CN214604439U

CN214604439U - Robot

Info

Publication number: CN214604439U
Application number: CN202122238670.5U
Authority: CN
Inventors: 姜超; 张晓东; 刘新杰; 胡斌; 刘加光; 崔华飞
Original assignee: Shandong Feifan Intelligent Technology Co ltd; Yantai Institute Of Technology
Current assignee: Shandong Feifan Intelligent Technology Co ltd; Yantai Institute Of Technology
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2021-11-05
Anticipated expiration: 2031-09-16

Abstract

The utility model provides a robot. The robot comprises a mechanical arm, a driving part and a robot end effector, wherein the robot end effector comprises a clamping jaw, the clamping jaw comprises a first arm and a second arm, and the first arm comprises a connecting part, a main body part, a first clamping part and a second clamping part; the first clamping part and the connecting part are parallel to each other in the same vertical plane, and the main body part is connected with the first clamping part and the connecting part; the second clamping part extends horizontally from the main body part; the structure of the second arm is the same as that of the first arm; the coupling portion of the clamping jaw is in driving connection with the driving part so as to enable the first arm and the second arm to be opened and closed. Compared with the prior art, the utility model discloses can not only realize snatching, can also realize that the screw lock pays, a tractor serves several purposes, and adaptability is wider, makes a robot can deal with multiple manufacturing assembly scene, adapts to the higher integration and the diversified requirement of current automatic assembly tool.

Description

Robot

Technical Field

The utility model relates to a collaboration robot technical field especially relates to a robot.

Background

The robot has a clamping jaw, so that the robot has a grabbing function. The existing clamping jaw, such as a robot clamping jaw disclosed in patent publication No. CN110962155A, a flexible clamping jaw for continuous high-temperature forging disclosed in patent publication No. CN110722087B, a clamp disclosed in patent publication No. CN211806224U, a mechanical arm disclosed in patent publication No. CN212193226U and a pneumatic soft gripper thereof, have only one grabbing function, have single use function and cannot meet the requirement of operation diversification on a production line.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a robot that possesses multiple functions to satisfy the diversified flow production line of operation.

The technical scheme of the utility model is that: a robot comprises a mechanical arm, a driving part arranged at the tail end of the mechanical arm, and a robot end effector in driving connection with the driving part; the robot end effector comprises a clamping jaw, the clamping jaw comprises a first arm and a second arm which are arranged in a relative sliding mode, and the first arm comprises a connecting part, a main body part, a first clamping part and a second clamping part; the first clamping part and the connecting part are parallel to each other in the same vertical plane, and the main body part is connected with the first clamping part and the connecting part; the second clamping part extends horizontally from the main body part;

the structure of the second arm is the same as that of the first arm; the coupling portion of the clamping jaw is in driving connection with the driving part so as to enable the first arm and the second arm to be opened and closed.

Among the above-mentioned scheme, the clamping jaw integration of robot is provided with first clamping part and second clamping part, and the difference of setting up the position of first clamping part and second clamping part makes the clamping jaw integration have two kinds of service functions, carries out suitable selection according to the in-service use demand, satisfies the diversified flow production line of operation.

Preferably, the end of the first clamping part far away from the main body part is provided with a concave semi-cylindrical groove.

Preferably, the second clamping part includes a first clamping groove and a second clamping groove, the first clamping groove is in a concave semi-cylindrical shape, and the second clamping groove is in a plane.

Preferably, the plane of the second clamping groove is provided with an anti-slip pad.

Preferably, the main body part is of a bent structure; the first and second arms form a spacing L1 near the coupling portion, the first and second arms form a spacing L2 near the first clip portion, L1 > L2.

Preferably, the robot end effector further comprises a mounting cover and a locking assembly, the mounting cover is sleeved on the driving part, the locking assembly is arranged at the bottom of the mounting cover, a plurality of tool heads are rotatably arranged on the locking assembly, and one of the tool heads is positioned in the clamping jaw and opposite to the first clamping part.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses a clamping jaw of robot has first clamping part and second clamping part, and first clamping part and second clamping part set up the position difference, can not only realize snatching, can also realize the screw lock and pay, and a tractor serves several purposes, and adaptability is wider, makes a robot can deal with multiple manufacturing assembly scene, adapts to the higher integration and the diversified requirement of present automatic assembly tool.

Drawings

Fig. 1 is a schematic view of a partial structure of a robot provided by the present invention;

FIG. 2 is a schematic diagram of the mounting of the robotic end effector and drive components of FIG. 1;

FIG. 3 is a schematic view of the jaw of FIG. 2;

FIG. 4 is an enlarged partial schematic view of the second arm of FIG. 3;

fig. 5 is a schematic structural view of the tool head in fig. 2.

In the drawings: 1-a first arm, 11-a coupling part, 12-a main body part, 13-a first clamping part, 131-a semi-cylindrical groove, 14-a second clamping part, 141-a first clamping groove, 142-a second clamping groove, 2-a second arm, 3-a driving part, 4-a mounting cover, 5-a locking assembly, 51-a tool head, 511-a reducing motor, 512-an elastic coupling, 513-a limiting pin, 514-a batch head, 515-a housing, 52-a connecting plate, 53-a mounting seat and 100-a mechanical arm.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.

As shown in fig. 1 and 2, the robot according to the present embodiment includes a robot arm 100, a driving unit 3 disposed at an end of the robot arm 100, and a robot end effector drivingly connected to the driving unit 3.

The robot end effector comprises jaws, a mounting cup 4 and a lock assembly 5.

As shown in fig. 3, the clamping jaw comprises a first arm 1 and a second arm 2 which are arranged in a relative sliding manner, wherein the first arm 1 comprises a coupling part 11, a main body part 12, a first clamping part 13 and a second clamping part 14. The coupling 11 projects above the connecting plate 52 into the cavity of the mounting cup 4 and is drivingly connected to the drive element 3. The first clamping portion 13 and the coupling portion 11 are parallel to each other in the same vertical plane, and the main body portion 12 connects the first clamping portion 13 and the coupling portion 11. The second clamping portion 14 extends horizontally from the main body portion 12. The second arm 2 has the same structure as the first arm 1.

The connecting part 11, the main body part 12 and the first clamping part 13 are formed by bending a steel piece, the bending structure enables the first arm 1 and the second arm 2 to form a distance L1 close to the connecting part 11, the first arm 1 and the second arm 2 to form a distance L2 close to the first clamping part 13, and L1 is larger than L2, so that the integral rigidity can be improved to a certain extent. The end of the first clamping part 13 away from the main body part 12 is provided with a recessed semi-cylindrical groove 131. When the first arm 1 and the second arm 2 are closed, the two semi-cylindrical grooves 131 are butted to form a cylinder so as to clamp a screw.

The second clamping portion 14 is formed by bending a steel piece with another specification, so that the opening distance of the second clamping portion 14 in the direction away from the main body portion 12 is gradually reduced in the direction of connecting the opening distance with the main body portion 12, and the shape similar to a vice is formed.

As shown in fig. 4, the second clamping part 14 includes a first clamping groove 141 and a second clamping groove 142 which are sequentially arranged, the first clamping groove 141 is a concave semi-cylindrical shape, the second clamping groove 142 is a plane, and a non-slip mat is arranged on the plane. Setting the fingers in sequence: the first grasping groove 141 may be disposed outside the second grasping groove 142, or the first grasping groove 141 may be disposed inside the second grasping groove 142.

When the first arm 1 and the second arm 2 are folded, the two first clamping grooves 141 on the first arm form a cylinder shape and are used for clamping an object with a cambered surface. The second grasping groove 142 is used for grasping an object whose outer shape side wall is a plane.

As shown in fig. 2, the mounting cover 4 is an n-shape formed by assembling two half-open cover shells, and a cavity is formed inside the n-shape. The driving part 3 extends into the containing cavity and is in threaded connection with a hole in the top of the mounting cover 4.

As shown in fig. 2 and 5, the locking assembly 5 includes a tool head 51, a connecting plate 52 and a mounting seat 53. The connecting plate 52 is clamped at the lower end of the mounting cover 4. The mounting seat 53 is disposed at the bottom of the connecting plate 52. The number of the tool heads 51 is multiple, the mounting base 53 is provided with a rotatable shaft, and the rotatable shaft and a perpendicular line of the mounting base 53 form an included angle of 45 degrees. The plurality of tool bits 51 are mounted on the bottom of the mounting base 53, and the plurality of tool bits 51 are simultaneously rotatable with respect to the mounting base 53 by the rotation axis. The rotational driving force of the plurality of tool bits 51 can be realized by a steering engine. The rotating shaft is overlapped with a power output shaft of the steering engine. The tool head 51 can be mounted in four different models in this embodiment. The starting steering engine can drive the tool head 51 to rotate, and switching of tool heads 51 of different models is achieved.

As shown in fig. 5, the tool head 51 includes a speed reduction motor 511, an elastic coupling 512, a limit pin 513, a batch head 514, and a housing 515.

The housing 515 has a cavity in which the reduction motor 511 is disposed. The power output shaft of the speed reducing motor 511 extends out from one end of the casing 515, and the power output shaft of the speed reducing motor 511 is in driving connection with the screwdriver bit 514 through the elastic coupling 512. The elastic coupling 512 is provided with two radially-mounted limit pins 513, one of the two limit pins 513 is abutted against the output shaft of the speed reducing motor 511, and the other limit pin is abutted against the batch head 514.

One end of the housing 515 away from the power output shaft of the reduction motor 511 is connected to the mounting seat 53.

The screwdriver head 514 is driven to rotate by the speed reducing motor 511 so as to realize the action of screwing. In addition, in order to realize the feeding action during screwing, the speed reducing motor 511 is slidably mounted in the housing 515, thereby driving the batch head 514 to slide together. The sliding can be achieved by a slide rail and a linear motor or a cylinder, cooperating with the reduction motor 511.

When the screw needs to be locked, the driving part 3 is started first, the screw to be locked is grabbed through the first clamping part 13, the tool head 51 with the proper type is rotated to the position of the first clamping part 13 through the steering engine, and the speed reduction motor 511 slides downwards to enable the screwdriver head 514 to be in contact with the screw head. The speed reduction motor 511 is started to drive the screwdriver head 514 to rotate so as to perform screwing action.

When the grabbing action is needed, the second clamping part 14 is operated to the side of the workpiece to be grabbed, the driving part 3 at the tail end of the robot is started, and the grabbing of the cylindrical workpiece or the workpiece with the plane surface is realized.

The above only is the embodiment of the present invention, not limiting the scope of the present invention, all the equivalent structures or equivalent processes of the present invention are used in the specification and the attached drawings, or directly or indirectly applied to other related technical fields, and the same principle is included in the protection scope of the present invention.

Claims

1. A robot comprises a mechanical arm (100), a driving part (3) arranged at the tail end of the mechanical arm (100), and a robot end effector in driving connection with the driving part (3); the robot end effector comprises a clamping jaw, and is characterized in that the clamping jaw comprises a first arm (1) and a second arm (2) which are arranged in a relative sliding manner;

the first arm (1) comprises a coupling portion (11), a main body portion (12), a first clamping portion (13) and a second clamping portion (14); the first clamping part (13) and the connecting part (11) are parallel to each other in the same vertical plane, and the main body part (12) is connected with the first clamping part (13) and the connecting part (11); the second clamping portion (14) extends horizontally from the main body portion (12);

the structure of the second arm (2) is the same as that of the first arm (1);

the connecting part (11) of the clamping jaw is in driving connection with the driving part (3) so as to open and close the first arm (1) and the second arm (2).

2. Robot according to claim 1, characterized in that the end of the first clamping part (13) remote from the main body part (12) is provided with a recessed semi-cylindrical groove (131).

3. Robot according to claim 1, characterized in that the second gripping part (14) comprises a first gripping groove (141) and a second gripping groove (142), the first gripping groove (141) being of concave semi-cylindrical shape and the second gripping groove (142) being of planar shape.

4. Robot according to claim 3, characterized in that the second gripping groove (142) is provided with a non-slip mat on its plane.

5. The robot according to claim 1, characterized in that said main body portion (12) is of a bent structure; the first arm (1) and the second arm (2) form a distance L1 close to the coupling part (11), the first arm (1) and the second arm (2) form a distance L2 close to the first clamping part (13), and L1 > L2.

6. The robot according to claim 1, characterized in that the robot end effector further comprises a mounting cover (4) and a locking assembly (5), the mounting cover (4) is sleeved on the driving component (3), the locking assembly (5) is arranged at the bottom of the mounting cover (4), a plurality of tool heads (51) are rotatably arranged on the locking assembly (5), and one of the tool heads (51) is positioned in the clamping jaw and opposite to the position of the first clamping part (13).