End effector and robot

Abstract

The invention relates to the technical field of end effectors, in particular to an end effector and a robot. The end effector comprises a first connecting assembly used for being connected with a robot. The second connecting assembly is used for being connected with a tail end movable rod of the robot; a plurality of third connecting assemblies are movably arranged on the second connecting assembly; the third connecting assembly is provided with the execution end; the movable assembly is arranged on the third connecting assembly; the movable assembly is connected with the second connecting assembly when moving to the first position, and a movable rod at the tail end of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to synchronously move up and down and rotate. When moving to the second position, the movable assembly is connected with the first connecting assembly, a movable rod at the tail end of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to rotate synchronously, and the third connecting assembly and the execution end do not move up and down.

Description

Technical Field

[0001] The present invention relates to the technical field of end effectors, and in particular to an end effector and a robot. Background Art

[0002] In recent years, with the continuous development of modern machinery, as the final execution component of the robot's interaction with the environment, the end effector plays a very important role in improving the robot's intelligence level and operation level. The end effector of an industrial robot is used to be installed on a mobile device or a robot arm, enabling it to pick up an object and has the functions of transmitting, clamping, placing and releasing the object to an accurate position.

[0003] However, the existing robot end effectors are generally non-standard structures. The extension action of the robot end effectors on the market is mostly achieved by cylinders, and the overall speed is slow, and it is not possible to achieve fast extension and grasping. In addition, multiple end effectors usually move up and down synchronously with the cylinders, which requires a larger operating space and cannot be used in scenarios with a smaller grasping range. Summary of the invention

[0004] The purpose of the present invention is to provide an end effector and a robot, aiming to solve the technical problems that the existing robot end effector has a slow grasping speed and needs to have a large operating space when grasping.

[0005] To achieve the above object, the present invention provides an end effector, comprising a first connecting component, which is used to connect with a robot;

[0006] A second connecting component, which is used to connect with the end movable rod of the robot;

[0007] a third connection component, a plurality of the third connection components being movably arranged on the second connection component;

[0008] An execution end, each of the third connecting components is detachably provided with the execution end, and the execution end is used for taking materials;

[0009] A movable component, each of the third connecting components is provided with the movable component, and each of the movable components moves synchronously or independently;

[0010] When the movable component moves to the first position, the movable component is connected to the second connecting component, and the end movable rod of the robot drives the second connecting component, the movable component, the third connecting component and the execution end to synchronously perform up-down movement and rotation movement;

[0011] When the movable component moves to the second position, the movable component is connected to the first connecting component, and the end movable rod of the robot drives the second connecting component, the movable component, the third connecting component and the executing end to rotate synchronously, and the third connecting component and the executing end do not move up and down.

[0012] Preferably, a quick-change assembly is further included, and each of the third connecting assemblies is connected to the execution end via the quick-change assembly.

[0013] Preferably, the first connection assembly comprises a connection part and a circular supporting slide, a plurality of the connection parts are connected to the robot, and the supporting slide is connected to the connection part;

[0014] The second connecting assembly includes a base, a chuck, a limit block and a first magnetic member, the chuck is provided on the base, a slot is provided on the side wall of the chuck, the limit block is provided on the chuck, and the first magnetic member is provided on the outer side of the limit block;

[0015] The movable component includes a rolling member, a driving member, a clamping block, a first guide rail and a first slider, wherein the first guide rail and the driving member are arranged at the top end of the third connecting member, the first slider is slidably arranged on the first guide rail, the clamping block is arranged on the first slider, the output end of the driving member is connected to the clamping block, the rolling member is arranged on the clamping block, and the clamping block is made of magnetic material, so that:

[0016] When the driving member drives the clamping block and the first slider to move along the first guide rail to the first position, the clamping block is clamped in the clamping slot, and the clamping block is magnetically connected to the first magnetic member, and the end movable rod of the robot drives the second connecting component, the movable component, the third connecting component and the execution end to synchronously perform up-down movement and rotation movement;

[0017] When the driving member drives the first slider and the clamping block to move in the opposite direction along the first guide rail to the second position, the rolling member is located above the supporting slide and contacts the supporting slide, and when the end movable rod of the robot drives the second connecting component, the movable component, the third connecting component and the execution end to perform synchronous rotational motion, the rolling member rotates along the supporting slide;

[0018] The first position is the beginning of the first guide rail, and the second position is the end of the first guide rail.

[0019] Preferably, the movable component also includes a second magnetic part and a limiting plate made of magnetic material. The second magnetic part is provided on the rear side of the clamping block. The limiting plate is arranged on the third connecting component, and the limiting plate is located on the outer side of the end of the first guide rail. When the driving member drives the first slider and the clamping block to move in reverse along the first guide rail to the second position, the second magnetic part is magnetically connected to the limiting plate.

[0020] Preferably, the head end of the clamping block protrudes forward to form a clamping portion, and when the driving member drives the clamping block and the first sliding block to move along the first guide rail to the first position, the clamping portion is clamped in the clamping slot;

[0021] The end of the clamping block extends upward to form an elongated portion, and the rolling element is arranged on the top end of the elongated portion.

[0022] Preferably, the third connecting component includes a mounting seat, a second guide rail and a connecting seat, the movable component is arranged above the mounting seat, the second guide rail is vertically arranged at the lower end of the mounting seat, the second connecting component is slidably connected to the second guide rail through a second slider, the connecting seat is provided at the end of the second guide rail, and the connecting seat is connected to the execution end.

[0023] Preferably, a sensor is further provided on the second connecting component, and the sensor is installed on the base. The sensor is used to sense whether the movable component is connected to the second connecting component, and the sensor corresponds to the movable component one by one.

[0024] Preferably, the first connecting component further comprises an outer cover and an outer cover connecting plate, the outer cover connecting plate is arranged on the connecting portion, the outer cover is connected to the outer cover connecting plate, and the second connecting component, the third connecting component and the movable component are all arranged in the outer cover.

[0025] Preferably, a first wire tie seat is provided on the limiting plate, and a second wire tie seat is provided on the third connecting assembly. The first wire tie seat and the second wire tie seat are both used to fix the wiring harness, and the first wire tie seat and the second wire tie seat are located on the same vertical line.

[0026] In addition, the present invention also provides a robot, which includes an end effector as described in any one of the above items.

[0027] The end effector and robot disclosed in the present invention have the following beneficial effects:

[0028] 1. The end effector of this solution is connected to the robot body through the first connecting component, and the second connecting component is directly connected to the movable rod at the end of the robot. When the movable rod at the end of the robot moves up and down or rotates, it directly drives the execution end of the end effector to extend and rotate quickly, the grasping speed is faster, and the work efficiency is improved by 2-4 times.

[0029] 2. Through the setting of the movable component, when the movable part moves to the first position, it is connected to the second connecting part, and when the movable part moves to the first position, it is connected to the first connecting part. Therefore, by controlling each movable component, the movement trend of each actuator end can be controlled. When the corresponding actuator end needs to be extended, the movable component is controlled to move back to the first position, so that the actuator end can move up and down with the movable rod at the end of the robot. Multiple actuator ends can be extended in sequence, which is suitable for occasions where the grasping range of the actuator end is small, to avoid the end actuator colliding with the product when taking and placing materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0031] Figure 1 It is a schematic structural diagram of the end effector of the present invention with an outer cover;

[0032] Figure 2 It is a schematic structural diagram of the end effector of the present invention without an outer cover;

[0033] Figure 3 It is a partial structural schematic diagram of the end effector of the present invention;

[0034] Figure 4 for Figure 3 A local enlarged schematic diagram of the middle A;

[0035] Figure 5 It is a partial structural schematic diagram of the end effector of the present invention;

[0036] Figure 6 is a schematic structural diagram of a first connecting component in the end effector of the present invention;

[0037] Figure 7 It is a partial structural schematic diagram of the end effector of the present invention;

[0038] Figure 8 It is a partial structural schematic diagram of the second connecting component in the end effector of the present invention.

[0039] In the accompanying drawings: 1-first connecting component, 11-connecting part, 12-supporting slide seat, 13-outer cover, 14-outer cover connecting plate, 2-second connecting component, 21-base, 211-connecting arm, 212-mounting arm, 213-positioning block, 22-chuck, 221-slot, 23-limiting block, 24-first magnetic member, 25-second slider, 26-sensor, 3-third connecting component, 31-mounting seat, 3 2-second guide rail, 33-connecting seat, 34-second wire binding seat, 4-executing end, 5-movable component, 51-rolling member, 52-driving member, 53-block, 531-engaging part, 532-extension part, 54-first guide rail, 55-first slider, 56-second magnetic member, 57-limiting plate, 571-first wire binding seat, 6-quick change assembly, 61-quick change chuck, 62-quick change head, 63-unlocking push block.

[0040] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] It should be noted that if a directional indication is involved in the embodiment of the present invention, the directional indication is only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0043] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0044] like Figures 1 to 7 As shown, an end effector comprises a first connection component 1, which is used to connect with a robot;

[0045] A second connecting component 2, which is used to connect to the end movable rod (not shown in the figure) of the robot;

[0046] A third connection component 3, a plurality of the third connection components 3 are movably arranged on the second connection component 2;

[0047] An execution end 4, each of the third connecting components 3 is detachably provided with the execution end 4, and the execution end 4 is used for taking materials;

[0048] A movable component 5, each of the third connecting components 3 is provided with the movable component 5, and each of the movable components 5 moves synchronously or independently;

[0049] When the movable component 5 moves to the first position, the movable component 5 is connected to the second connecting component 2, and the end movable rod of the robot drives the second connecting component 2, the movable component 5, the third connecting component 3 and the execution end 4 to synchronously perform up and down movement and rotation movement;

[0050] When the movable component 5 moves to the second position, the movable component 5 is connected to the first connecting component 1, and the end movable rod of the robot drives the second connecting component 2, the movable component 5, the third connecting component 3 and the executing end 4 to rotate synchronously, and the third connecting component 3 and the executing end 4 do not move up and down.

[0051] The end effector of this solution can be installed on a planar four-joint robot or other types of robots, and the extension and rotation of the movable rod at the end of the robot directly drive the execution end 4 of the end effector to extend and rotate quickly. Different from the traditional way of using a cylinder to drive the execution end 4 to extend, the working speed of the cylinder is 400-600mm / s, while the working speed of the end effector is related to the movable rod at the end of the robot, which can reach 1100-2000mm / s, and the working efficiency is improved by 2-4 times. In addition, through the above structure of this solution, each execution end 4 can be extended independently to avoid the mechanism colliding with the product when taking and placing materials.

[0052] Specifically, the end effector of the present solution is connected to the robot body through the first connecting component 1, and is connected to the end movable rod of the robot through the second connecting component 2. The end movable rod of the robot can move up and down or rotate.

[0053] The end effector includes multiple active components 5, multiple execution ends 4 and multiple third connection components 3. The movement trend of each active component 5 is independent, and can be synchronized or independently moved by the controller. When the active component 5 moves to the first position, the active component 5 is directly connected to the second connection component 2, so that the third connection component 3 and the execution end 4 are also directly connected to the second connection component 2. Therefore, the end active rod of the robot can drive multiple execution ends 4 to rise, fall and rotate at the same time, which is suitable for occasions where the grasping range of the execution end 4 is large.

[0054] When the movable component 5 moves to the second position, the movable component 5 is directly connected to the first connecting component 1. At this time, the end movable rod of the robot can only drive multiple execution ends 4 to rotate. When the end movable rod of the robot moves up and down, only the second connecting component 2 moves with it, and the third connecting component 3 and the execution end 4 do not move up and down. Since each movable component 5 of this solution can move independently, the movement trend of each execution end 4 can be controlled by controlling each movable component 5. When the corresponding execution end 4 needs to be extended, the movable component 5 is controlled to move back to the first position so that the execution end 4 can move up and down with the end movable rod of the robot. In this way, multiple execution ends 4 can be extended in sequence, or part of the execution ends 4 can be controlled to extend and part of the execution ends 4 cannot extend, etc. It has a wide range of adaptability and can be used in occasions where the grasping range of the execution end 4 is small, so as to avoid the end actuator colliding with the product when taking and releasing materials.

[0055] Furthermore, a quick-change assembly 6 is included, and each of the third connection assemblies 3 is connected to the execution end 4 via the quick-change assembly 6. Figure 7 As shown, the quick-change assembly 6 is composed of a quick-change chuck (female) 61, a quick-change head (male) 61 and an unlocking push block 63. One end of the quick-change assembly 6 is connected to the actuator end 4, and the other end is connected to the third connecting assembly 3. The actuator end 4 can be an air claw, a clamp or a suction cup. One actuator end 4 can be connected to an air circuit, and the actuator end 4 is installed on the quick-change head 62.

[0056] When a different actuator 4 needs to be replaced, the quick-change chuck 61 is unlocked after the unlocking push block 63 is pushed up, and the quick-change head 62 and the quick-change chuck 61 can be removed. Correspondingly, a new actuator 4 and the quick-change head 62 can be inserted, and the unlocking push block 63 can be automatically locked after it is released, so that any actuator 4 can be quickly replaced. The quick-change chuck 61 is hollow and ventilated, and has an air-tight structure inside. When the actuator 4 is replaced and locked, the air path is sealed, and there is no need to plug and unplug the air pipe.

[0057] Of course, other conventional quick-change structures may also be used in other embodiments.

[0058] Furthermore, the first connection assembly 1 includes a connection portion 11 and a circular support slide 12, a plurality of the connection portions 11 are connected to the robot, and the support slide 12 is connected to the connection portion 11;

[0059] The second connecting component 2 includes a base 21, a chuck 22, a limit block 23 and a first magnetic member 24. The chuck 22 is provided on the base 21, a clamping groove 221 is provided on the side wall of the chuck 22, the limit block 23 is provided on the chuck 22, and the first magnetic member 24 is provided on the outer side of the limit block 23;

[0060] The movable component 5 includes a rolling member 51, a driving member 52, a block 53, a first guide rail 54 and a first slider 55. The first guide rail 54 and the driving member 52 are arranged at the top of the third connecting component 3. The first slider 55 is slidably arranged on the first guide rail 54. The block 53 is arranged on the first slider 55. The output end of the driving member 52 is connected to the block 53. The rolling member 51 is arranged on the block 53, and the block 53 is made of magnetic material, so that:

[0061] When the driving member 52 drives the clamping block 53 and the first slider 55 to move to the first position along the first guide rail 54, the clamping block 53 is clamped in the clamping slot 221, and the clamping block 53 is magnetically connected to the first magnetic member 24, and the end movable rod of the robot drives the second connecting component 2, the movable component 5, the third connecting component 3 and the execution end 4 to synchronously perform up and down movement and rotation movement;

[0062] When the driving member 52 drives the first slider 55 and the clamping block 53 to move in the reverse direction along the first guide rail 54 to the second position, the rolling member 51 is located above the supporting slide 12 and contacts it, and when the end movable rod of the robot drives the second connecting component 2, the movable component 5, the third connecting component 3 and the execution end 4 to perform synchronous rotational motion, the rolling member 51 rotates along the supporting slide 12;

[0063] The first position is the head end of the first guide rail 54 , and the second position is the end end of the first guide rail 54 .

[0064] In this embodiment, Figures 2 to 5 As shown, the operation of multiple groups of actuators 4 can be controlled by extending and retracting multiple driving members 52 (specifically, cylinders or other telescopic members).

[0065] When the driving member 52 extends out, it drives the first slider 55 to move toward the limit block 23. The clamping block 53 is fixed by the first magnetic member 24 (specifically a magnet) on the limit block 23. The bottom of the clamping block 53 is clamped into the clamping groove 221 of the chuck 22. The entire movable component 5, the third connecting component 3 and the execution end 4 can follow the second connecting component 2 and the movable rod at the end of the robot to perform up and down linear motion and rotational motion.

[0066] When the driving member 52 retracts, it will drive the first slider 55 to move in the direction away from the limit block 23. At this time, the top rolling member 51 of the movable component 5 (specifically, it can be a cam follower) will be connected to the supporting slide 12 (specifically, it can be a circular cam follower tray), and the entire movable component 5, the third connecting component 3 and the execution end 4 are all hung on the supporting slide 12. The clamping block 53 is also disengaged from the chuck 22 at this time (even if the movable rod at the end of the robot is extended, it will only drive the base 21 and the second slider 25 described below to move up and down along the second guide rail 32), thereby offsetting the extension and retraction movement of the connecting part 11 of the execution end 4 with the robot end rod, and the execution end 4 is stably hung on the first connecting component 1 without up and down displacement movement. When the movable rod at the end of the robot rotates, the rolling member 51 rotates around the robot end rod on the supporting slide 12 at the same time.

[0067] Furthermore, the movable component 5 also includes a second magnetic component 56 and a limiting plate 57 made of magnetic material. The second magnetic component 56 is provided on the rear side of the clamping block 53, and the limiting plate 57 is located on the outer side of the end of the first guide rail 54. When the driving component 52 drives the first slider 55 and the clamping block 53 to move in the opposite direction along the first guide rail 54 to the second position, the second magnetic component 56 is magnetically connected to the limiting plate 57.

[0068] In order to make the connection between the movable component 5 and the first connecting component 1 more stable, a limit plate 57 is additionally provided in this embodiment. The limit plate 57 is located at the end of the first guide rail 54. Since the limit plate 57 is also made of magnetic material, when the first slider 55 and the clamping block 53 move to the end of the first guide rail 54, the second magnetic component 56 just contacts with the limit plate 57, and the second magnetic component 56 on the clamping block 53 is adsorbed and fixed by the limit plate 57, so that the first slider 55 will not move freely, thereby ensuring that the rolling member 51 of the movable component 5 can stably rotate along the supporting slide 12.

[0069] Furthermore, the head end of the clamping block 53 protrudes forward to form a clamping portion 531. When the driving member 52 drives the clamping block 53 and the first slider 55 to move to the first position along the first guide rail 54, the clamping portion 531 is clamped in the clamping slot 221.

[0070] The end of the clamping block 53 extends upward to form an elongated portion 532 , and the rolling element 51 is disposed at the top end of the elongated portion 532 .

[0071] In this embodiment, Figure 5 As shown, the shape of the clamping block 53 is quite special. The clamping block 53 is detachably mounted on the first slider 55 by bolts. The front side of the clamping block 53 is bent downward to form a bent portion. One end of the bent portion is connected to the output end of the driving member 52, and the clamping block 53 is driven to move by the driving member 52. A protruding clamping portion 531 is provided at the head end of the bent portion. The chuck 22 is provided with clamping grooves 221 distributed around it. The size of the clamping portion 531 corresponds to the size of the clamping groove 221, so that the clamping portion 531 is clamped in the clamping groove 221, thereby ensuring the stable connection between the movable component 5 and the second connecting component 2. The end of the block 53 extends upward to form an extension portion 532, so that the rolling element 51 is installed at a higher position and can contact the supporting slide 12; in addition, the second magnetic element 56 is fixed to the end of the block 53 by bolts, and the extension direction of the bolts is opposite to the extension direction of the block 53, so that the second magnetic element 56 is flush with the end of the first slider 55. When the first slider 55 moves to the end of the first guide rail 54, the second magnetic element 56 can just contact the limit plate 57 on the outside of the second guide rail 32.

[0072] In particular, the first magnetic component 24, the second magnetic component 56, and the limit plate 57 (block 53) of the present solution are all made of magnetic materials, which are designed mainly for safety reasons. Because when the driving component 52 (cylinder) is accidentally cut off, the magnetic material block can fix the block 53 in the first position or the second position by magnetic force, preventing the block 53 from sliding freely and falling.

[0073] Furthermore, the third connecting component 3 includes a mounting seat 31, a second guide rail 32 and a connecting seat 33, the movable component 5 is arranged above the mounting seat 31, the second guide rail 32 is vertically arranged at the lower end of the mounting seat 31, the second connecting component 2 is slidably connected to the second guide rail 32 through a second slider 25, and the connecting seat 33 is provided at the end of the second guide rail 32, and the connecting seat 33 is connected to the execution end 4.

[0074] The outer contour of the base 21 of the second connecting component 2 is also approximately circular, and a plurality of connecting arms 211 are extended in all directions from the base 21. Each second guide rail 32 passes through the corresponding connecting arm 211, so that the mounting seat 31 extends to the top of the connecting arm 211, and the end of each connecting arm 211 is bent downward to form a mounting arm 212. The second slider 25 is installed on the mounting arm 212 by bolts, and the second slider 25 is slidably set on the vertically set second guide rail 32. When the end movable rod of the robot moves up and down, it will drive the second connecting component 2 and the second slider 25 to move up and down along the second guide rail 32. The second guide rail 32 of the third connecting component 3 will not move up and down together, and the connecting seat 33 and the execution end 4 at the end of the second guide rail 32 will not move up and down.

[0075] A positioning block 213 is further provided on one side of the mounting arm 212. The positioning block 213 extends to the second guide rail 32 to position the second guide rail 32 perpendicular to the plane of the base 21 to prevent the second guide rail 32 from tilting.

[0076] In actual production, the number of connecting arms can be 4, and the corresponding number of movable components 5, second guide rails 32, connecting seats 33 and execution ends 4 is also 4. In other embodiments, the number of execution ends 4 and other components can be appropriately increased or decreased according to demand.

[0077] Furthermore, the second connecting component 2 is also provided with a sensor 26, which is installed on the base 21. The sensor 26 is used to sense whether the movable component 5 is connected to the second connecting component 2, and the sensor 26 corresponds to the movable component 5. When the clamping block 53 is fixed by the first magnetic member 24 on the limit block 23, the clamping portion 531 on the front side thereof is clamped into the clamping groove 221 of the chuck 22. At this time, the multiple sensors 26 on the base 21 receive the signal that the movable component 5 is fixed in place with the second connecting component 2, and the movable rod at the end of the robot performs subsequent actions.

[0078] Furthermore, the first connecting component 1 also includes an outer cover 13 and an outer cover connecting plate 14, the outer cover connecting plate 14 is arranged on the connecting portion 11, the outer cover 13 is connected to the outer cover connecting plate 14, and the second connecting component 2, the third connecting component 3 and the movable component 5 are all arranged in the outer cover 13.

[0079] The end effector of the present solution is connected to the robot body through the first connecting component 1, specifically, it is connected to the robot body through the connecting part 11, the outer cover connecting plate 14 and the supporting slide 12 are respectively arranged at the upper and lower ends of the connecting part 11. During the specific installation, 3 or 4 connecting parts 11 can be arranged to connect the outer cover connecting plate 14 and the supporting slide 12. The outer cover 13 corresponds to the outer contour of the outer cover connecting plate 14, and is inserted upward from the bottom of the end effector until the outer cover 13 is located above the outer cover 13 mounting plate, and then the outer cover 13 is rotated to align the mounting holes on the outer cover 13 with the mounting holes on the outer cover connecting plate 14, and then the two are locked and fixed.

[0080] Furthermore, a first wire tie seat 571 is provided on the limiting plate 57, and a second wire tie seat 34 is provided on the third connecting component 3. The first wire tie seat 571 and the second wire tie seat 34 are both used to fix the wiring harness, and the first wire tie seat 571 and the second wire tie seat 34 are located on the same vertical line.

[0081] Since the robot or the end effector requires power supply when running, there are several power lines or other lines. In order to better store them, this embodiment provides a first wire tie seat 571 and a second wire tie seat 34 on the limiting plate 57 of the movable component 5 and the third connecting component 3, respectively. The second wire tie seat 34 at the lower end and the first wire tie seat 571 at the upper end are aligned up and down, ensuring the neatness of the lines and will not interfere with the high-speed operation of the robot.

[0082] In particular, the present invention further provides a robot using any of the above-mentioned end effectors. The robot includes any of the above-mentioned end effectors, and thus has the same beneficial effects as the above-mentioned end effectors, which will not be described in detail here.

[0083] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the inventive concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An end effector, characterized in that: include: A first connection component (1), which is used to connect with the robot; A second connecting component (2), which is used to connect to the end movable rod of the robot; a third connection component (3), a plurality of the third connection components (3) being movably arranged on the second connection component (2); An execution end (4), each of the third connecting components (3) is detachably provided with the execution end (4), and the execution end (4) is used for taking materials; A movable component (5), each of the third connecting components (3) is provided with the movable component (5), and each of the movable components (5) moves synchronously or independently; When the movable component (5) moves to the first position, the movable component (5) and the second connecting component (2) are connected to each other, and the end movable rod of the robot drives the second connecting component (2), the movable component (5), the third connecting component (3) and the execution end (4) to synchronously perform up-down movement and rotational movement; When the movable component (5) moves to the second position, the movable component (5) is connected to the first connecting component (1), and the end movable rod of the robot drives the second connecting component (2), the movable component (5), the third connecting component (3) and the executing end (4) to rotate synchronously, and the third connecting component (3) and the executing end (4) do not move up and down.

2. The end effector according to claim 1, characterized in that: It also comprises a quick-change assembly (6), and each of the third connection assemblies (3) is connected to the execution end (4) via the quick-change assembly (6).

3. The end effector according to claim 1, characterized in that: The first connection assembly (1) comprises a connection portion (11) and a circular support slide (12), a plurality of the connection portions (11) are connected to the robot, and the support slide (12) is connected to the connection portion (11); The second connecting assembly (2) comprises a base (21), a chuck (22), a limit block (23) and a first magnetic member (24); the chuck (22) is arranged on the base (21); a clamping groove (221) is provided on a side wall of the chuck (22); the limit block (23) is arranged on the chuck (22); and the first magnetic member (24) is arranged on the outer side of the limit block (23); The movable component (5) comprises a rolling member (51), a driving member (52), a clamping block (53), a first guide rail (54) and a first slider (55); the first guide rail (54) and the driving member (52) are arranged at the top end of the third connecting member (3); the first slider (55) is slidably arranged on the first guide rail (54); the clamping block (53) is arranged on the first slider (55); the output end of the driving member (52) is connected to the clamping block (53); the rolling member (51) is arranged on the clamping block (53); and the clamping block (53) is made of magnetic material, so that: When the driving member (52) drives the clamping block (53) and the first sliding block (55) to move along the first guide rail (54) to the first position, the clamping block (53) is clamped in the clamping slot (221), and at the same time, the clamping block (53) is magnetically connected to the first magnetic member (24), and the end movable rod of the robot drives the second connecting component (2), the movable component (5), the third connecting component (3) and the execution end (4) to synchronously perform up-and-down movement and rotational movement; When the driving member (52) drives the first slider (55) and the clamping block (53) to move in the opposite direction along the first guide rail (54) to the second position, the rolling member (51) is located above the supporting slide seat (12) and contacts the supporting slide seat (12), and when the end movable rod of the robot drives the second connecting component (2), the movable component (5), the third connecting component (3) and the execution end (4) to rotate synchronously, the rolling member (51) rotates along the supporting slide seat (12); The first position is the head end of the first guide rail (54), and the second position is the end end of the first guide rail (54).

4. The end effector according to claim 3, characterized in that: The movable component (5) further comprises a second magnetic component (56) and a limiting plate (57) made of a magnetic material. The second magnetic component (56) is arranged on the rear side of the clamping block (53). The limiting plate (57) is arranged on the third connecting component (3), and the limiting plate (57) is located on the outer side of the end of the first guide rail (54). When the driving component (52) drives the first sliding block (55) and the clamping block (53) to move in the reverse direction along the first guide rail (54) to a second position, the second magnetic component (56) is magnetically connected to the limiting plate (57).

5. The end effector according to claim 3, characterized in that: The front end of the clamping block (53) protrudes forward to form a clamping portion (531); when the driving member (52) drives the clamping block (53) and the first sliding block (55) to move along the first guide rail (54) to a first position, the clamping portion (531) is clamped in the clamping slot (221); The end of the clamping block (53) extends upward to form an elongated portion (532), and the rolling element (51) is arranged at the top end of the elongated portion (532).

6. The end effector according to claim 1, characterized in that: The third connecting component (3) comprises a mounting seat (31), a second guide rail (32) and a connecting seat (33); the movable component (5) is arranged above the mounting seat (31); the second guide rail (32) is vertically arranged at the lower end of the mounting seat (31); the second connecting component (2) is slidably connected to the second guide rail (32) via a second slider (25); the connecting seat (33) is provided at the end of the second guide rail (32); and the connecting seat (33) is connected to the execution end (4).

7. The end effector according to claim 3, characterized in that: The second connecting component (2) is also provided with a sensor (26), and the sensor (26) is installed on the base (21). The sensor (26) is used to sense whether the movable component (5) is connected to the second connecting component (2), and the sensor (26) corresponds to the movable component (5) one by one.

8. The end effector according to claim 3, characterized in that: The first connecting component (1) further comprises an outer cover (13) and an outer cover connecting plate (14); the outer cover connecting plate (14) is arranged on the connecting portion (11); the outer cover (13) is connected to the outer cover connecting plate (14); and the second connecting component (2), the third connecting component (3) and the movable component (5) are all arranged in the outer cover (13).

9. The end effector according to claim 4, characterized in that: The limiting plate (57) is provided with a first wire tie seat (571), and the third connecting assembly (3) is provided with a second wire tie seat (34); the first wire tie seat (571) and the second wire tie seat (34) are both used to fix the wire harness, and the first wire tie seat (571) and the second wire tie seat (34) are located on the same vertical line.

10. A robot, characterized in that: The robot comprises the end effector according to any one of claims 1-9.

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