CN213499269U - End effector and robot - Google Patents

Abstract

The end effector comprises a body detachably connected with a mechanical arm and a sucker fixed on the body, an air passage is formed in the body, an air inlet hole and an air outlet hole are formed in the outer wall of the body, the air inlet hole is communicated with one end of the air passage, the air outlet hole is used for communicating the other end of the air passage with the tail end of the mechanical arm, and the sucker is connected to the outer side of the air inlet hole and communicated with the air inlet hole; the robot includes a mechanical arm, an air tube, and an end effector. The application provides an end effector and robot has adopted the air flue to replace the trachea and has carried the air, because the air flue is offered in the inside of body, need not occupy extra space, not only makes end effector's outward appearance cleaner and tidier, still makes end effector's structure compacter, is favorable to reducing end effector's volume to the technical problem that vacuum chuck end effector's volume is great, be difficult to operate in narrow and small space has been solved.

Description

End effector and robot

Technical Field

The application belongs to the technical field of robots, and particularly relates to an end effector and a robot.

Background

At present, robots have been widely used in assembly line work, in which robots having vacuum chuck end effectors can be applied to various fields such as glass handling, sheet metal stamping, food packaging, electronic product assembly, and process flow. However, the conventional vacuum chuck end effector has a large volume, and it is difficult to grasp a part in a narrow space.

SUMMERY OF THE UTILITY MODEL

The present application is directed to an end effector and a robot, including but not limited to solving the technical problems of a vacuum chuck end effector that the volume is large and the operation in a narrow space is difficult.

In order to solve the technical problem, an embodiment of the present application provides an end effector installed at the end of a mechanical arm, including be used for with the mechanical arm can dismantle the body of connection and be fixed in sucking disc on the body, the air flue has been seted up to the inside of body, inlet port and venthole have been seted up to the outer wall of body, the inlet port with the one end intercommunication of air flue, the venthole is used for the intercommunication the other end of air flue with the end of mechanical arm, the sucking disc connect in the outside of inlet port and with the inlet port intercommunication.

In one embodiment, the end effector comprises:

at least one sucker group, wherein the sucker group comprises at least two suckers;

at least one the air flue has been seted up to the inside of body, the air flue includes:

the main air passage is communicated with the air outlet hole; and

and the at least two branch air passages are respectively communicated with the main air passage and the at least two air inlet holes, and the distance between each air inlet hole and the main air passage is equal.

In one embodiment, the outer wall of the body is further provided with a cleaning port, and the cleaning port is communicated with the air passage; the end effector further comprises:

and the plug is used for plugging the cleaning opening.

In one embodiment, the body further defines a receiving groove for receiving an air supply pipe and a vacuum generator, and the receiving groove is used for communicating with the air outlet and the end of the robot arm.

The embodiment of the application further provides a robot, including arm, trachea and above-mentioned end effector, the tip of arm is equipped with the cavity joint, the trachea is worn to locate in the cavity joint, end effector can dismantle connect in on the cavity joint.

In one embodiment, the robot arm is internally provided with a control board and a solenoid valve, the solenoid valve is electrically connected with the control board, and the robot further comprises:

and the vacuum generator is connected with the electromagnetic valve and the air outlet through the air pipe.

In one embodiment, the vacuum generator is disposed on the robotic arm and integrated with the solenoid valve into a vacuum generator assembly.

In one embodiment, the robotic arm further comprises:

and the protective cover is covered on the outer side of the vacuum generator assembly.

In one embodiment, the robot further comprises:

and the lifting assembly is used for driving the mechanical arm to ascend or descend.

In one embodiment, the robotic arm comprises:

the first arm body is connected with the lifting assembly;

one end of the second arm body is connected with the first arm body through the hollow joint; and

one end of the third arm body is connected with the other end of the second arm body through the hollow joint, and the other end of the third arm body is connected with the end effector through the hollow joint.

The application provides an end effector and robot's beneficial effect lies in: the air flue is adopted to replace an air pipe to convey air, and the air flue is arranged in the body, so that extra space does not need to be occupied, the appearance of the end effector is cleaner, the structure of the end effector is more compact, the volume of the end effector is reduced, and the technical problems that the volume of the vacuum chuck end effector is larger and the operation in a narrow space is difficult are solved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1 is an exploded perspective view of an end effector provided in accordance with embodiments one, three, four, and five of the present application;

FIG. 2 is a schematic cross-sectional view of an end effector provided in accordance with embodiments one, three, four and five of the present application;

FIG. 3 is a schematic cross-sectional view taken along the line A-A in FIG. 2;

fig. 4 is an exploded perspective view of an end effector provided in accordance with embodiments two, three, four, and six of the present application;

fig. 5 is a schematic cross-sectional view of an end effector provided in accordance with embodiments two, three, four, and six of the present application;

fig. 6 is a schematic cross-sectional view taken along the direction B-B in fig. 5.

Fig. 7 is a schematic perspective view of a robot according to a fourth embodiment of the present application;

wherein, in the figures, the respective reference numerals:

1-a robot;

10-end effector, 11-body, 12-suction cup group, 13-adapter flange, 111-air flue, 112-air inlet, 113-air outlet, 114-cleaning port, 115-containing groove, 116-connecting hole, 120-suction cup, 1111-main air flue, 1112-branch air flue;

20-mechanical arm, 21-hollow joint, 22-electromagnetic valve, 23-vacuum generator component, 24-protective cover, 201-first arm body, 202-second arm body, 203-third arm body;

30-a lifting assembly;

40-vacuum generator.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present application clearer, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected" to another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience of description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and operate, and thus are not to be construed as limiting the patent, and the specific meanings of the above terms will be understood by those skilled in the art according to specific situations. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

The first embodiment is as follows:

referring to fig. 1 to 3, the present embodiment provides an end effector 10 mounted on a distal end of a robot arm 20, which includes a body 11 and a suction cup 120, wherein the body 11 is detachably connected to the robot arm 20, an air passage 111 is formed inside the body 11, an air inlet 112 and an air outlet 113 are formed on an outer wall of the body 11, the air inlet 112 is communicated with one end of the air passage 111, the air outlet 113 is used for communicating the other end of the air passage 111 with the distal end of the robot arm 20, the suction cup 120 is connected to an outer side of the air inlet 112 and is fixedly connected to the body 11, and the suction cup 120 is communicated with the air inlet 112.

In practical application, the vacuum generator 40 is connected with the air passage 111 through an air pipe and an air outlet 113 which are arranged inside the mechanical arm 20, so that the suction cup 120 communicated with the air inlet 112 generates suction force, and parts with larger volume and heavier mass are sucked through the suction force to realize grabbing.

The end effector 10 that this embodiment provided has adopted air flue 111 to replace trachea delivery air, because air flue 111 is offered in the inside of body 11, need not occupy extra space, not only makes end effector 10's outward appearance cleaner and tidier, still makes end effector 10's structure compacter, is favorable to reducing end effector 10's volume to the technical problem that vacuum chuck end effector's volume is great, be difficult to operate in narrow and small space has been solved.

Further, referring to fig. 1 to 3, in the present embodiment, the end effector 10 includes a suction cup set 12, the suction cup set 12 includes at least two suction cups 120, and preferably includes four suction cups 120; an air channel 111 is formed in the body 11, the air channel 111 corresponds to the chuck groups 12 one by one, the air channel 111 comprises a main air channel 1111 and at least two branch air channels 1112, the main air channel 1111 is communicated with the air outlet 113, the at least two branch air channels 1112 are respectively communicated with the main air channel 1111 and the at least two air inlet holes 112, namely, the at least two branch air channels 1112 are connected to the main air channel 1111, each branch air channel 1112 is communicated with one air inlet hole 112, and the distance between each air inlet hole 112 and the main air channel 1111 is equal, so that the suction force generated by each chuck 120 can be ensured to be consistent, and the reliability of the end effector 10 in grabbing parts can be improved.

Further, referring to fig. 2 and fig. 3, in the present embodiment, a cleaning port 114 is further formed on an outer wall of the body 11, and the cleaning port 114 is communicated with the air passage 111; the end effector 10 also includes a plug (not shown) that plugs the cleaning port 114. Specifically, one or more cleaning ports 114 may be formed in the outer wall of the body 11, and the cleaning ports 114 may be in one-to-one communication with the main air channel 1111 or the branch air channel 1112, so that the main air channel 1111 and/or the branch air channel 1112 may be conveniently cleaned through the cleaning ports 114, and the air channel 111 is ensured to be smooth; when the end effector 10 performs a task, the cleaning port 114 is blocked by the plug, which effectively prevents the air leakage of the air passage 111 from causing the suction force of the suction cup 120 to be reduced.

Example two:

referring to fig. 4 to 6, the end effector provided in the present embodiment is substantially the same as the first embodiment, except that: the end effector 10 includes two or more suction cup groups 12, and two or more air passages 111 are formed in the body 11. This effectively increases the suction force of the end effector 10, allowing the end effector 10 to perform the task of grasping parts of greater surface area and higher weight.

Example three:

referring to fig. 1, 2, 4 and 5, the end effector provided in this embodiment is substantially the same as that of the first or second embodiment, except that: the main body 11 further has a receiving groove 115 for receiving the air supply pipe and the vacuum generator 40, and the receiving groove 115 is used for communicating with the air outlet 113 and the end of the robot arm 20. Specifically, a connecting hole 116 is further formed in the body 11, the connecting hole 116 is located at the side of the air outlet 113, and the connecting hole 116 is used for communicating the accommodating groove 115 with the inner cavity of the robot arm 20. The accommodating groove 115 can accommodate both the air supply pipe and the vacuum generator 40, so that the air pipe and the vacuum generator 40 are prevented from being exposed outside the body 11, and the end effector 10 is tidier and more beautiful in appearance.

Example four:

referring to fig. 1, 2, 4, 5 and 7, the present embodiment provides a robot 1, which includes a mechanical arm 20, an air tube (not shown) and an end effector 10 provided in one or two embodiments, wherein a hollow joint 21 is provided at an end of the mechanical arm 20, the air tube is inserted into the hollow joint 21, and the end effector 10 is detachably connected to the hollow joint 21. Specifically, the end effector 10 may be directly attached to or detached from the end surface of the hollow joint 21 away from the robot arm 20, or the end effector may be attached to or detached from the end surface via the adapter flange 13, which is beneficial to replacing the end effector 10, so that the robot 1 may be applied to various scenes; the middle part of the hollow joint 21 is provided with a through hole penetrating through the hollow joint, an air pipe sequentially penetrates through the inner cavity of the mechanical arm 20 and the through hole of the hollow joint 21, and one end of the air pipe extending out of the through hole of the hollow joint 21 is connected with an air outlet 113 of the body 11. Thus, the air pipe is hidden inside the mechanical arm 20, so that the space inside the mechanical arm 20 is effectively utilized, and the appearance of the robot 1 is tidier and more beautiful.

Further, referring to fig. 1 and 2, in the present embodiment, a control board and an electromagnetic valve 22 are disposed inside the robot arm 20, wherein the electromagnetic valve 22 is electrically connected to the control board, and the robot 1 further includes a vacuum generator 40, and the vacuum generator 40 is connected to the electromagnetic valve 22 and the air outlet 113 of the end effector 10 through an air pipe. Specifically, the vacuum generator 40 is disposed inside the robot arm 20, an air inlet of the electromagnetic valve 22 is connected to an external air source through an air pipe, an air outlet of the electromagnetic valve 22 is connected to an air inlet of the vacuum generator 40 through an air pipe, and an air suction port of the vacuum generator 40 is connected to an air outlet 113 of the body 11 through an air pipe. During the task of the end effector 10, the switch of the electromagnetic valve 22 is directly controlled by the control board, when the electromagnetic valve 22 is opened, the vacuum generator 40 vacuumizes the air channel 111 of the body 11 to make the suction cup 120 generate suction force, and then complete the grabbing of the part, when the electromagnetic valve 22 is closed, the vacuum generator 40 is closed, the suction force on the suction cup 120 disappears, and then complete the releasing of the part. Since the vacuum generator 40 is disposed inside the robot arm 20, the connection distance between the vacuum generator 40 and the solenoid valve 22 and the air passage 111 of the body 11 is shortened, which is beneficial to improving the suction force and sensitivity of the end effector 10.

Further, referring to fig. 7, in the present embodiment, the robot 1 further includes a lifting assembly 30, and the lifting assembly 30 may be a synchronous belt electric sliding table or a lead screw electric sliding table, and is disposed along the vertical direction for driving the mechanical arm 20 to move up or down.

Further, referring to fig. 1 and 7, in the present embodiment, the mechanical arm 20 includes a first arm 201, a second arm 202, and a third arm 203, wherein the first arm 201 is connected to the lifting assembly 30, one end of the second arm 202 is connected to the first arm 201 through a hollow joint 21, one end of the third arm 203 is connected to the other end of the second arm 202 through the hollow joint 21, and the other end of the third arm 203 is connected to the end effector 10 through the hollow joint 21. Specifically, the first arm 201 is fastened to a slider of the lifting assembly 30, and is driven by the lifting assembly 30 to ascend or descend, the second arm 202 can horizontally swing around a hollow joint 21 disposed on the first arm 201, the third arm 203 can horizontally swing around a hollow joint 21 disposed on the second arm 202, the end effector 10 can rotate around a vertical direction under the driving of the hollow joint 21 disposed on the third arm 203, and the first arm 201, the second arm 202, the third arm 203, and the end effector 10 are sequentially stacked from top to bottom, so that the motion interference among the first arm 201, the second arm 202, the third arm 203, and the end effector 10 can be avoided, and the working range and flexibility of the robot 1 are effectively improved.

Example five:

referring to fig. 1, fig. 2 and fig. 7, the robot provided in the present embodiment is substantially the same as the fourth embodiment, except that: the robot 1 includes the end effector 10 provided in the third embodiment, and the vacuum generator 40 is accommodated in the accommodating groove 115.

Example six:

referring to fig. 4 and 5, the robot provided in this embodiment is substantially the same as the robot provided in the fourth embodiment, except that: the vacuum generator 40 is disposed on the outer surface of the robot arm 20, and the vacuum generator 40 and the electromagnetic valve 22 are integrated into the vacuum generator assembly 23, that is, the vacuum generator assembly 23 is disposed on the outer surface of the robot arm 20, and has the functions of both the vacuum generator and the electromagnetic valve, which is beneficial to reducing the number of parts of the robot 1 and simplifying the structure of the robot 1. It is understood that the vacuum generator assembly 23 and the air passage 111 on the body 11 of the end effector 10 may be in one-to-one fit, or in one-to-many fit, and when in one-to-one fit, the plurality of suction cup groups 12 may be controlled by the plurality of vacuum generator assemblies 23, respectively, so that the robot 1 may be applied to a variety of scenes.

Further, referring to fig. 4 and 5, in the present embodiment, the robot arm 20 includes a protective cover 24, and the protective cover 24 is covered on the outer side of the vacuum generator assembly 23 for protecting the vacuum generator assembly 23 from accidental scratching, which is beneficial to prolonging the service life of the vacuum generator assembly 23 and making the appearance of the robot 1 neat and beautiful.

The above are merely alternative embodiments of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement or the like made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims (10)

1. End effector installs in the end of arm, including be used for with the arm can dismantle the body of being connected and be fixed in sucking disc on the body, its characterized in that: the suction cup is characterized in that an air passage is formed in the body, an air inlet hole and an air outlet hole are formed in the outer wall of the body, the air inlet hole is communicated with one end of the air passage, the air outlet hole is used for communicating the other end of the air passage with the tail end of the mechanical arm, and the suction cup is connected to the outer side of the air inlet hole and communicated with the air inlet hole.

2. The end effector as set forth in claim 1 wherein: the method comprises the following steps:

at least one sucker group, wherein the sucker group comprises at least two suckers;

at least one the air flue has been seted up to the inside of body, the air flue includes:

the main air passage is communicated with the air outlet hole; and

and the at least two branch air passages are respectively communicated with the main air passage and the at least two air inlet holes, and the distance between each air inlet hole and the main air passage is equal.

3. The end effector as set forth in claim 1 wherein: the outer wall of the body is also provided with a cleaning port, and the cleaning port is communicated with the air passage; the end effector further comprises:

and the plug is used for plugging the cleaning opening.

4. The end effector as set forth in claim 1 wherein: the body is further provided with a containing groove for containing an air supply pipe and a vacuum generator, and the containing groove is communicated with the air outlet and the tail end of the mechanical arm.

5. Robot, its characterized in that: the end effector comprises a mechanical arm, an air pipe and the end effector as claimed in any one of claims 1 to 4, wherein a hollow joint is arranged at the end part of the mechanical arm, the air pipe is arranged in the hollow joint in a penetrating mode, and the end effector is detachably connected to the hollow joint.

6. The robot of claim 5, wherein: the inside of arm is equipped with control panel and solenoid valve, the solenoid valve with the control panel electricity is connected, the robot still includes:

and the vacuum generator is connected with the electromagnetic valve and the air outlet through the air pipe.

7. The robot of claim 6, wherein: the vacuum generator is arranged on the mechanical arm and integrated with the electromagnetic valve into a vacuum generator assembly.

8. The robot of claim 7, wherein: the robot arm further includes:

and the protective cover is covered on the outer side of the vacuum generator assembly.

9. The robot of claim 5, wherein: further comprising:

and the lifting assembly is used for driving the mechanical arm to ascend or descend.

10. A robot as recited in claim 9, wherein: the robot arm includes:

the first arm body is connected with the lifting assembly;

one end of the second arm body is connected with the first arm body through the hollow joint; and

one end of the third arm body is connected with the other end of the second arm body through the hollow joint, and the other end of the third arm body is connected with the end effector through the hollow joint.

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