CN219027507U

CN219027507U - Industrial robot end effector

Info

Publication number: CN219027507U
Application number: CN202223119011.0U
Authority: CN
Inventors: 吴乐平; 朱红娟; 顾晟吉; 尹立明; 丁艳萍
Original assignee: NANJING SUNRISE NUMERICAL CONTROL TECHNOLOGY CO LTD
Current assignee: NANJING SUNRISE NUMERICAL CONTROL TECHNOLOGY CO LTD
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-05-16
Anticipated expiration: 2032-11-22

Abstract

The utility model belongs to the field of industrial robots, and particularly relates to an end effector of an industrial robot. According to the utility model, through arranging the suckers, the transverse guide rails, the longitudinal guide rails and the grabbing plates, the objects are firstly moved upwards to be far away from the horizontal table top in a suction-before-grabbing mode, so that grabbing spaces are reserved at the bottoms of the objects, the grabbing plates are convenient to insert the bottoms of the objects, the grabbing plates are ensured not to have extrusion action with the objects, damage to the objects when the grabbing plates grab the objects is reduced, then the transverse locking sliding blocks and the longitudinal locking sliding blocks are controlled to slide along the transverse guide rails and the longitudinal guide rails respectively, the objects are continuously transported upwards to be clamped with the surfaces of the suckers, the stability of transported objects is improved, suction force of the suckers is cancelled, and power is saved.

Description

Industrial robot end effector

Technical Field

The utility model belongs to the field of industrial robots, and particularly relates to an end effector of an industrial robot.

Background

In the process of manufacturing precise machinery, surface contact post-treatment such as polishing and grinding of workpieces is the most basic process, and the traditional work is usually completed manually. However, as labor costs increase, this station, which does not require cultural techniques, instead occupies a high payoff of specific gravity, and the machining industry is therefore not in charge of the wrapping. Along with the continuous development of industrial technology, people also put forward higher requirements on the surface polishing, edge and corner deburring and other processing processes of mechanical workpieces, so that a mode of replacing manual work by a mechanical arm becomes one of widely accepted processing modes in continuous contact surface post-treatment work.

In the prior art, in the work of replacing the manual mode by the mechanical arm to form continuous contact surface post-treatment, the clamping action is usually carried out by suction or a grapple, however, the object is sucked by suction, the object is not easy to adjust and control due to the suction, the object is not easy to loosen in the process of carrying, the object is difficult to lift from the horizontal plane by the grapple, and meanwhile, when the thickness of the object is thinner and the material is softer, the grapple can squeeze the periphery of the object, so that the periphery of the object is deformed to generate damage.

Based on this, the present utility model has devised an industrial robot end effector to solve the above-mentioned problems.

Disclosure of Invention

The utility model aims to provide an end effector of an industrial robot, which solves the problems that in the prior art, the size of suction is difficult to regulate, so that the object to be carried is loose, the object is difficult to lift from a horizontal plane by a grapple mode, and meanwhile, when the thickness of the object is thinner and the material is softer, the grapple can squeeze the periphery of the object, so that the periphery of the object is deformed to cause damage.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the end effector of the industrial robot comprises a workbench and a robot control system arranged on the surface of the workbench, wherein the robot control system comprises the industrial robot which is fixedly connected to the surface of the workbench, and a grabbing mechanism is arranged at the top end of the industrial robot;

the grabbing mechanism comprises a sucker, the sucker is fixedly connected to the top end of the industrial robot, the sucker surface array is fixedly connected with a transverse guide rail, the surface of the transverse guide rail is uniformly and slidably connected with a transverse locking sliding block, the top end of the transverse locking sliding block is uniformly and fixedly connected with a longitudinal guide rail, the surface of the longitudinal guide rail is uniformly and slidably connected with a longitudinal locking sliding block, and the longitudinal locking sliding surface is uniformly and fixedly connected with a grabbing plate parallel to the surface of the sucker.

Preferably, the surface of the grabbing plate is fixedly connected with an elastic pressing plate, and the end part of the grabbing plate is provided with an arc surface.

Preferably, the surface of the sucker is fixedly connected with an annular elastic plate.

Preferably, the sucker end array is fixedly connected with an air pump for providing suction force of the sucker.

Compared with the prior art, the utility model has the beneficial effects that:

1. according to the utility model, through arranging the suckers, the transverse guide rails, the longitudinal guide rails and the grabbing plates, the objects are firstly moved upwards to be far away from the horizontal table top in a suction-before-grabbing mode, so that grabbing spaces are reserved at the bottoms of the objects, the grabbing plates are convenient to insert the bottoms of the objects, the grabbing plates are ensured not to have extrusion action with the objects, damage to the objects when the grabbing plates grab the objects is reduced, then the transverse locking sliding blocks and the longitudinal locking sliding blocks are controlled to slide along the transverse guide rails and the longitudinal guide rails respectively, the objects are continuously transported upwards to be clamped with the surfaces of the suckers, the stability of transported objects is improved, suction force of the suckers is cancelled, and power is saved.

2. According to the utility model, the elastic pressing plate and the annular elastic plate are arranged, so that the clamping pressure is improved, the stress effect of the surface of the grabbing plate and the sucker on the surface of the object is reduced, and the damage caused by stress deformation of the surface of the object is avoided.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a first schematic view of the connection of the gripping mechanism of the present utility model;

fig. 3 is a second schematic view of the connection of the gripping mechanism according to the present utility model.

In the drawings, the list of components represented by the various numbers is as follows:

the device comprises a workbench 1, an industrial robot 2, a sucker 3, a transverse guide rail 4, a transverse locking slide block 5, a longitudinal guide rail 6, a longitudinal locking slide block 7, a grabbing plate 8, an elastic pressing plate 9, a ring-shaped elastic plate 10 and an air pump 11.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-3, the present utility model provides a technical solution: the end effector of the industrial robot 2 comprises a workbench 1 and a robot control system arranged on the surface of the workbench 1, wherein the robot control system comprises the industrial robot 2, the industrial robot 2 is fixedly connected to the surface of the workbench 1, and a grabbing mechanism is arranged at the top end of the industrial robot 2;

the grabbing mechanism comprises a sucker 3, the sucker 3 is fixedly connected to the top end of the industrial robot 2, a transverse guide rail 4 is fixedly connected to the surface array of the sucker 3, transverse locking sliding blocks 5 are slidably connected to the surfaces of the transverse guide rails 4, longitudinal guide rails 6 are fixedly connected to the top ends of the transverse locking sliding blocks 5, longitudinal locking sliding blocks 7 are slidably connected to the surfaces of the longitudinal guide rails 6, and grabbing plates 8 parallel to the surfaces of the sucker 3 are fixedly connected to the surfaces of the longitudinal locking sliding blocks; the surfaces of the grabbing plates 8 are fixedly connected with elastic pressing plates 9, and cambered surfaces are arranged at the end parts of the grabbing plates 8; the surface of the sucker 3 is fixedly connected with a ring-shaped elastic plate 10; the end array of the sucker 3 is fixedly connected with an air pump 11 for providing suction force of the sucker 3.

One specific application of this embodiment is: during the use, control a plurality of arm upset of industrial robot 2 through robot control system, make the sucking disc 3 level of industrial robot 2 tip be located the article directly over, simultaneously through robot control system, control horizontal lock slider 5 and vertical lock slider 7 slide along transverse guide 4 and longitudinal guide 6 respectively, make horizontal lock slider 5 keep away from sucking disc 3 lateral wall along transverse guide 4, enlarge the positive removal wide range of sucking disc 3, reduce the interference effect of grabbing plate 8 to the article when being convenient for article upward movement, and slide down along longitudinal guide 6 when vertical lock slider 7, make grabbing plate 8 keep away from sucking disc 3 surface, enlarge sucking disc 3 positive longitudinal depth, be convenient for centre gripping different thickness article, afterwards, through robot control system, control air pump 11, make sucking disc 3 work, draw up the article, make article upward movement keep away from the ground, afterwards control horizontal lock slider 5, draw close to sucking disc 3 lateral wall direction, thereby make grabbing plate 8 can insert the article bottom, and can not take place the squeezing action with article itself, thereby reduce grabbing plate 8 and produce the interference effect to article itself when grabbing the article, then control plate 8 keeps away from sucking disc 3 surface, enlarge the suction plate 8 and take place the elastic force of sucking disc 9, the elastic force of the elastic force plate is removed from the surface, and then the elastic force plate is removed from the surface is kept away from the surface, the elastic force plate is held up by the sucking plate is removed from the surface is held by the sucking plate is under the condition of the elastic force is 9, and the elastic plate is kept away from the surface is simultaneously by the sucking plate is lifted, and the surface is kept down, and the surface is compressed and is deformed by the surface is kept down by the elastic plate 9.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean 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 present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The preferred embodiments of the utility model disclosed above are intended only to assist in the explanation of the utility model. The preferred embodiments are not intended to be exhaustive or to limit the utility model to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, to thereby enable others skilled in the art to best understand and utilize the utility model. The utility model is limited only by the claims and the full scope and equivalents thereof.

Claims

1. An industrial robot end effector, includes workstation (1) and sets up at the robot control system of workstation (1) surface, its characterized in that: the robot control system comprises an industrial robot (2), wherein the industrial robot (2) is fixedly connected to the surface of the workbench (1), and a grabbing mechanism is arranged at the top end of the industrial robot (2);

the grabbing mechanism comprises a sucker (3), the sucker (3) is fixedly connected to the top end of an industrial robot (2), a transverse guide rail (4) is fixedly connected to the surface array of the sucker (3), transverse locking sliding blocks (5) are fixedly connected to the surface of the transverse guide rail (4), longitudinal guide rails (6) are fixedly connected to the top end of the transverse locking sliding blocks (5), longitudinal locking sliding blocks (7) are fixedly connected to the surface of the longitudinal guide rails (6), and grabbing plates (8) parallel to the surface of the sucker (3) are fixedly connected to the surface of the longitudinal locking sliding surfaces.

2. An industrial robot end effector according to claim 1, wherein: the surface of the grabbing plate (8) is fixedly connected with an elastic pressing plate (9), and the end part of the grabbing plate (8) is provided with an arc surface.

3. An industrial robot end effector according to claim 2, wherein: the surface of the sucker (3) is fixedly connected with an annular elastic plate (10).

4. An industrial robot end effector according to claim 1, wherein: the end array of the sucker (3) is fixedly connected with an air pump (11) for providing suction force of the sucker (3).