An end effector and robot

Abstract

The application 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 which is used for being connected with a robot; a second connecting assembly which is used for being connected with an end movable rod of the robot; a plurality of third connecting assemblies which are movably arranged on the second connecting assembly; an execution end which is arranged on the third connecting assembly; and a movable assembly which is arranged on the third connecting assembly. When the movable assembly moves to a first position, the movable assembly is connected with the second connecting assembly, and the end movable rod of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to synchronously perform up-down movement and rotary movement. When the movable assembly moves to a second position, the movable assembly is connected with the first connecting assembly, the end movable rod of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to synchronously perform rotary movement, and the third connecting assembly and the execution end do not perform up-down movement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of end effector, in particular to an end effector and a robot. BACKGROUND

[0002] In recent years, with the continuous development of modern machinery, as the last execution component of the interaction between robot and environment, the end effector plays a very important role in improving the intelligent level and operation level of robot. The end effector of industrial robot is used to be installed on a mobile device or a robot arm, so that it can pick up an object and has the function of mechanism for transmitting, clamping, placing and releasing the object to an accurate position.

[0003] However, the existing robot end effector is generally a non-standard structure, and the extension action of the robot end effector on the market is usually realized by using a cylinder, the overall speed is slow, and fast extension and grabbing cannot be realized. Moreover, multiple end effectors usually move up and down synchronously with the cylinder, which requires a large operation space and cannot be applied to scenes with small grabbing range. SUMMARY

[0004] The present application aims to provide an end effector and a robot, which aims to solve the technical problems of slow grabbing speed of the existing robot end effector and the need to ensure a large operation space during grabbing.

[0005] To achieve the above-mentioned purpose, the present application provides an end effector, which comprises a first connecting component for connecting with a robot;

[0006] a second connecting component for connecting with an end movable rod of the robot;

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

[0008] an execution end, the execution end is detachably arranged on each third connecting component, and the execution end is used for taking materials;

[0009] a movable component, the movable component is arranged on each third connecting component, and each movable component moves synchronously or independently;

[0010] When the movable component moves to a first position, the movable component and the second connecting component are connected with each other, 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 move up and down and rotate synchronously;

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

[0012] Preferably, the third connecting assembly is connected with the execution end through a quick-change assembly.

[0013] Preferably, the first connecting assembly comprises connecting parts and a circular annular supporting slide, the connecting parts are connected with the robot, and the supporting slide is connected with the connecting parts.

[0014] The second connecting assembly comprises a base, a chuck, a limiting block and a first magnetic member, the base is provided with the chuck, a clamping groove is formed in the side wall of the chuck, the limiting block is arranged on the chuck, and the first magnetic member is arranged on the outer side of the limiting block.

[0015] The movable assembly comprises a rolling member, a driving member, a clamping block, a first guide rail and a first sliding block, the first guide rail and the driving member are arranged at the top end of the third connecting assembly, the first sliding block is slidingly arranged on the first guide rail, the clamping block is arranged on the first sliding block, the output end of the driving member is connected with the clamping block, and the rolling member is arranged on the clamping block.

[0016] When the driving member drives the clamping block and the first sliding block to move to the first position along the first guide rail, the clamping block is clamped in the clamping groove, and the clamping block is magnetically connected with the first magnetic member, the end movable rod 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.

[0017] When the driving member drives the first sliding block and the clamping block to reversely move to the second position along the first guide rail, the rolling member is located above the supporting slide and contacts the supporting slide, when the end movable rod of the robot drives the second connecting assembly, the movable assembly, the third connecting assembly and the execution end to synchronously rotate, the rolling member rotates along the supporting slide.

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

[0019] Preferably, the movable assembly further comprises a second magnetic member and a magnetic material limiting sheet, the rear side of the clamping block is provided with the second magnetic member, the limiting sheet is arranged on the third connecting assembly, and the limiting sheet is located outside the end of the first guide rail, when the driving member drives the first slider and the clamping block to move reversely along the first guide rail to the second position, the second magnetic member is magnetically connected with the limiting sheet.

[0020] Preferably, the first end of the clamping block protrudes forward to form a clamping part, 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 part is clamped in the clamping groove.

[0021] The end of the clamping block extends upward to form an elongated part, and the rolling member is arranged at the top end of the elongated part.

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

[0023] Preferably, the second connecting assembly is further provided with a sensor, the sensor is mounted on the base, the sensor is used for sensing whether the movable assembly is connected to the second connecting assembly, and the sensor corresponds to the movable assembly one by one.

[0024] Preferably, the first connecting assembly further comprises an outer cover and an outer cover connecting plate, the outer cover connecting plate is arranged on the connecting part, the outer cover is connected with the outer cover connecting plate, and the second connecting assembly, the third connecting assembly and the movable assembly are arranged in the outer cover.

[0025] Preferably, the limiting sheet is provided with a first wire fixing seat, the third connecting assembly is provided with a second wire fixing seat, the first wire fixing seat and the second wire fixing seat are both used for fixing wire harnesses, and the first wire fixing seat and the second wire fixing seat are located on the same vertical line.

[0026] In addition, the application further provides a robot, which comprises the end effector according to any one of the above.

[0027] The end effector and the robot disclosed by the application have the following beneficial effects:

[0028] 1. The end effector of the present scheme is connected with the robot body through a first connecting assembly, and is directly connected with a robot end movable rod through a second connecting assembly; when the robot end movable rod moves up and down or rotates, the end effector is directly driven to quickly extend and rotate, the grabbing speed is relatively fast, and the work efficiency is improved by 2-4 times.

[0029] 2. Through the setting of the movable assembly, the movable part is connected with the second connecting part when moving to the first position, and is connected with the first connecting part when moving to the first position; thus, the movement trend of each execution end can be controlled by controlling each movable assembly, and when the corresponding execution end needs to extend, the movable assembly is controlled to move to the first position again, so that the execution end can move up and down with the robot end movable rod, and multiple execution ends can be sequentially extended in sequence, which is suitable for occasions where the grabbing range of the execution end is small, and the end effector is prevented from colliding with products when taking and placing materials. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of the drawings shown.

[0031] Figure 1 Structure schematic view of the end effector of the present application with an outer cover;

[0032] Figure 2 Structure schematic view of the end effector of the present application without an outer cover;

[0033] Figure 3 Structure schematic view of part of the end effector of the present application;

[0034] Figure 4 Structure schematic view of part of the end effector of the present application; Figure 3 Enlarged view of part A in the structure schematic view of part of the end effector of the present application;

[0035] Figure 5 Structure schematic view of part of the end effector of the present application;

[0036] Figure 6 Structure schematic view of the first connecting assembly in the end effector of the present application;

[0037] Figure 7 Structure schematic view of part of the end effector of the present application;

[0038] Figure 8 Structure schematic view of part of the second connecting assembly in the end effector of the present application.

[0039] In the accompanying drawings: 1-first connecting component, 11-connecting portion, 12-supporting slide, 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-clamping 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 purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0042] It should be noted that if a directional indication is involved in an 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 for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features specified as "first" and "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that ordinary technicians in this field can 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 includes a first connecting component 1, which is used to connect with a robot;

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

[0046] A third connecting assembly 3 is movably arranged on the second connecting assembly 2.

[0047] An execution end 4 is detachably arranged on each third connecting assembly 3, and the execution end 4 is used to take materials.

[0048] A movable assembly 5 is arranged on each third connecting assembly 3, and each movable assembly 5 moves synchronously or independently.

[0049] When the movable assembly 5 moves to a first position, the movable assembly 5 is connected with the second connecting assembly 2, and the end movable rod of the robot drives the second connecting assembly 2, the movable assembly 5, the third connecting assembly 3 and the execution end 4 to move synchronously up and down and rotate.

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

[0051] The end effector of the scheme can be installed on a planar four-joint robot or other types of robots, and the execution end 4 of the end effector is quickly extended and rotated by the extension and rotation of the end movable rod of the robot. Unlike the traditional way of extending the execution end 4 by a cylinder, the working speed of the cylinder is 400-600mm / s, and the working speed of the end effector is associated with the end movable rod 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 the scheme, the independent extension of each execution end 4 can be realized, and the collision of the mechanism with the product during taking and placing materials can be avoided.

[0052] Specifically, the end effector of the scheme is connected with the robot body through the first connecting assembly 1, and connected with the end movable rod of the robot through the second connecting assembly 2, and the end movable rod of the robot can move up and down or rotate.

[0053] The end effector comprises a plurality of movable assemblies 5, a plurality of execution ends 4 and a plurality of third connecting assemblies 3, the movement trend of each movable assembly 5 is independent, and the movable assemblies 5 can be synchronously moved or independently moved through a controller. When the movable assembly 5 moves to a first position, the movable assembly 5 is directly connected with the second connecting assembly 2, so that the third connecting assembly 3 and the execution end 4 are also directly connected with the second connecting assembly 2. Therefore, the movable rod at the end of the robot can drive the plurality of execution ends 4 to simultaneously move upward, downward and rotate, and this can be applied to a situation where the grabbing range of the execution end 4 is large.

[0054] When the movable assembly 5 moves to a second position, the movable assembly 5 is directly connected with the first connecting assembly 1. At this time, the movable rod at the end of the robot can only drive the plurality of execution ends 4 to rotate, and when the movable rod at the end of the robot moves upward and downward, only the second connecting assembly 2 moves together, and the third connecting assembly 3 and the execution end 4 do not move upward and downward. Since each movable assembly 5 can move independently in the present scheme, the movement trend of each execution end 4 can be controlled by controlling each movable assembly 5. When the corresponding execution end 4 needs to be extended, the movable assembly 5 is controlled to move to the first position again, so that the execution end 4 can move upward and downward with the movable rod at the end of the robot. In this way, the plurality of execution ends 4 can be sequentially extended in order, or a part of the execution ends 4 can be extended and a part of the execution ends 4 can not be extended, and the like. This can be applied to a situation where the grabbing range of the execution end 4 is small, and the end effector can avoid colliding with products when taking and placing materials.

[0055] Further, the end effector further comprises quick-change assemblies 6, and each third connecting assembly 3 is connected with the execution end 4 through the quick-change assembly 6. Specifically, as shown in Figure 7 The quick-change assembly 6 is composed of a quick-change chuck (female) 61, a quick-change head (male) 62 and an unlocking push block 63, one end of the quick-change assembly 6 is connected with the execution end 4, and the other end is connected with the third connecting assembly 3. The execution end 4 can be a pneumatic gripper, a clamp or a suction cup, one execution end 4 can be connected with one gas path, and the execution end 4 is installed on the quick-change head 62.

[0056] When different execution ends 4 need to be replaced, the unlocking push block 63 is pushed up, the quick-change chuck 61 is unlocked, the quick-change head 62 can be removed from the quick-change chuck 61, and relatively, the new execution end 4 and the quick-change head 62 can be inserted. After the unlocking push block 63 is loosened, it can be automatically locked, and any execution end 4 can be quickly replaced. The quick-change chuck 61 is hollow and can be ventilated, and has a gas sealing structure inside. When the execution end 4 is locked, the gas path is sealed, and the gas pipe does not need to be inserted and pulled out.

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

[0058] Further, the first connecting assembly 1 comprises connecting parts 11 connected with the robot and a circular supporting slide 12 connected with the connecting parts 11.

[0059] The second connecting assembly 2 comprises a base 21, a chuck 22, a limiting block 23 and a first magnetic part 24, the chuck 22 is arranged on the base 21, a clamping groove 221 is arranged on the side wall of the chuck 22, the limiting block 23 is arranged on the chuck 22, and the first magnetic part 24 is arranged on the outer side of the limiting block 23.

[0060] The movable assembly 5 comprises a rolling part 51, a driving part 52, a clamping block 53, a first guide rail 54 and a first sliding block 55, the first guide rail 54 and the driving part 52 are arranged at the top end of the third connecting assembly 3, the first sliding block 55 is slidingly arranged on the first guide rail 54, the clamping block 53 is arranged on the first sliding block 55, the output end of the driving part 52 is connected with the clamping block 53, and the rolling part 51 is arranged on the clamping block 53, and the clamping block 53 is made of magnetic material, so that:

[0061] When the driving part 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 block 53 is clamped in the clamping groove 221, and the clamping block 53 is magnetically connected with the first magnetic part 24, and the end movable rod of the robot drives the second connecting assembly 2, the movable assembly 5, the third connecting assembly 3 and the execution end 4 to synchronously move up and down and rotate;

[0062] When the driving part 52 drives the first sliding block 55 and the clamping block 53 to move reversely along the first guide rail 54 to a second position, the rolling part 51 is located above the supporting slide 12 and contacts with the supporting slide 12, and when the end movable rod of the robot drives the second connecting assembly 2, the movable assembly 5, the third connecting assembly 3 and the execution end 4 to synchronously rotate, the rolling part 51 rotates along the supporting slide 12;

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

[0064] In this embodiment, as shown in Figures 2 to 5 By the extension and retraction of the plurality of driving parts 52 (which can be air cylinders or other telescopic parts), the work of the plurality of execution ends 4 can be controlled.

[0065] When the driving member 52 extends, the first sliding block 55 moves towards the limiting block 23, the clamping block 53 is fixed by the first magnetic member 24 (which can be a magnet) on the limiting block 23, the lower part of the clamping block 53 is clamped into the clamping groove 221 of the chuck 22, and the whole movable assembly 5, the third connecting assembly 3 and the execution end 4 part can move up and down linearly and rotate with the second connecting assembly 2 and the robot end movable rod.

[0066] When the driving member 52 retracts, the first sliding block 55 moves away from the limiting block 23, at this time the uppermost rolling member 51 (which can be a cam follower) of the movable assembly 5 is connected with the bearing slide 12 (which can be a circular cam follower tray), the whole movable assembly 5, the third connecting assembly 3 and the execution end 4 are hung on the bearing slide 12, and the clamping block 53 is disengaged from the chuck 22 (even if the robot end movable rod extends, it will only drive the base 21 and the second sliding block 25 to move up and down along the second guide rail 32), so as to offset the extension and retraction movement of the execution end 4 connecting part 11 with the robot end rod, and the execution end 4 is stably hung on the first connecting assembly 1 without moving up and down, when the robot end movable rod rotates, the rolling member 51 rotates around the robot end rod on the bearing slide 12.

[0067] Further, the movable assembly 5 further comprises a second magnetic member 56 and a limiting piece 57 made of magnetic material, the rear side of the clamping block 53 is provided with the second magnetic member 56, and the limiting piece 57 is located outside the end of the first guide rail 54, when the first sliding block 55 and the clamping block 53 are reversely moved to the second position along the first guide rail 54 driven by the driving member 52, the second magnetic member 56 is magnetically connected with the limiting piece 57.

[0068] In order to make the connection of the movable assembly 5 and the first connecting assembly 1 more stable, the embodiment further provides the limiting piece 57, which is located at the end of the first guide rail 54, since the limiting piece 57 is also made of magnetic material, when the first sliding block 55 and the clamping block 53 move to the end of the first guide rail 54, the second magnetic member 56 on the clamping block 53 is just in contact with the limiting piece 57, the second magnetic member 56 on the clamping block 53 is adsorbed and fixed by the limiting piece 57, so that the first sliding block 55 cannot move freely, and the rolling member 51 of the movable assembly 5 can stably rotate along the bearing slide 12.

[0069] Further, the first end of the clamping block 53 protrudes forward to form a clamping part 531, when the clamping block 53 and the first sliding block 55 move to the first position along the first guide rail 54 driven by the driving member 52, the clamping part 531 is clamped in the clamping groove 221;

[0070] The end of the clamping block 53 extends upward to form an extension portion 532 , and the rolling element 51 is disposed at the top end of the extension 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, and a clamping groove 221 distributed around the chuck 22 is provided. 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 a 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 a bolt, and the extension direction of the bolt 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 part 24, the second magnetic part 56, and the limiting plate 57 (block 53) of this solution are all made of magnetic materials, which are mainly designed from a safety perspective. Because when the driving part 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 the second slider 25, and the end of the second guide rail 32 is provided with the connecting seat 33, and the connecting seat 33 is connected to the execution end 4.

[0074] The base 21 of the second connecting assembly 2 also has an approximate circular outer contour, and the base 21 extends a plurality of connecting arms 211 in all directions, each second guide rail 32 passes through a corresponding connecting arm 211, so that the mounting seat 31 extends above the connecting arm 211, and the end of each connecting arm 211 is bent downward to form a mounting arm 212, and the second slider 25 is installed on the mounting arm 212 by bolts, and the second slider 25 is slidingly arranged on the vertically arranged second guide rail 32, so that when the end of the robot moves up and down, the second connecting assembly 2 and the second slider 25 will move up and down along the second guide rail 32, and the second guide rail 32 of the third connecting assembly 3 will not move up and down, and the connecting seat 33 at the end of the second guide rail 32 and the execution end 4 will not move up and down.

[0075] The mounting arm 212 is further provided with a positioning block 213 extending to the second guide rail 32, which can position the perpendicularity of the second guide rail 32 and the plane of the base 21, and prevent it from tilting.

[0076] In actual production, the connecting arm can be provided as four, and the corresponding movable assembly 5, second guide rail 32, connecting seat 33 and execution end 4 are also provided with four. In other embodiments, the number of execution ends 4 and other components can be appropriately increased or decreased according to needs.

[0077] Further, the second connecting assembly 2 is further provided with a sensor 26, the sensor 26 is installed on the base 21, the sensor 26 is used for sensing whether the movable assembly 5 is connected to the second connecting assembly 2, and the sensor 26 corresponds to the movable assembly 5 one by one. When the clamping block 53 is fixed by the first magnetic member 24 on the limiting block 23, the clamping part 531 on the front side is clamped into the clamping groove 221 of the chuck 22, at this time, a plurality of sensors 26 on the base 21 receive a signal that the movable assembly 5 and the second connecting assembly 2 are fixed in place, and the robot end moving rod performs subsequent actions.

[0078] Further, the first connecting assembly 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 part 11, the outer cover 13 is connected with the outer cover connecting plate 14, and the second connecting assembly 2, the third connecting assembly 3 and the movable assembly 5 are arranged in the outer cover 13.

[0079] The end effector of the scheme is connected with the robot body through the first connecting assembly 1, specifically through the connecting part 11, and the cover connecting plate 14 and the supporting slide 12 are arranged at the upper and lower ends of the connecting part 11, and during specific installation, three or four connecting parts 11 can be arranged to connect the cover connecting plate 14 and the supporting slide 12, the outer contour of the cover 13 corresponds to the cover connecting plate 14, and the cover 13 is inserted from the lower end of the end effector upwards until the cover 13 is located above the cover connecting plate 14, then the cover 13 is rotated to align the mounting hole on the cover 13 with the mounting hole on the cover connecting plate 14, and then the two are locked and fixed.

[0080] Further, the limiting piece 57 is provided with a first wire fixing seat 571, and the third connecting assembly 3 is provided with a second wire fixing seat 34, the first wire fixing seat 571 and the second wire fixing seat 34 are both used for fixing a wire harness, and the first wire fixing seat 571 and the second wire fixing seat 34 are located on the same vertical line.

[0081] Since the robot or the end effector needs to be powered during operation, there are several power supply lines or other lines, in order to better accommodate, the first wire fixing seat 571 and the second wire fixing seat 34 are arranged on the limiting piece 57 of the movable assembly 5 and the third connecting assembly 3 respectively, the second wire fixing seat 34 at the lower end and the first wire fixing seat 571 at the upper end are aligned, which ensures the neatness of the lines and does not interfere with the high-speed operation of the robot.

[0082] In particular, the application also proposes a robot using the end effector according to any one of the above. The robot comprises the end effector according to any one of the above, and therefore has the same beneficial effects as the end effector, which will not be repeated here.

[0083] The above is only the preferred embodiment of the application, and does not limit the patent scope of the application, and any equivalent structural transformation made according to the application, the specification and the drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the application.

Claims

1. An end effector, characterized by, The utility model relates to a quick-change connecting device for robot, which comprises the following components: a first connecting component (1) for connecting with a robot; a second connecting component (2) for connecting with a movable rod of the robot; a plurality of third connecting components (3) movably arranged on the second connecting component (2); an execution end (4) detachably arranged on each third connecting component (3), which is used for picking up materials; a movable component (5) arranged on each third connecting component (3), which moves synchronously or independently; when the movable component (5) moves to a first position, the movable component (5) is connected with the second connecting component (2), and the 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 move synchronously in an up-down manner and a rotating manner; when the movable component (5) moves to a second position, the movable component (5) is connected with the first connecting component (1), the 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 move synchronously in a rotating manner, and the third connecting component (3) and the execution end (4) do not move in an up-down manner.

2. The end effector of claim 1, wherein, The utility model further comprises a quick-change component (6) for connecting each third connecting component (3) with the execution end (4).

3. The end effector of claim 1, wherein, The first connecting component (1) comprises a connecting part (11) and a circular supporting slide (12), a plurality of connecting parts (11) are connected with the robot, and the supporting slide (12) is connected with the connecting part (11); The second connecting component (2) comprises a base (21), a chuck (22), a limiting block (23) and a first magnetic part (24), the base (21) is provided with the chuck (22), a clamping groove (221) is formed in the side wall of the chuck (22), the chuck (22) is provided with the limiting block (23), and the outer side of the limiting block (23) is provided with the first magnetic part (24); The movable component (5) comprises a rolling part (51), a driving part (52), a clamping block (53), a first guide rail (54) and a first sliding block (55), the first guide rail (54) and the driving part (52) are arranged at the top end of the third connecting component (3), the first sliding block (55) is slidably arranged on the first guide rail (54), the clamping block (53) is arranged on the first sliding block (55), the output end of the driving part (52) is connected with the clamping block (53), the rolling part (51) is arranged on the clamping block (53), and the clamping block (53) is made of a 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 groove (221), and the clamping block (53) is magnetically connected with the first magnetic member (24); the movable end rod of the robot drives the second connecting assembly (2), the movable assembly (5), the third connecting assembly (3) and the execution end (4) to synchronously move up and down and rotate; When the driving member (52) drives the first sliding block (55) and the clamping block (53) to move reversely along the first guide rail (54) to the second position, the rolling member (51) is located above the supporting slide (12) and in contact with the supporting slide (12); when the movable end rod of the robot drives the second connecting assembly (2), the movable assembly (5), the third connecting assembly (3) and the execution end (4) to synchronously rotate, the rolling member (51) rotates along the supporting slide (12); The first position is the first end of the first guide rail (54), and the second position is the last end of the first guide rail (54).

4. The end effector of claim 3, wherein, The movable assembly (5) further comprises a second magnetic member (56) and a limiting piece (57) made of magnetic material; the rear side of the clamping block (53) is provided with the second magnetic member (56), the limiting piece (57) is arranged on the third connecting assembly (3), and the limiting piece (57) is located outside the last end of the first guide rail (54); when the driving member (52) drives the first sliding block (55) and the clamping block (53) to move reversely along the first guide rail (54) to the second position, the second magnetic member (56) is magnetically connected with the limiting piece (57).

5. The end effector of claim 3, wherein, The first 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 the first position, the clamping portion (531) is clamped in the clamping groove (221); The last end of the clamping block (53) extends upward to form an elongated portion (532); the rolling member (51) is arranged at the top end of the elongated portion (532).

6. The end effector of claim 1, wherein, The third connecting assembly (3) comprises a mounting seat (31), a second guide rail (32) and a connecting seat (33); the movable assembly (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 assembly (2) is slidably connected to the second guide rail (32) through a second sliding block (25); the last end of the second guide rail (32) is provided with the connecting seat (33); and the connecting seat (33) is connected with the execution end (4).

7. The end effector of claim 3, wherein, The second connecting assembly (2) is further provided with a sensor (26), the sensor (26) is installed on the base (21), the sensor (26) is used for sensing whether the movable assembly (5) is connected to the second connecting assembly (2), and the sensor (26) corresponds to the movable assembly (5) one by one.

8. The end effector of claim 3, wherein, The first connecting assembly (1) further comprises a cover (13) and a cover connecting plate (14), the cover connecting plate (14) is arranged on the connecting part (11), the cover (13) is connected with the cover connecting plate (14), and the second connecting assembly (2), the third connecting assembly (3) and the movable assembly (5) are arranged in the cover (13).

9. The end effector of claim 4, wherein, The limiting sheet (57) is provided with a first wire fixing seat (571), the third connecting assembly (3) is provided with a second wire fixing seat (34), the first wire fixing seat (571) and the second wire fixing seat (34) are used for fixing wire harness, and the first wire fixing seat (571) and the second wire fixing seat (34) are located on the same vertical line.

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

Images