CN214772139U

CN214772139U - Manipulator tail end accessory

Info

Publication number: CN214772139U
Application number: CN202120943981.9U
Authority: CN
Inventors: 饶禛哲; 邓世韬
Original assignee: Shenzhen Angba Technology Co ltd
Current assignee: Shenzhen Angba Technology Co ltd
Priority date: 2021-04-30
Filing date: 2021-04-30
Publication date: 2021-11-19
Anticipated expiration: 2031-04-30

Abstract

The application discloses terminal accessory of manipulator, this terminal accessory of manipulator include the base member, be used for the centre gripping collet component of article, be used for the drive collet component's drive arrangement and be used for detecting the sensing member of the effort that collet component applyed on the centre gripping article, sensing member include stress measuring element and with the electric connection line that stress measuring element electricity is connected, be provided with on the collet component and be used for holding the line passageway of walking of electric connection line, collet component with the drive arrangement installation on the base member, sensing member installs on the collet component. According to the terminal accessory of manipulator of this application, the less stress measurement component of built-in volume makes the line of walking of the sensing member of terminal accessory of manipulator more convenient succinct, makes the size of terminal accessory of manipulator compacter.

Description

Manipulator tail end accessory

Technical Field

The application relates to the technical field of industrial robots, in particular to a manipulator end fitting.

Background

The manipulator end fitting is a robot gripper assembly that performs a similar function to a human hand. The robot end fitting is a part for holding a target object or tool, and is one of important actuators of a robot. At present, the end fitting of the manipulator generally comprises a clamping mechanism, a driving device, a sensing component and the like, and is used for realizing the function of the end fitting of the manipulator.

Unfortunately, the sensing members provided on current robot end fittings are relatively large in size, resulting in a relatively large overall robot end fitting size.

SUMMERY OF THE UTILITY MODEL

An object of the application is to provide a manipulator end fitting, and its problem that solves is: how to reduce the size of the robot end fitting.

The application is realized by the following technical scheme:

a robot end fitting, wherein the robot end fitting comprises a base, a jaw member for gripping an object, a drive for driving the jaw member, and a sensing member for detecting a force exerted by the jaw member on a gripped object,

the sensing member comprises a stress measuring element and an electrical connection line electrically connected to the stress measuring element,

the chuck component is provided with a wiring channel for accommodating the electric connecting wire,

the jaw member and the drive device are mounted on the base body, and the sensing member is mounted on the jaw member.

Further, the collet member has a clamp body, a strain measurement mounting carrier disposed between the clamp body and the cover, and a cover on which the sensing member is disposed.

Further, the chuck component is provided with a first clamping piece and a second clamping piece matched with the first clamping piece, and the first clamping piece and the second clamping piece are both provided with stress measuring elements.

Further, the stress measuring element is a strain gauge.

Furthermore, a first strain gauge is attached to the first surface of the strain measurement mounting carrier, and a second strain gauge is attached to the second surface of the strain measurement mounting carrier.

The beneficial effect of this application is: the utility model provides a manipulator end fitting, the less stress measurement component of built-in volume utilizes the less stress measurement component of volume to replace the great independent force measuring mechanism of volume, is provided with the line passageway moreover on the chuck component, will connect stress measurement component's electric circuit integration and install in the line passageway, prevents that the electric circuit on the manipulator end fitting from disturbing the motion of manipulator end fitting. Therefore, the wiring of the sensing component of the mechanical arm end fitting is more convenient and simpler, and the size of the mechanical arm end fitting is more compact.

Drawings

FIG. 1 is a schematic front view of a robot end fitting according to an embodiment of the present application;

FIG. 2 is an exploded schematic view of a significant portion of one jaw member of the robot end fitting of some embodiments of the present application;

FIG. 3 is a cutaway schematic view of a robot end fitting of other embodiments of the present application;

FIG. 4 is a cutaway schematic view of a robot end fitting of further embodiments of the present application;

fig. 5 is an enlarged schematic view at C in fig. 4.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present application without making any creative effort, shall fall within the protection scope of the present application.

For an industrial robot, parts for detecting acting force measurement and the like are arranged on a mechanical arm end fitting part and used for detecting and feeding back the working state of a paw, such as: the grabbing force and the like, so that the work control of the control system on the mechanical arm tail end accessory is facilitated. In general, the detection force measurement is attached and fixed to a gripping mechanism of the robot. However, in some working environments, due to the limitation of the working space, the size of the clamping mechanism on the end fitting of the manipulator cannot exceed a certain size, so as not to affect the range of working application scenes of the end fitting of the manipulator. Meanwhile, the wiring mode of the electric circuit on the acting force measuring component can also influence the activity of the mechanical arm tail end accessory, and the redundant wiring mode can increase the risk of interference generated when the mechanical arm tail end accessory moves, so that the work of the executing device is influenced.

In order to solve the problems, the applicant designs a mechanical arm end fitting, wherein an acting force measuring part is arranged on a clamping mechanism, and meanwhile, a wiring channel for accommodating a connecting circuit of the acting force measuring part is arranged on the clamping mechanism, so that wiring of the mechanical arm end fitting is convenient and simple, the structure of the mechanical arm end fitting is compact, and the overall size of the mechanical arm end fitting is reduced.

As shown in fig. 1, the robot end fitting 1000 includes a base 100, a collet member 200 for gripping an object (not shown), a driving device 300 for driving the collet member 200 to clamp or unclamp the object, and a sensing member 400 for detecting a force applied by the collet member 200 to the gripped object (gripped object).

The sensing member 400 is disposed within the interior of the collet member 200. The force of interaction between the jaw member 200 and the gripped object is detected by the sensing member 400. The acting force signal is transmitted to the processor for operation processing, and then the subsequent work of the manipulator is better controlled.

As shown in connection with fig. 2 and 5, the collet member 200 has a clamp body 232, a strain measurement mounting carrier 234, and a cover 236. The sensing member 400 is disposed on the strain gauge mounting carrier 234 and senses the force applied to the clamp body 232 or the cover 236.

In other variations, the sensing member 400 may alternatively be provided on both side surfaces of the jaw member 200, as long as detection of the interaction force between the jaw member 200 and the object being gripped is achieved.

In some embodiments, as shown in fig. 3, the sensing member 400 includes a stress measuring element 410 and an electrical connection line 420 electrically connected to the stress measuring element 410, the collet member 200 is provided with a routing channel 201 for receiving the electrical connection line 420, the collet member 200 and the driving device 300 are mounted on the substrate 100, and the sensing member 400 is mounted on the collet member 200.

Wherein the driving device 300 drives the jaw member 200 to grip or release the object to be transferred. The sensing member 400 is used to detect parametric information such as the force on the jaw member 200, such as: the clamping force of the jaw member 200 to the object to be transferred, etc.

It should be noted that in some embodiments, the stress measuring element 410 is a pressure stress measuring element, and the stress measuring element 410 is installed inside the collet member 200, and mainly detects the force of the collet member 200 on the clamped object. Through the detection of the stress measuring element 410, data is transmitted to the control center, so that the feeding amount of the driving device 300 driving the chuck member 200 to move is accurately controlled, the object is prevented from being damaged due to the overlarge driving amount of the driving device 300 on the chuck member 200, and the purpose of protecting the object is achieved.

Meanwhile, an electrical connection wire 420 is connected between the stress measuring element 410 and the controller for transmitting an electrical signal and the like. In addition, as shown in fig. 3, a routing channel 201 is disposed on the chuck member 200 for installing the electrical connection line 420, so as to facilitate the electrical connection line 420 to be routed, and thus the routing of the electrical connection line 420 becomes simple, which avoids the trouble of routing the electrical connection line 420 on the chuck member 200 when the routing channel 201 is not present, and further makes the overall size of the manipulator end fitting 1000 more compact and simpler.

As shown in fig. 1, the jaw member 200 is provided with a first grip 210 and a second grip 220. In some embodiments, the stress-measuring element 410 is mounted on both the first clamp 210 and the second clamp 220.

In the embodiment, the collet member 200 is provided with a first clamping member 210 and a second clamping member 220 for clamping or releasing the object to be moved. It should be noted that, in other embodiments, the chuck member 200 may further be provided with a plurality of clamping members according to actual requirements, so as to complete clamping of objects with different regular shapes.

In this embodiment, the first clamping member 210 and the second clamping member 220 contact with the object to be clamped, and the object to be clamped is clamped by the relative movement of the first clamping member 210 and the second clamping member 220. It should be noted that, the first clamping member 210 and the second clamping member 220 are both provided with a stress measuring element 410 for detecting the clamping force of the chuck member 200 on the object to be clamped.

In some applications, the driving device 300 includes a driving motor connected to the driving screw, a driving screw connected to the driving screw, and a screw slider connected to the chuck member 200.

In which the driving motor 310 is mounted on the base 100. Meanwhile, the transmission screw rod is in threaded transmission with the screw rod sliding piece. In this embodiment, the collet member 200 is coupled to the lead screw slider, and the collet member 200 is mounted on the base 100 to form a linkage. When the driving motor drives the transmission screw rod to rotate, the screw rod sliding piece moves along the axial direction of the transmission screw rod to drive the chuck component to move, and then the clamping action of the first clamping piece 210 and the second clamping piece 220 on the chuck component is realized. Thereby completing the operations of clamping or releasing the object to be clamped by the end fitting 1000 of the manipulator.

As shown in fig. 4 and 5, in the illustrated embodiment, the stress-measuring cell 410 is provided in two, a first strain gauge 4102, for example by attachment, disposed on a first face of the strain-measuring mounting carrier 234 and a second strain gauge 4104, for example by attachment, disposed on a second face of the strain-measuring mounting carrier 234.

When the first and

second clamping members

210, 220 on the jaw member 200 clamp an object, a force F1 is indirectly applied to the first surface of the strain gauge mounting carrier 234, and the force F1 is measured and calculated via the first strain gauge 4102.

When the first 210 and second 220 jaws on the jaw member 200 enter the object to grasp the object in the form of expanding the object, the second face of the strain gauge mounting carrier 234 is indirectly applied with a force F2, which force F2 is measured via the second strain gauge 4104.

As known to those skilled in the art, a strain gage is a load cell that is thin, small, and accurate. A common type of strain gauge is a resistance strain gauge, which is manufactured based on a strain effect, that is, when a conductor or a semiconductor material is mechanically deformed by an external force, a resistance value of the conductor or the semiconductor material changes accordingly, and this phenomenon is called a "strain effect".

In the description of the present application, moreover, the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the embodiments of the present application, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "connected" and "connected" are to be interpreted broadly, e.g., as being fixed or detachable or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art. In addition, in the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "height", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the embodiments of the present application.

In embodiments of the present application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise the first and second features being in direct contact, or may comprise the first and second features being in contact, not directly, but via another feature in between. 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 above and obliquely above the second feature, or simply meaning that the first feature is at a lesser level than the second feature.

In the description herein, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like means 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 application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A robot end fitting, comprising a base, a jaw member for gripping an object, a drive means for driving the jaw member, and a sensing member for detecting a force exerted by the jaw member on the gripped object,

2. The robot end fitting of claim 1, wherein the collet member has a clamp body, a strain measurement mounting carrier disposed between the clamp body and the cover, and a cover, the sensing member being disposed on the strain measurement mounting carrier.

3. The robot end fitting of claim 2, wherein the collet member has a first clamp and a second clamp cooperating with the first clamp, the first and second clamps each being provided with a stress measuring element.

4. The robot end fitting of claim 2, wherein the stress measuring element is a strain gauge.

5. The robot end fitting of claim 2, wherein the strain measurement mounting carrier has a first strain gage disposed on a first side thereof and a second strain gage disposed on a second side thereof.