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A robotic arm end effector

A technology of an end effector and a robotic arm, applied in the field of automation, can solve the problems of inflexibility, large size of the end of the robotic arm, and large space occupation, and achieve the effects of a wide range of motion, a compact structure, and a small space occupation.

Active Publication Date: 2022-07-29
洛阳尚奇机器人科技有限公司
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The end of the existing robotic arm is large in size and occupies a large space, and can only achieve simple angular movement, which is not flexible enough

Method used

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  • A robotic arm end effector
  • A robotic arm end effector
  • A robotic arm end effector

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0022] like figure 1 As shown in -4, a mechanical arm end effector includes a Hooke joint 1, a ball joint 3 and a connecting sleeve 2; the Hooke joint 1 and the ball joint 3 are respectively installed on the connecting sleeve 2. two ends; the connecting sleeve 2 includes a hook side connecting rod 21, a spherical hinge side connecting rod 22, a fastening flange 1 23, a support sleeve 24 and an intermediate connecting rod 25; the hooking hinge side connecting rod 21 and the spherical hinge side connecting rod 22 are respectively installed on the left and right ends of the support sleeve 24, the middle part of the support sleeve 24 is hollow, the support sleeve 24 is provided with a number of spiral through holes 26, the tiger The rear end of the connecting rod 21 on the side of the gram hinge and the connecting rod on the side of the ball hinge 22 are provided with a rotating pin 27, the rotating pin 27 is clamped in the screw through hole 26, and the intermediate connecting ro...

Embodiment 2

[0026] The Hooker joint 1 and the ball joint 3 are slidably connected to the left and right ends of the connecting sleeve 2, the intermediate link 25 is slidably installed inside the support sleeve 24, and one end of the intermediate link 25 is connected Hooke joint 1, the other end is connected to the ball joint 3.

Embodiment 3

[0028] On the basis of Embodiment 1, the ball joint 3 includes a ball joint rotating rod 1 31, a ball joint rotating shaft seat 32, a ball joint intermediate rotating shaft 33, a ball joint rotating rod two 34, a ball joint rotating sleeve 35 and a fastening method The second flange 36; the second fastening flange 36 is fixedly sleeved on the ball hinge rotating sleeve 35, the spherical hinge rotating sleeve 35 is sleeved on the second ball head rotating rod 34, and the ball hinge rotating shaft seat 32 passes through the ball hinge. The intermediate rotating shaft 33 is rotatably connected with the ball-head rotating rod 2 34, the ball-joint rotating shaft seat 32 is provided with a rotating shaft bearing on one side, and the ball-head rotating rod 1 31 is rotatably connected to the rotating shaft bearing to realize three-degree-of-freedom motion.

[0029] The second fastening flange 36 and the first fastening flange 23 are fixedly connected by screws.

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PUM

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Abstract

The invention discloses a mechanical arm end execution device, comprising a Hooke joint, a ball joint and a connecting sleeve; the Hooke joint and the ball joint are respectively installed on the left and right ends of the connecting sleeve; the connecting The sleeve includes a Hook hinge side connecting rod, a ball hinge side connecting rod, a fastening flange 1, a support sleeve and an intermediate connecting rod; the Hook hinge side connecting rod and the ball hinge side connecting rod are respectively installed on the supporting sleeve The middle part of the support sleeve is hollow, the support sleeve is provided with a number of through holes, the intermediate connecting rod is installed in the support sleeve, and the fastening flange is fixed on the ball The right wall of the hinge side connecting rod, the middle part of the top end of the support sleeve is provided with a connecting pipe; the mechanical arm end actuator of the present invention has a compact structure, a small footprint, a wide range of motion, and flexible motion, and can achieve six degrees of freedom at the end of the actuator. activity function.

Description

technical field [0001] The invention relates to the field of automation technology, and in particular to a robotic arm end effector. Background technique [0002] The end effector of a robotic arm generally refers to any tool that is connected to the edge (joint) of the robotic arm and has a certain function. Including manipulator gripper, manipulator tool quick changer, manipulator collision sensor, manipulator rotation connector, etc. The robotic arm belongs to an automated mechanical device, which has been widely used in industrial manufacturing, medical and other technical fields. There are various forms of robotic arms, but most of the robotic arms have a common feature, that is, they can accept control instructions, and perform corresponding operations somewhere in the three-dimensional or three-dimensional space according to the control instructions. The end of the existing mechanical arm is large in size and occupies a large space, can only achieve simple angular m...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J15/02
CPCB25J15/0206
Inventor 朱延河赵杰李长乐
Owner 洛阳尚奇机器人科技有限公司