CN220516842U

CN220516842U - Robot end effector

Info

Publication number: CN220516842U
Application number: CN202322178069.0U
Authority: CN
Inventors: 李莫; 于轮齐; 邵文迪
Original assignee: Siling Robot Technology Harbin Co ltd
Current assignee: Siling Robot Technology Harbin Co ltd
Priority date: 2023-08-14
Filing date: 2023-08-14
Publication date: 2024-02-23
Anticipated expiration: 2033-08-14

Abstract

A robot end effector belongs to the technical field of robots. The robot end effector can clamp two workpieces in a single operation, and can clean sundries such as scraps on the surfaces of the workpieces when feeding and discharging the machine tool due to the arrangement of the air blowing device.

Description

Robot end effector

Technical Field

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

Background

The patent of the utility model with the authorized bulletin number of CN216030877U and the authorized bulletin day of 2022, 03 and 15 discloses an electric control end effector of an agricultural robot, which can solve the problem that the grabbing range of the end effector is smaller. However, since the end effector is provided with only one clamping jaw mechanism, only one workpiece can be clamped in a single operation, and a quick-change tool is required to be used for clamping various workpieces with different types or sizes, the cost is high, and the working efficiency is low. In addition, when the existing end effector is used for feeding and discharging equipment such as a numerical control lathe, a numerical control milling machine and the like, due to the fact that the end effector does not have an air blowing device, the service life of the machine tool and the quality of finished products can be influenced due to the fact that sundries such as scraps and dust are carried on the surface of a workpiece. Accordingly, there is a need for an improvement in existing end effector configurations that overcomes the above-described problems with existing end effectors.

Disclosure of Invention

The utility model aims to provide a robot end effector which is used for solving the problems that the existing robot end effector can only clamp one workpiece in a single operation and the service life of a machine tool is influenced by debris and the like on the surface of the workpiece when the machine tool is fed and discharged due to the fact that the robot end effector is not provided with an air blowing device.

The technical scheme adopted by the utility model is as follows:

the utility model provides a robot end effector, includes mounting panel, flange, gas blowing device and two pneumatic clamping jaws, and two pneumatic clamping jaws are pneumatic clamping jaw one and pneumatic clamping jaw two respectively, and the mounting panel is the L shaped plate, and flange can dismantle fixed connection with the corner of mounting panel, and pneumatic clamping jaw one and pneumatic clamping jaw two can dismantle the both ends of fixing at the mounting panel respectively, installs gas blowing device on the flange.

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

1. according to the robot end effector, as the first pneumatic clamping jaw and the second pneumatic clamping jaw are respectively and detachably fixed at the two ends of the mounting plate, single operation can be realized, two workpieces can be clamped at the same time, the robot end effector is simple, convenient and rapid, and the working efficiency is improved.

2. According to the robot end effector, the included angle between the two side walls of the trapezoid clamping opening of the first clamping jaw finger is larger than the included angle between the two side walls of the trapezoid clamping opening of the second clamping jaw finger, so that the robot end effector can be compatible with fast clamping of two workpieces of different types or sizes, and has high adaptability.

3. According to the robot end effector, the air blowing device is arranged on the connecting flange and connected with the external high-pressure air source, and high-speed compressed air can be sprayed out through the air tap to blow away debris, dust and other impurities on the surface of a workpiece, so that the influence of the debris, dust and other impurities on the service life of a machine tool and the quality of a finished product can be reduced when the machine tool, such as a numerical control lathe, a numerical control milling machine and other equipment, is fed and discharged.

4. According to the robot end effector, as the clamping openings of the clamping jaw finger I and the clamping jaw finger II are trapezoidal clamping openings, the contact area between the clamping jaw finger I and the clamping jaw finger II and a workpiece can be increased, so that the workpiece can be clamped more stably, and the workpiece is prevented from falling off in the clamping process.

Drawings

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

FIG. 2 is a schematic view of the present utility model in use;

FIG. 3 is a schematic view of the installation of the blowing device;

FIG. 4 is a front view of the mounting plate;

FIG. 5 is a rear view of the mounting plate;

FIG. 6 is a schematic view of the configuration of two jaw fingers one of the pneumatic jaw one;

FIG. 7 is a schematic diagram of the structure of two jaw fingers two of the pneumatic jaw two;

fig. 8 is a schematic view of the overall structure of the connection flange.

The component names and reference numerals referred to in the above figures are as follows:

the chip-removing device comprises a mounting plate 1, a connecting flange 2, a fixing seat 3, a chip blowing pipe 4, a pneumatic connector 5, a first pneumatic clamping jaw 6, a first clamping jaw finger 7, a first indicating workpiece 8, a first containing groove 9, a second containing groove 10, an air tap 11, a second indicating workpiece 12, a second clamping jaw finger 13, a third containing groove 14, a blowing device 15 and a second pneumatic clamping jaw 16.

Detailed Description

The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are only some embodiments of the utility model, but not all embodiments, and all other embodiments obtained by those skilled in the art without making creative efforts based on the embodiments of the present utility model are all within the protection scope of the present utility model.

The first embodiment is as follows: as shown in fig. 1-8, this embodiment discloses a robot end effector, including a mounting plate 1, a connecting flange 2, an air blowing device 15 and two pneumatic clamping jaws, wherein the two pneumatic clamping jaws are a first pneumatic clamping jaw 6 (for outsourcing) and a second pneumatic clamping jaw 16 (for outsourcing), the mounting plate 1 is an L-shaped plate, the connecting flange 2 is detachably and fixedly connected with the corner of the mounting plate 1 through screws, the first pneumatic clamping jaw 6 and the second pneumatic clamping jaw 16 are detachably and fixedly connected with the two ends of the mounting plate 1 through screws, the air blowing device 15 is mounted on the connecting flange 2, and the connecting flange 2 is L-shaped.

Further, the air blowing device 15 comprises a fixed seat 3, a pneumatic connector 5, a chip air blowing pipe 4 and an air tap 11; the fixing base 3 can be dismantled fixed connection through screw and flange 2 upper surface, and it has the through-hole to open on the fixing base 3 lateral wall, and chip gas blowing pipe 4 one end and pneumatic connector 5 fixed connection, chip gas blowing pipe 4 other end pass the through-hole and with air cock 11 fixed connection.

Further, the corner of the upper surface of the mounting plate 1 is provided with a first accommodating groove 9, and one end of the connecting flange 2 is embedded into the first accommodating groove 9 and is detachably and fixedly connected with the first accommodating groove 9 through a screw.

Further, one end of the upper surface of the mounting plate 1 is provided with a second accommodating groove 10, and the fixed end of the second pneumatic clamping jaw 16 is embedded into the second accommodating groove 10 and is detachably and fixedly connected with the second accommodating groove 10 through a screw.

Further, the other end of the lower surface of the mounting plate 1 is provided with a third accommodating groove 14, and the fixed end of the first pneumatic clamping jaw 6 is embedded into the third accommodating groove 14 and is detachably and fixedly connected with the third accommodating groove 14 through a screw.

Further, the clamping opening of the clamping finger 7 of the first pneumatic clamping jaw 6 and the clamping opening of the clamping finger 13 of the second pneumatic clamping jaw 16 are trapezoidal.

Further, the included angle between the two side walls of the trapezoid clamping opening of the clamping jaw finger I7 is larger than the included angle between the two side walls of the trapezoid clamping opening of the clamping jaw finger II 13.

When the clamping device is used, the connecting flange 2 is connected with a robot, an operator controls the robot operating system to control the movement of the robot end effector, the end effector is moved to a workpiece to be clamped, after the workpiece is clamped by the pneumatic clamping jaw, the operator controls the robot operating system to control the movement of the robot end effector, the end effector clamps the workpiece to a designated position, then the pneumatic clamping jaw is reversely controlled, and the pneumatic clamping jaw is separated from the clamped workpiece, so that the clamping operation is completed.

When two workpieces need to be clamped at a time, an operator can control the robot operating system to control the movement of the robot end effector simultaneously or sequentially, and after two pneumatic clamping jaws are controlled to clamp the workpieces respectively, the end effector is moved to clamp the workpieces to the appointed placing position.

The utility model is also provided with the air blowing device, when the machine tool such as a numerical control lathe, a numerical control milling machine and the like is required to be fed and discharged, the pneumatic connector of the air blowing device is connected with a high-pressure air source, and debris, dust and the like on the surface of a workpiece are cleaned by high-speed compressed air sprayed by the air nozzle, so that the influence of the debris, dust and the like on the service life of the machine tool and the quality of a finished product can be avoided.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined as appropriate to form other embodiments that will be apparent to those skilled in the art.

Claims

1. A robotic end effector, characterized by: including mounting panel (1), flange (2), gas blowing device (15) and two pneumatic clamping jaws, two pneumatic clamping jaws are pneumatic clamping jaw one (6) and pneumatic clamping jaw two (16) respectively, and mounting panel (1) are L shaped plate, and fixed connection can be dismantled in flange (2) and the corner of mounting panel (1), and pneumatic clamping jaw one (6) and pneumatic clamping jaw two (16) can be dismantled respectively and fix the both ends at mounting panel (1), install gas blowing device (15) on flange (2).

2. A robotic end effector as claimed in claim 1, wherein: the blowing device (15) comprises a fixed seat (3), a pneumatic connector (5), a chip blowing pipe (4) and an air tap (11); the fixing base (3) is detachably and fixedly connected with the upper surface of the connecting flange (2), a through hole is formed in the side wall of the fixing base (3), one end of the chip blowing pipe (4) is fixedly connected with the pneumatic connector (5), and the other end of the chip blowing pipe (4) penetrates through the through hole and is fixedly connected with the air tap (11).

3. A robotic end effector as claimed in claim 1, wherein: the corner of the upper surface of the mounting plate (1) is provided with a first accommodating groove (9), and one end of the connecting flange (2) is embedded into the first accommodating groove (9) and is detachably and fixedly connected with the first accommodating groove (9).

4. A robotic end effector as claimed in claim 1, wherein: one end of the upper surface of the mounting plate (1) is provided with a second accommodating groove (10), and the fixed end of the pneumatic clamping jaw II (16) is embedded into the second accommodating groove (10) and is detachably and fixedly connected with the second accommodating groove (10).

5. A robotic end effector as claimed in claim 1, wherein: the other end of the lower surface of the mounting plate (1) is provided with a containing groove III (14), and the fixed end of the first pneumatic clamping jaw (6) is embedded into the containing groove III (14) and is detachably and fixedly connected with the containing groove III (14).

6. A robotic end effector as claimed in claim 1, 4 or 5, wherein: the clamping mouth of the clamping finger I (7) of the pneumatic clamping jaw I (6) and the clamping mouth of the clamping finger II (13) of the pneumatic clamping jaw II (16) are trapezoidal.

7. The robotic end effector as set forth in claim 6 wherein: the included angle between the two side walls of the trapezoid clamping opening of the clamping jaw finger I (7) is larger than the included angle between the two side walls of the trapezoid clamping opening of the clamping jaw finger II (13).