 20220413 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2022980004199 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230324 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2022980004199 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robot end effector Effective date of registration: 20230329 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2023980036734 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20230905 Granted publication date: 20201027 Pledgee: The Bank of Changan Limited by Share Ltd. Baoji dongin Metro small micro branch Pledgor: Liu Chaolong Registration number: Y2023980036734 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A robot end effector Effective date of registration: 20230906 Granted publication date: 20201027 Pledgee: Baoji Weibin rural commercial bank Limited by Share Ltd. Pledgor: Liu Chaolong Registration number: Y2023980055611 |