An 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 effector and the end shaft assembly include a drive unit, a conversion unit, an end shaft, an end effector, and a braking unit; the drive unit is connected to the A conversion unit, through the conversion of the conversion unit, respectively drives the movement of the end shaft and the end effector; the end effector can be connected to the end shaft in relative motion, so that the end shaft can drive the end The actuators move synchronously; the brake unit is used to brake the end shaft when the end effector moves under the drive of the conversion unit, so that the end shaft does not follow the end effector sports. By adopting the end effector and the end shaft assembly of the present invention, by using the end effector and the end shaft assembly to share the same drive unit, the weight of the assembly itself is reduced, thereby increasing the effective load at the output end of the end effector.

Description

technical field [0001] The invention relates to the technical field of automation, 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. In the field of robots, commonly used robots can include: multi-axis robots (such as Figure 4 shown) and parallel robots (such as Figure 5 shown), the multi-axis robot and the parallel robot are located on the last axis of the robot (hereinafter referred to as the end axis) to set the end effector that can realize various functions. Usually, the driving units of the end effector and the end axis are respectively using their own driven by the drive unit. [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 t...

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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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