End effector and end shaft assembly, robot and control method

Abstract

The invention provides an end effector and an end shaft assembly, a robot and a control method. The end executor and the end shaft assembly comprise a driving unit, a conversion unit, a tail end shaft, the end executor and a brake unit; the driving unit is connected with the conversion unit, and the movement of the tail end shaft and the movement of the end executor are driven through conversion of the conversion unit; the end effector is relatively movably connected with the tail end shaft so that the tail end shaft can drive the end executor to move synchronously; and the braking unit is used to brake the tail end shaft when the end effector moves under the drive of the conversion unit, so that the tail end shaft does not follow the end effector to move. According to the end executor andthe end shaft assembly, the end executor and the end shaft assembly share the same driving unit, so that the weight of the assembly is reduced and the effective load of the output end of the end effector is increased.

Description

Technical field [0001] The invention relates to the field of automation technology, in particular to an end effector and an end shaft assembly, a robot and a control method. Background technique [0002] With the development of industry and technology, robots have been widely used and developed rapidly. At present, in the field of robotics, commonly used robots can include: multi-axis robots (such as Figure 4 Shown) and parallel robots (such as Figure 5 (Shown), multi-axis robots and parallel robots are provided with end effectors that can realize various functions on the last axis of the robot end (hereinafter referred to as the end axis). Usually, the drive units of the end effector and the end axis are respectively used Driven by the drive unit. [0003] The problem with the end shaft and end effector assembly using the above-mentioned structure is that because two driving units are required to drive the end shaft and the end effector respectively at the same time, the weight o...

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Problems solved by technology

[0003] The problem with the end shaft and end effector assembly with the above structure is that since two drive units are required to drive the end shaft and the end effector respectively at the same time, the weight of the robot assembly itself is too large, resulting in the final end effector The effective load on the output drops significantly

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