CN216266099U

CN216266099U - End effector structure and manipulator

Info

Publication number: CN216266099U
Application number: CN202122339465.8U
Authority: CN
Inventors: 孙延春; 于海龙
Original assignee: Aiways Automobile Co Ltd
Current assignee: Aiways Automobile Co Ltd
Priority date: 2021-09-26
Filing date: 2021-09-26
Publication date: 2022-04-12
Anticipated expiration: 2031-09-26

Abstract

The embodiment of the utility model provides an end effector structure and a manipulator, and relates to the field of end effectors. The end effector is intended to be generalized. The end effector structure comprises a mounting frame and a support arm structure; the mounting frame is used for being mounted on the cross rod and provided with a quick-insertion female end; the support arm structure is including the fast son end of inserting, support arm and the end effector that connects gradually, and the son end of inserting soon is used for inserting female end detachably and being connected soon. The robot includes a crossbar and an end effector structure. The mounting bracket can be installed on centering robot, unloading robot, idle station support and shuttle dolly, and the support arm structure is all connected with quick female end detachably of inserting through inserting the son end soon, and whole line end effector mounting form is unified, has realized the universalization of end effector, has reduced end effector spare parts stock, has practiced thrift end effector storage space, has reduced inventory management cost and purchasing cost.

Description

End effector structure and manipulator

Technical Field

The utility model relates to the field of end effectors, in particular to an end effector structure and a manipulator.

Background

The end-effector adopted by the automatic transmission equipment of the production line in the process of centering, loading and unloading cannot be generalized with the end-effector for in-line transmission, namely the end-effectors used for whole-line transmission are different, so that the end-effectors have diversified forms and multiple types, and the purchasing cost and the inventory management cost are increased; meanwhile, the interchanging performance between the end pickups is poor, and the maintenance is not facilitated.

SUMMERY OF THE UTILITY MODEL

Objects of the present invention include, for example, providing an end effector structure that enables a generalization of an end effector.

It is also an object of the present invention to provide a robot hand which can achieve a generalization of an end effector.

Embodiments of the utility model may be implemented as follows:

the embodiment of the utility model provides an end effector structure which is used for being installed on a cross bar of a manipulator and comprises an installation frame and a support arm structure;

the mounting rack is used for being mounted on the cross rod and provided with a quick-insertion female end;

the support arm structure is including the fast son end of inserting, support arm and the end effector that connects gradually, fast insert the son end be used for with fast female end detachably connects.

In addition, the end effector structure provided by the embodiment of the utility model can also have the following additional technical characteristics:

optionally, the quick-insert terminal is provided with a quick-insert block; the quick inserting female end is provided with a quick inserting groove which is used for containing the quick inserting block so as to limit the quick inserting block.

Optionally, the fast inserting slot and the fast inserting block are both square.

Optionally, the quick-plug female end is further provided with a side notch communicated with the quick insertion slot, and the side notch is used for allowing the support arm connected with the quick-plug block to pass through.

Optionally, the quick-plug female end is further provided with a mounting hole communicated with the quick plug slot and a quick plug mounted in the mounting hole; the quick plug-in is used for being abutted against or separated from the quick plug-in block accommodated in the quick slot, so that the quick plug-in block is fixed or separated relative to the quick slot.

Optionally, a fast jack is disposed on a side of the fast insert block, and the fast jack is configured to accommodate the fast insert under the condition that the fast insert block is accommodated in the fast insert slot, so that the fast insert block is fixed relative to the fast insert slot.

Optionally, a first connecting hole is formed in the bottom of the quick insertion slot, a second connecting hole is formed in the quick insertion block, the second connecting hole is used for installing an air pipe joint, and the air pipe joint is used for being communicated with the end effector; the first connecting hole and the second connecting hole are used for being communicated with each other under the condition that the quick insertion block is accommodated in the quick insertion slot.

Optionally, the quick-insertion terminal is further provided with a bending rod and a connector; the bending rod is fixed on the quick insertion block, the support arm is connected with the bending rod through the connector, and the bending rod is used for enabling the support arm to be arranged at a preset position relative to the quick insertion block; the connector includes first clamp, second clamp and fastener, first clamp with the second clamp passes through the fastener is fixed together to be used for cliping jointly the pole of buckling.

Optionally, the mounting frame is further provided with a first mounting rod, a second mounting rod and a bridging plate, and the first mounting rod and the second mounting rod are arranged side by side at intervals; the cross-over plate is connected with the first mounting rod and the second mounting rod and is provided with a clamping groove which is used for being clamped and sleeved on the cross rod;

the quantity of inserting female end soon is a plurality of, first installation pole with be provided with a plurality ofly respectively at the interval on the second installation pole insert female end soon.

The embodiment of the utility model also provides a manipulator. The robot includes a crossbar and an end effector structure.

The end effector structure and the manipulator of the embodiment of the utility model have the advantages that:

the end effector structure comprises a mounting frame and a support arm structure; the mounting frame is used for being mounted on the cross rod and provided with a quick-insertion female end; the support arm structure is including the fast son end of inserting, support arm and the end effector that connects gradually, and the son end of inserting soon is used for inserting female end detachably and being connected soon.

The mounting frame can be mounted on the centering robot, the blanking robot, the idle station support and the shuttle trolley, the support arm structures are detachably connected with the quick insert female end through the quick insert male end, the mounting forms of the whole line end pick-up are uniform, the universalization of the end pick-up is realized, the stock of spare parts of the end pick-up is reduced, the storage space of the end pick-up is saved, and the stock management cost and the purchase cost are reduced; the interchanging performance between the end pickups is improved, so that the replacing efficiency of the end pickups is improved; and meanwhile, the maintenance and the overhaul of the end pick-up are facilitated.

The manipulator, including the above-mentioned end effector structure, can realize the universalization of end effector.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.

Fig. 1 is a schematic view of an end effector structure and cross bar assembly provided by an embodiment of the present invention;

fig. 2 is a schematic structural diagram of an end effector structure according to an embodiment of the present invention;

fig. 3 is a schematic structural view of a mounting frame in an end effector structure provided by an embodiment of the present invention;

fig. 4 is a schematic diagram of a fast pin end on a mounting frame in an end effector configuration according to an embodiment of the present invention;

fig. 5 is a diagram illustrating a structure of a support arm structure in an end effector structure according to an embodiment of the present invention.

Icon: 10-a cross bar; 20-end effector structure; 100-a mounting frame; 110-quick plug female end; 111-fast slot; 112-side notches; 113-mounting holes; 114-a fast plug-in; 115-a first connection hole; 120-a first mounting bar; 130-a second mounting bar; 140-a jumper plate; 141-card slot; 200-support arm structure; 210-fast pin end; 211-fast insert block; 212-fast jack; 213-second connection hole; 220-a support arm; 230-an end effector; 300-a bending rod; 400-connecting head.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. are used for indicating the orientation or positional relationship based on the orientation or positional relationship shown in the drawings or the orientation or positional relationship which is usually placed when the utility model is used, it is only for convenience of describing the present invention and simplifying the description, but it is not necessary to indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation and be operated, and thus, it should not be construed as limiting the present invention.

Furthermore, the appearances of the terms "first," "second," and the like, if any, are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

The end effector structure 20 provided in the present embodiment is described in detail below with reference to fig. 1 to 5.

Referring to fig. 1 and 2, an embodiment of the present invention provides an end effector structure 20 for mounting on a cross bar 10 of a robot, the end effector structure 20 including a mounting frame 100 and a boom structure 200; the mounting rack 100 is used for being mounted on the cross rod 10, and the mounting rack 100 is provided with a quick-insertion female end 110; arm structure 200 includes a quick-connect male end 210, an arm 220, and an end effector 230 connected in series, quick-connect male end 210 for removable connection with quick-connect female end 110.

End effector 230 is mounted on arm 220. arm 220 is removably coupled to female quick-connect end 110 of mounting block 100 via male quick-connect end 210 to removably mount end effector 230. The mounting frame 100 can be mounted on the cross bar 10 of a manipulator with a centering robot, a blanking robot, an idle work station support, a shuttle trolley and the like, the mounting forms of the whole-line end pickers 230 are uniform, the universalization of the end pickers 230 is realized, and the stock of spare parts of the end pickers 230 is reduced.

Referring to fig. 2, 3, 4 and 5, in the present embodiment, the fast inserting sub-terminal 210 is provided with a fast inserting block 211; the quick-plug female end 110 is provided with a quick insertion slot 111, and the quick insertion slot 111 is used for accommodating the quick insertion block 211 so as to limit the quick insertion block 211.

Before installation, the quick-insertion block 211 is placed into the quick-insertion slot 111, the quick-insertion block 211 cannot move, preliminary positioning of the quick-insertion sub-end 210 relative to the quick-insertion female end 110 is achieved, and displacement of the quick-insertion sub-end 210 in subsequent operation is avoided.

Specifically, the opening of the fast slot 111 is arranged upward, and after the fast insertion block 211 is inserted into the fast slot 111, the fast slot 111 limits the displacement of the fast insertion block 211 on the horizontal plane.

Referring to fig. 4 and 5, in the present embodiment, the fast inserting slot 111 and the fast inserting block 211 are both square. After the fast insert block 211 is inserted into the fast insert slot 111, the peripheral outer walls of the fast insert block 211 are attached to the peripheral inner walls of the fast insert slot 111, so that the fast insert slot 111 is limited to the fast insert block 211.

Referring to fig. 4 and 5, in the present embodiment, the quick-insertion female end 110 is further provided with a side notch 112 communicating with the quick-insertion slot 111, and the side notch 112 is used for passing through a support arm 220 connected with the quick-insertion block 211. In operation, the fast inserting block 211 is inserted into the fast inserting groove 111 simultaneously with the arm 220 being inserted into the side notch 112.

Specifically, the side notch 112 is opened on the side wall of the fast slot 111 facing the end effector 230, the area of the side opening is smaller than the area of the side wall of the fast slot 111 facing the end effector 230, and the side wall of the fast slot 111 facing the end effector 230 partially supports the side wall of the fast slot 211 facing the end effector 230 under the condition that the fast slot 211 is accommodated in the fast slot 111, so as to prevent the fast slot 211 from separating from the fast slot 111.

Referring to fig. 4 and 5, in the present embodiment, the quick-plug female end 110 is further provided with a mounting hole 113 communicating with the quick insertion slot 111 and a quick plug 114 mounted in the mounting hole 113; the quick plug 114 is used for abutting against or separating from the quick plug 211 accommodated in the quick slot 111, so that the quick plug 211 can be fixed or separated relative to the quick slot 111.

The quick plug 114 has opposite screw and holding ends. Before installation, the abutting end of the quick plug 114 is located in the installation hole 113 to avoid the quick plug 211. After the fast inserting block 211 is inserted into the fast inserting slot 111, the screwing end of the fast inserting element 114 is rotated to make the abutting end of the fast inserting element 114 extend out of the mounting hole 113 to abut against the fast inserting block 211, so that the fast inserting block 211 is fixed relative to the fast inserting slot 111, and the end effector 230 is mounted.

Before disassembly, the screwing end of the fast plug 114 is rotated to withdraw the abutting end of the fast plug 114 from the fast slot 111 into the mounting hole 113, and the abutting end is separated from the fast plug 211, so that the fast plug 211 can be taken out from the fast slot 111, and the disassembly of the end effector 230 is completed.

Referring to fig. 5, in the embodiment, the fast insertion hole 212 is disposed on a side portion of the fast insertion block 211, and the fast insertion hole 212 is configured to receive the fast insertion unit 114 under the condition that the fast insertion block 211 is received in the fast insertion slot 111, so that the fast insertion block 211 is fixed relative to the fast insertion slot 111.

After the fast inserting block 211 is inserted into the fast inserting slot 111, the fast inserting hole 212 on the fast inserting block 211 corresponds to the mounting hole 113, and at this time, the abutting end of the fast inserting element 114 extends out of the mounting hole 113 to abut against the fast inserting hole 212, so that the fast inserting block 211 can be abutted more firmly, and the fast inserting block 211 is prevented from being separated from the fast inserting slot 111 from the upper side of the fast inserting slot 111.

Referring to fig. 4 and 5, in the present embodiment, the bottom of the fast inserting slot 111 is provided with a first connecting hole 115, the fast inserting block 211 is provided with a second connecting hole 213, the second connecting hole 213 is used for installing an air pipe joint, and the air pipe joint is used for communicating with the end effector 230; the first connection hole 115 and the second connection hole 213 are used for communicating with each other when the fast plug 211 is received in the fast slot 111.

The air pipe joint is used to communicate with the end effector 230 so that the end effector 230 can suck the object. After the fast inserting block 211 is inserted into the fast inserting slot 111, the first connecting hole 115 and the second connecting hole 213 are correspondingly communicated, that is, after the installation of the fast inserting sub-end 210 and the fast inserting female end 110 is completed, the air pipe joint can be installed, which facilitates the installation of the whole end effector structure 20.

Referring to fig. 5, in the present embodiment, the quick connector end 210 is further provided with a bending rod 300 and a connector 400; the bending rod 300 is fixed on the quick insert block 211, the support arm 220 is connected with the bending rod 300 through the connector 400, and the bending rod 300 is used for enabling the support arm 220 to be arranged at a preset position relative to the quick insert block 211; the connecting head 400 includes a first yoke, a second yoke, and a fastener, and the first yoke and the second yoke are fixed together by the fastener for clamping the bending bar 300 together.

Specifically, the bending bar 300 includes a first bar and a second bar, which are L-shaped. The end of the first rod away from the second rod is fixed with the quick-insert block 211, and the second rod is used for installing the connector 400. The second rod is disposed perpendicular to the arm 220. Specifically, the quick-insert block 211 is provided with a fixing hole, and the first rod is inserted into the fixing hole. The fixing holes are spaced apart from the second connection holes 213 side by side.

It should be noted that "perpendicular" herein does not require that the angle between the two be necessarily 90 °, but may be slightly inclined, for example, the angle is in the range of 88 ° to 90 °, and still be considered perpendicular. Example (c): the angle between the second rod and the arm 220 may also be 88 °, 89 °, etc.

In other embodiments, the angle between the second rod and the arm 220 can be acute, that is, the arm 220 is inclined relative to the second rod, and the angle can be set according to the requirement of the actual end effector 230.

Specifically, the connector 400 clamps the second rod together by the first clamp and the second clamp. Connecting head 400 further includes a mounting sleeve, and one end of arm 220 away from end effector 230 is inserted into the mounting sleeve.

Referring to fig. 3 again, in this embodiment, the mounting block 100 is further provided with a first mounting rod 120, a second mounting rod 130 and a bridging plate 140, wherein the first mounting rod 120 and the second mounting rod 130 are arranged side by side at intervals; the bridging plate 140 is connected with the first mounting rod 120 and the second mounting rod 130, and the bridging plate 140 is provided with a clamping groove 141 for clamping and sleeving the cross rod 10; the number of the quick-insertion female ends 110 is plural, and the first mounting rod 120 and the second mounting rod 130 are respectively provided with the plural quick-insertion female ends 110 at intervals.

Referring to fig. 2, the first mounting rod 120 and the second mounting rod 130 are respectively provided with a plurality of quick-insertion female ends 110, and each quick-insertion female end 110 can be provided with a quick-insertion male end 210, that is, can be provided with a support arm structure 200.

Referring to fig. 1, the opening of the locking slot 141 of the bridging plate 140 is disposed downward for locking on the cross bar 10, and the cross bar 10 supports the whole mounting rack 100 and the plurality of arm structures 200 on the mounting rack 100.

The present embodiment provides an end effector structure 20 having at least the following advantages:

the support arm structures 200 are detachably connected with the quick plug female ends 110 through the quick plug male ends 210, the mounting frame 100 can be mounted on a centering robot, a blanking robot, an idle work station support and a shuttle trolley, the mounting forms of the whole line end pickups 230 are uniform, the universalization of the end pickups 230 is realized, and the stock of spare parts of the end pickups 230 is reduced.

Insert sub-end 210 soon and set up and insert piece 211 soon, insert female end 110 soon and set up fast slot 111, insert piece 211 soon and realize preliminary location with fast slot 111 cooperation, improve the installation effectiveness. The fast inserting block 211 is supported by the fast inserting piece 114 arranged on the fast inserting female end 110 to fix the fast inserting block 211 relative to the fast inserting slot 111, the operation is simple and fast, and the installing and detaching efficiency is further improved.

The embodiment of the utility model also provides a manipulator. The robot comprises a crossbar 10 and an end effector structure 20. The clamping groove 141 on the bridging plate 140 is clamped on the cross bar 10 to complete the installation of the installation frame 100. The robot including the end effector structure 20 according to the present embodiment can realize the generalization of the end effector 230 and reduce the cost.

The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims

1. An end effector structure for mounting on a crossbar (10) of a robot arm, the end effector structure comprising:

a mounting block (100) and an arm structure (200);

the mounting rack (100) is used for being mounted on the cross rod (10), and the mounting rack (100) is provided with a quick-insertion female end (110);

the support arm structure (200) comprises a quick plug end (210), a support arm (220) and an end pick-up (230) which are connected in sequence, wherein the quick plug end (210) is detachably connected with the quick plug female end (110).

2. The end effector structure of claim 1, wherein:

the quick plug end (210) is provided with a quick plug block (211); female end (110) of inserting soon is provided with fast slot (111), fast slot (111) are used for the holding insert piece (211) soon to it is right insert piece (211) soon carry on spacingly.

3. The end effector structure of claim 2, wherein:

the quick insertion slot (111) and the quick insertion block (211) are square.

4. The end effector structure of claim 2, wherein:

the quick-plug female end (110) is further provided with a side notch (112) communicated with the quick insertion groove (111), and the side notch (112) is used for enabling the support arm (220) connected with the quick-plug block (211) to penetrate through.

5. The end effector structure of claim 2, wherein:

the quick-plug female end (110) is also provided with a mounting hole (113) communicated with the quick plug slot (111) and a quick plug (114) mounted in the mounting hole (113); the quick plug-in (114) is used for abutting against or separating from the quick plug-in block (211) accommodated in the quick slot (111) so as to fix or separate the quick plug-in block (211) relative to the quick slot (111).

6. The end effector structure of claim 5, wherein:

the side of the fast plug-in block (211) is provided with a fast plug-in hole (212), and the fast plug-in hole (212) is used for accommodating the fast plug-in (114) under the condition that the fast plug-in block (211) is accommodated in the fast plug-in slot (111), so that the fast plug-in block (211) is fixed relative to the fast plug-in slot (111).

7. The end effector structure of claim 2, wherein:

the bottom of the quick insertion slot (111) is provided with a first connecting hole (115), the quick insertion block (211) is provided with a second connecting hole (213), the second connecting hole (213) is used for installing an air pipe joint, and the air pipe joint is used for being communicated with the end effector (230); the first connecting hole (115) and the second connecting hole (213) are used for being communicated with each other under the condition that the quick insertion block (211) is accommodated in the quick insertion slot (111).

8. The end effector structure of any one of claims 2-7, wherein:

the quick plug end (210) is also provided with a bending rod (300) and a connector (400); the bending rod (300) is fixed to the quick insertion block (211), the support arm (220) is connected with the bending rod (300) through the connector (400), and the bending rod (300) is used for enabling the support arm (220) to be arranged at a preset position relative to the quick insertion block (211); connector (400) include first clamp, second clamp and fastener, first clamp with the second clamp passes through the fastener is fixed together to be used for cliping jointly pole (300) of buckling.

9. The end effector structure of any one of claims 2-7, wherein:

the mounting rack (100) is further provided with a first mounting rod (120), a second mounting rod (130) and a bridging plate (140), wherein the first mounting rod (120) and the second mounting rod (130) are arranged side by side at intervals; the bridging plate (140) is connected with the first mounting rod (120) and the second mounting rod (130), and a clamping groove (141) which is used for being clamped and sleeved on the cross rod (10) is formed in the bridging plate (140);

the number of fast female end (110) of inserting is a plurality of, first installation pole (120) with be provided with a plurality of respectively at the interval on second installation pole (130) insert female end (110) soon.

10. A manipulator, its characterized in that:

the robot comprises a crossbar (10) and an end effector structure according to any of claims 1-9.