CN215825335U

CN215825335U - Robot end effector

Info

Publication number: CN215825335U
Application number: CN202122240692.5U
Authority: CN
Inventors: 刘新杰; 刘加光; 胡斌; 侯志刚; 卞新港; 关玉坤
Original assignee: Shandong Feifan Intelligent Technology Co ltd; Yantai University
Current assignee: Shandong Feifan Intelligent Technology Co ltd; Yantai University
Priority date: 2021-09-16
Filing date: 2021-09-16
Publication date: 2022-02-15
Anticipated expiration: 2031-09-16

Abstract

The utility model provides a robot end effector. The robot end effector comprises a clamping jaw, a mounting cover and a locking assembly, the mounting cover is sleeved on the driving part, and the locking assembly is arranged at the bottom of the mounting cover; the clamping jaw is provided with a first clamping end and a second clamping end, the clamping jaw is installed on the driving part, and the driving part can drive the first clamping end and the second clamping end to open and close; the locking assembly is rotatably provided with a plurality of tool heads, and one of the tool heads is positioned in the clamping jaw and opposite to the second clamping end. Compared with the prior art, the robot end effector provided by the utility model has the advantages that the locking component is additionally arranged, so that the robot end effector has a grabbing function, and can realize locking of screws, and the requirement on an assembly line production line with diversified operations is better met.

Description

Robot end effector

Technical Field

The utility model relates to the technical field of cooperative robots, in particular to a robot end effector.

Background

The robot end effector serves as an important work role in the work of the assembly line, and can perform corresponding man-machine cooperation or replace human work. The existing end effector can execute a single function, for example, a robot clamping jaw disclosed in patent CN110962155A only has a grabbing function, and can only complete grabbing work in a fixed cycle, which cannot meet the requirement of a production line with diversified operations.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a robot end effector with multiple functions, which can meet the requirement of a flow production line with diversified operations.

The technical scheme of the utility model is as follows: a robot end effector is used for being installed on a driving part at the tail end of a robot and comprises a clamping jaw, an installation cover and a locking assembly, wherein the installation cover is sleeved on the driving part, and the locking assembly is arranged at the bottom of the installation cover; the clamping jaw is provided with a first clamping end and a second clamping end, the clamping jaw is installed on the driving part, and the driving part can drive the first clamping end and the second clamping end to open and close; the locking assembly is rotatably provided with a plurality of tool heads, and one of the tool heads is positioned in the clamping jaw and opposite to the second clamping end.

Among the above-mentioned scheme, pay the subassembly through addding the lock, make robot end effector except that having the function of snatching, can also realize that the lock of screw is paid, possess multiple function, the manifold assembly line production line of satisfying the operation that can be better.

Preferably, the tool bit includes shell, first driving source, elastic coupling and criticize the head, the shell with but the subassembly swivelling joint is paid to the lock, first driving source is located in the shell, just the power output shaft of first driving source is keeping away from one side that the subassembly was paid to the lock is passed through elastic coupling and criticize the head drive and be connected.

Preferably, the locking assembly comprises a first mounting seat, a second mounting seat, a connecting plate and a second driving source, the second mounting seat is fixed below the connecting plate, the second driving source is mounted in the second mounting seat, a power output shaft of the second driving source is connected with the first mounting seat, the first mounting seat is provided with a plurality of mounting positions on the same rotating plane, and each mounting position is provided with one tool head; the connecting plate is connected to the bottom of the mounting cover.

Preferably, the number of the mounting positions is four, and the four mounting positions form a cross shape.

Preferably, the second driving source is a steering engine.

Preferably, the clamping jaw comprises a first arm and a second arm which are arranged in a relative sliding manner; the first arm includes a coupling portion, a body portion, a first clamping portion, and a second clamping portion; the coupling part is in driving connection with the driving component, the first clamping part and the coupling 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 coupling 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 driving part 5 can simultaneously drive the first arm and the second arm to slide relatively to realize the opening and closing of the clamping jaws.

Compared with the related technology, the utility model has the beneficial effects that: will snatch with screw lock pay function integration, a tractor serves several purposes, the 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 frock.

Drawings

FIG. 1 is a schematic structural view of a robotic end effector provided in accordance with the present invention;

FIG. 2 is a schematic view of the tool head of FIG. 1;

FIG. 3 is a schematic structural view of the locking assembly of FIG. 1;

FIG. 4 is a schematic structural view of the mounting cup of FIG. 1;

FIG. 5 is a schematic view of the jaw of FIG. 1;

fig. 6 is an enlarged view of the second arm at a in fig. 5.

In the drawings: 1-tool head, 11-batch head, 12-elastic coupling, 13-first driving source, 14-shell, 2-locking assembly, 21-first mounting seat, 22-second mounting seat, 23-connecting plate, 24-second driving source, 3-mounting cover, 31-hole, 32-positioning groove, 4-clamping jaw, 41-first clamping end, 411-first clamping groove, 412-second clamping groove, 42-second clamping end, 43-first arm, 431-connecting part, 432-main body part, 433-first clamping part, 434-second clamping part, 44-second arm and 5-driving part.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that 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, the present embodiment provides a robot end effector mounted on a driving part 5 at the end of a robot arm of a robot, and the robot end effector includes a mounting cover 3, a lock assembly 2, a tool head 1, and a gripper 4.

As shown in fig. 1 and 4, the mounting cover 3 is an n-shape formed by assembling two half-open cover shells, and a cavity is formed inside the n-shape. The drive member 5 extends into the cavity. The top of the mounting cover 3 is provided with a hole 31 which is connected with the driving part 5 through a screw. Positioning grooves 32 are formed in two vertical side walls of the mounting cover 3. The lateral wall of installation cover 3 is the arc, constant head tank 32 level sets up, also is the arc.

As shown in fig. 1 and 3, the lock assembly 2 includes a first mounting seat 21, a second mounting seat 22, a connecting plate 23, and a second driving source 24.

The second mounting seat 22 is fixed below the connecting plate 23, the second driving source 24 can be mounted inside the second mounting seat 22 in an embedded manner or a screw mounting manner, and a power output shaft of the second driving source 24 is connected with the first mounting seat 21. The power output axis of the second driving source 24 forms an included angle of 45 degrees with the vertical line of the second mounting seat 22.

The first mounting seat 21 is provided with four mounting portions on the same rotation plane, and the four mounting portions form a cross shape. One tool head 1 is mounted at each mounting position. The second driving source 24 is a steering engine.

The connecting plate 23 and the positioning groove 32 are inserted, and the two realize flange matching, so that the accurate positioning of the tool head can be realized. The types of the plurality of tool heads 1 mounted on the first mounting seat 21 are different, so that the locking device can adapt to locking of different screws.

And when the steering engine is started, the first mounting seat 21 and the tool head 1 thereon can be driven to rotate, so that the tool heads 1 of different models can be switched.

As shown in fig. 1 and 2, the tool bit 1 includes a housing 14, a first driving source 13, an elastic coupling 12, and a bit 11. The housing 14 is connected to the mounting portion of the first mounting seat 21. The first driving source 13 is arranged in the shell 14, and a power output shaft of the first driving source 13 is in driving connection with the bit 11 through the elastic coupling 12 at one side far away from the locking assembly 2. The first driving source 13 is a speed reducing motor, and the screwdriver head 11 is driven to rotate by the speed reducing motor so as to realize the action of screwing screws. In addition, in order to realize the feeding action during screwing, the first driving source 13 is slidably mounted in the housing 14, thereby driving the batch head 11 to slide together. This sliding can be achieved by a slide rail and a linear motor or a cylinder, which cooperate with the first drive source 13.

As shown in fig. 5, the clamping jaw 4 includes a first arm 43 and a second arm 44 which are arranged in a relative sliding manner, and the first arm 43 includes a coupling portion 431, a main body portion 432, a first clamping portion 433 and a second clamping portion 434. The coupling 431 protrudes above the connecting plate 23 into the cavity of the mounting cup 3 and is in driving connection with the drive element 5. The first clamping portion 433 and the coupling portion 431 are parallel to each other in the same vertical plane, and the main body portion 432 connects the first clamping portion 433 and the coupling portion 431. The second clamping portion 434 extends horizontally from the body portion 432. The second arm 44 has the same structure as the first arm 43.

The driving part 5 can simultaneously drive the first arm 43 and the second arm 44 to slide relatively to realize the opening and closing of the clamping jaws 4.

The two second clamping portions 434 form a first clamping end 41 for grasping a workpiece, and the two first clamping portions 433 form a second clamping end 42 for assisting in positioning a screw when the screw is locked. As shown in fig. 1, one of the tool heads 1 is located in the clamping jaw 4 and opposite to the second clamping end 42, and the rest of the tool heads 1 are located beside the clamping jaw 4 and do not interfere with the working tool head 1.

As shown in fig. 5 and 6, the first clamping end 41 includes a first clamping slot 411 and a second clamping slot 412 which are arranged in sequence, the first clamping slot 411 is semi-cylindrical, and the second clamping slot 412 is a plane. A non-slip pad is arranged on the plane of the second clamping groove 412. When the first arm 43 and the second arm 44 are closed, the two first gripping grooves 411 thereon form a cylindrical shape for gripping an object having a curved shape.

As shown in fig. 5, the main body part 432 is a bent structure, so that the openings of the two main body parts 432 on the first arm 43 and the second arm 44 at the coupling part 431 are larger than the openings of the two main body parts 432 at the first clamping part 433. The second clamping portion 434 is also of a bent structure, so that the openings of the two second clamping portions 434 of the first arm 43 and the second arm 44 in the main body portion 432 are larger than the openings of the first clamping ends 41 formed on the other side. This bent structure also provides a degree of overall rigidity.

When screws need to be locked, the driving part 5 at the tail end of the robot is started firstly, the screws to be locked are grabbed through the second clamping end 42, the tool head 1 with the appropriate type is rotated to the position of the second clamping end 42 through the steering engine, the first driving source 13 is slid, and the screwdriver head 11 is made to be in contact with the screw heads. The first driving source 13 is started to drive the bit 11 to screw.

When the grabbing action is needed, the first clamping end 41 is operated to the side of the workpiece to be grabbed, the driving part 5 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 description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. The robot end effector is used for being mounted on a driving part (5) at the tail end of a robot, comprises a clamping jaw (4), and is characterized by further comprising a mounting cover (3) and a locking assembly (2), wherein the mounting cover (3) is sleeved on the driving part (5), and the locking assembly (2) is arranged at the bottom of the mounting cover (3); a first clamping end (41) and a second clamping end (42) are arranged on the clamping jaw (4), the clamping jaw (4) is installed on the driving part (5), and the driving part (5) can drive the first clamping end (41) and the second clamping end (42) to open and close; the locking assembly (2) is rotatably provided with a plurality of tool heads (1), and one of the tool heads (1) is positioned in the clamping jaw (4) and opposite to the second clamping end (42).

2. The robot end effector according to claim 1, wherein the tool head (1) comprises a housing (14), a first drive source (13), an elastic coupling (12), and a bit (11), the housing (14) is rotatably connected to the locking assembly (2), the first drive source (13) is provided in the housing (14), and a power output shaft of the first drive source (13) is drivingly connected to the bit (11) through the elastic coupling (12) on a side away from the locking assembly (2).

3. The robot end effector according to claim 1 or 2, wherein the lock assembly (2) includes a first mounting seat (21), a second mounting seat (22), a connecting plate (23), and a second driving source (24), the second mounting seat (22) is fixed below the connecting plate (23), the second driving source (24) is mounted in the second mounting seat (22), and a power output shaft of the second driving source (24) is connected to the first mounting seat (21), the first mounting seat (21) is provided with a plurality of mounting locations on the same rotation plane, and each mounting location mounts one tool head (1); the connecting plate (23) is connected to the bottom of the mounting cover (3).

4. The robotic end effector of claim 3, wherein the number of mounting locations is four, the four mounting locations forming a cross.

5. A robot end effector in accordance with claim 3, characterized in that the second drive source (24) is a steering engine.

6. The robotic end effector according to claim 1, characterized in that the jaw (4) comprises a first arm (43) and a second arm (44) in a relative sliding arrangement; the first arm (43) comprises a coupling portion (431), a main body portion (432), a first clamping portion (433) and a second clamping portion (434); the coupling portion (431) is in driving connection with the driving component (5), the first clamping portion (433) and the coupling portion (431) are parallel to each other in the same vertical plane, and the main body portion (432) is connected with the first clamping portion (433) and the coupling portion (431); the second clamping portion (434) extends horizontally from the main body portion (432); the second arm (44) has the same structure as the first arm (43); the driving part (5) can simultaneously drive the first arm (43) and the second arm (44) to relatively slide so as to realize the opening and closing of the clamping jaws (4).