CN216736413U - Robot servo end effector for multi-size cartons - Google Patents
Robot servo end effector for multi-size cartons Download PDFInfo
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- CN216736413U CN216736413U CN202123445758.0U CN202123445758U CN216736413U CN 216736413 U CN216736413 U CN 216736413U CN 202123445758 U CN202123445758 U CN 202123445758U CN 216736413 U CN216736413 U CN 216736413U
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Abstract
The utility model discloses a robot servo end effector for a multi-size carton, which comprises a frame body assembly, a first clamping part and a second clamping part, wherein the frame body assembly comprises a frame main body, a sliding rail arranged on the side edge of the frame main body, a plurality of sliding tables arranged on the sliding rail, and the first clamping part and the second clamping part which are vertically arranged on the plurality of sliding tables; the driving assembly comprises a servo motor arranged on the first clamping part, a nut seat arranged on the second clamping part and a ball screw arranged between the servo motor and the nut seat, the servo motor drives the ball screw to drive the nut seat, and the first clamping part and the second clamping part can move in an opposite direction or in a deviating direction; the overturning clamping jaw assembly comprises a driving cylinder arranged on the outer side of the second clamping part, a rotating shaft arranged at the front end of the second clamping part and an overturning holding jaw arranged on the rotating shaft. The carton stacking and conveying device can solve the problems that cartons with various sizes are easy to slip in the conveying process, improves the working efficiency, reduces the production cost and reduces the potential safety hazard.
Description
Technical Field
The utility model relates to the technical field of robot servo end effectors, in particular to a robot servo end effector for a multi-size carton.
Background
With the development of society, various enterprises at home and abroad are rapidly developed, and a large amount of products are output in the production and manufacturing industry, food, medical treatment and other industries, wherein the material carrying and stacking stage is an indispensable process. Many small-size factories still stay in the stage of manual handling, pile up neatly at present, and its degree of automation is serious not enough, has increased staff's labour widely, has still influenced work efficiency. Moreover, it may cause accidents and loss of product. Therefore, the automatic carrying and stacking of enterprises are very important, the required carrying and stacking work is completed through the cooperation of the robot arm and the end effector, the working efficiency can be improved, the cost is reduced, the working intensity of personnel can be reduced, and the safety risk is reduced.
At present, a series of problems can occur to a plurality of end effectors in an actual working state, and the problems that objects slide off and the objects are damaged due to overlarge grasping force of the hand grippers and the like easily occur in a carrying process. These conditions not only directly cause economic losses, but also are very vulnerable to safety accidents if dangerous goods are being transported.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to overcoming the deficiencies of the prior art and to achieving the above objectives by providing a robotic servo end effector for multi-sized cartons that solves the problems set forth above in the background.
A robotic servo end effector for multi-sized cartons, comprising:
the frame body assembly comprises a frame main body, a sliding rail arranged on the side edge of the frame main body, a plurality of sliding tables arranged on the sliding rail, and a first clamping part and a second clamping part which are vertically arranged on the plurality of sliding tables;
the driving assembly comprises a servo motor arranged on the first clamping part, a nut seat arranged on the second clamping part and a ball screw arranged between the servo motor and the nut seat, the servo motor drives the ball screw to drive the nut seat, and the first clamping part and the second clamping part can move in an opposite direction or in a deviating direction;
upset clamping jaw assembly, upset clamping jaw assembly is including setting up in the drive actuating cylinder in the second clamping part outside, setting up in the pivot of second clamping part front end to and set up in the upset of pivot and embrace the claw, drive actuating cylinder can drive the upset and embrace the claw and overturn around the pivot inboard.
As a further aspect of the utility model: the frame body is provided with a flange part for an external connection part.
As a further scheme of the utility model: and sheet metal connecting pieces are arranged between the sliding table and the first clamping part and between the sliding table and the second clamping part respectively.
As a further aspect of the utility model: the clamping inner sides of the first clamping part and the second clamping part are provided with sponges.
As a further aspect of the utility model: the driving cylinder is connected with the second clamping part through a cylinder connecting piece.
As a further aspect of the utility model: and a bearing is arranged between the rotating shaft and the second clamping part.
Compared with the prior art, the utility model has the following technical effects:
through adopting foretell technical scheme, utilize to set up first clamping part and second clamping part on the frame main part of section bar to be provided with slide rail and slip table, make first clamping part and second clamping part can slide. The servo motor of the driving component drives the two to move in the opposite direction and away from each other. Meanwhile, the second clamping part is provided with the turnover clamping jaw assembly, so that the clamped object can be further clamped and fixed. Prevent the object from sliding off due to overweight, and play a role in fixing and supporting the bottom of the object. The problem of the robot in the transport pile up neatly of multiple size carton, the easy landing scheduling of handling is solved, can satisfy the transport pile up neatly of most cartons, improve work efficiency, reduce manufacturing cost, reduce the potential safety hazard in the at utmost. And the situations that objects are damaged due to overlarge gripping force of the hand grips are avoided.
Drawings
The following detailed description of embodiments of the utility model refers to the accompanying drawings in which:
FIG. 1 is a schematic illustration of a body structure of a robotic servo end effector of some embodiments disclosed herein;
fig. 2 is a front view of a robotic servo end effector of some embodiments disclosed herein;
fig. 3 is a side view of a robotic servo end effector of some embodiments disclosed herein.
In the figure: 1. a frame assembly; 11. a frame body; 12. a slide rail; 13. a sliding table; 14. a first clamping portion; 15. a second clamping portion; 16. a sheet metal connecting piece; 17. a sponge; 2. a drive assembly; 21. a servo motor; 22. a nut seat; 23. a ball screw; 3. overturning the clamping jaw assembly; 31. a driving cylinder; 311. a cylinder connecting piece; 32. a rotating shaft; 321. a bearing; 33. turning over the holding claw; 331. a gripper joint; 4. a flange member.
Detailed Description
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 only a part of the embodiments of the present invention, and not all of the embodiments. 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.
Referring to fig. 1, in an embodiment of the present invention, a robotic servo end effector for multi-sized cartons includes:
the frame assembly 1 comprises a frame main body 11, a slide rail 12 arranged on the side edge of the frame main body 11, a plurality of sliding tables 13 arranged on the slide rail 12, and a first clamping part 14 and a second clamping part 15 which are vertically arranged on the plurality of sliding tables 13;
specifically, the slide rails 12 are mounted on the side edges of two sides of the frame main body 11 of the 30-60 profile framework, and the slide rails 12 on two sides are respectively provided with two sliding tables 13.
In this embodiment, the frame body 11 is provided with a flange member 4 for an external connection member. Specifically, an external robot arm is connected via a flange member 4.
Sheet metal connecting pieces 16 are arranged between the sliding table 13 and the first clamping part 14 and the second clamping part 15 respectively. The sheet metal connecting pieces 16 at the two ends are the sheet metal connecting pieces 16 at the fixed end and the sheet metal connecting pieces 16 at the movable end. The sheet metal connecting piece 16 at the fixed end is provided with a first clamping part 14, a servo motor 21 is fixed at the uppermost part, and a nut seat 22 is arranged above the sheet metal connecting piece 16 at the movable end. The nut seat 22 is fixed on the sheet metal connecting piece 16 through a cushion block, and the nut seat 22 is connected with the servo motor 21 through a ball screw 23. Two profiles are fixed at two ends of the sheet metal connecting piece 16 at the movable end, and the second clamping part 15 is arranged on the side surface of each profile.
As shown in fig. 2, a front view of a robotic servo end effector is illustrated.
The driving assembly 2 comprises a servo motor 21 arranged on the first clamping part 14, a nut seat 22 arranged on the second clamping part 15 and a ball screw 23 arranged between the servo motor 21 and the nut seat 22, the servo motor 21 drives the ball screw to drive the nut seat 22, and the first clamping part 14 and the second clamping part 15 can move towards or away from each other;
upset clamping jaw assembly 3, upset clamping jaw assembly 3 is including setting up in the drive actuating cylinder 31 in the second clamping part 15 outside, setting up in the pivot 32 of second clamping part 15 front end to and set up in the upset of pivot 32 and embrace claw 33, drive actuating cylinder 31 can drive the upset and embrace claw 33 and encircle the inboard upset of pivot 32.
As shown in fig. 3, a side view of a robotic servo end effector is illustrated.
In this embodiment, the sponge 17 for increasing friction force is disposed inside the first clamping portion 14 and the second clamping portion 15, so that the box body is not damaged on the premise of being stable when being clamped.
In this embodiment, the driving cylinder 31 is connected to the second clamping portion 15 through a cylinder connection 311. And a bearing 321 is arranged between the rotating shaft 32 and the second clamping part 15.
Specifically, the cylinder connecting member 311 is connected to a driving cylinder 31, the driving cylinder 31 is connected to the turning claw 33 through a gripper joint 3315, the gripper joint 3315 fixes a rotating shaft 32, and the rotating shaft 32 is installed in a bearing 321 fixed on the second clamping portion 15.
The working principle and the working process of some embodiments disclosed by the utility model are as follows:
when the clamping device is used, the end effector is fixed on a robot arm through the flange part 4, the robot arm moves the end effector to a clamping object station through a specific program, after the clamping object station reaches a designated position, corresponding control parameters are provided for cartons with different sizes, the first clamping part 14 and the second clamping part 15 on two sides are contracted through the servo motor 21, the ball screw 23 and the nut seat 22 fixed on the sheet metal connecting piece 16 to an optimal clamping position, and the cartons are firmly clamped through the sponge 17 on the inner sides of the first clamping part 14 and the second clamping part 15. Meanwhile, the driving cylinder 31 fixed on one side of the second clamping portion 15 blows air through the vacuum pump to extend the air, and the turning holding claw 33 is turned to a horizontal position through the gripper joint 3315 to hold the bottom of the box. The bearing and anti-falling effects are achieved. After the clamping is finished, the robot arm moves to a specified position under the driving of a program to carry out stacking operation, and after the stacking operation is finished, the robot arm drives the end effector to return to a carrying position to carry out the next carrying action, and the operation is repeated in a circulating mode.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents, which should be construed as being within the scope of the utility model.
Claims (6)
1. A robotic servo end effector for multi-sized cartons, comprising:
the frame body assembly (1) comprises a frame body (11), a sliding rail (12) arranged on the side edge of the frame body, a plurality of sliding tables (13) arranged on the sliding rail, and a first clamping part (14) and a second clamping part (15) which are vertically arranged on the plurality of sliding tables;
the driving assembly (2) comprises a servo motor (21) arranged on the first clamping part, a nut seat (22) arranged on the second clamping part and a ball screw (23) arranged between the servo motor and the nut seat, the servo motor drives the ball screw to drive the nut seat, and the first clamping part and the second clamping part can move in the opposite direction or in the opposite direction;
upset clamping jaw subassembly (3), upset clamping jaw subassembly is including setting up in the drive actuating cylinder (31) in the second clamping part outside, setting up in pivot (32) of second clamping part front end to and set up in the upset of pivot and embrace claw (33), it can drive the upset and embrace the claw around the inboard upset of pivot to drive actuating cylinder.
2. A robotic servo end effector for multi-size cartons according to claim 1, characterised in that said frame body is provided with flange parts (4) for external parts.
3. The robotic servo end effector for multi-sized cartons as claimed in claim 1, wherein sheet metal connectors (16) are provided between the slide and the first and second clamp portions, respectively.
4. Robot servo end effector for multi-sized cartons according to claim 3, characterised in that the gripping inner sides of said first and second gripping parts are provided with a sponge (17).
5. A robotic servo end effector for multi-size cartons according to claim 4, wherein said driving cylinder is connected to said second gripper by means of a pneumatic cylinder connection (311).
6. A robotic servo end effector for multi-size cartons according to claim 5, characterized in that a bearing (321) is arranged between said spindle and second gripping portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123445758.0U CN216736413U (en) | 2021-12-30 | 2021-12-30 | Robot servo end effector for multi-size cartons |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123445758.0U CN216736413U (en) | 2021-12-30 | 2021-12-30 | Robot servo end effector for multi-size cartons |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216736413U true CN216736413U (en) | 2022-06-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123445758.0U Active CN216736413U (en) | 2021-12-30 | 2021-12-30 | Robot servo end effector for multi-size cartons |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216736413U (en) |
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2021
- 2021-12-30 CN CN202123445758.0U patent/CN216736413U/en active Active
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