End effector applied to connecting piece

Abstract

The invention discloses an end effector applied to a connecting piece. The end effector comprises a rotating mechanism, a linear transmission mechanism and a clamping jaw which are sequentially connected with one another in the linear direction. The rotating mechanism is used for driving the linear transmission mechanism and the clamping jaw to rotate synchronously; the linear transmission mechanism comprises a linear guide rail, a sliding block, a crank, a gearbox and a linear transmission motor. The two linear guide rails are oppositely arranged in parallel and are provided with the two sliding blocks in a sliding manner; one ends of the two cranks are rotationally connected with the two sliding blocks respectively, and the other ends of the two cranks are in transmission connection with two power output positions of the gearbox respectively; a power input part of the gear box is in transmission connection with an output shaft of the linear transmission motor so as to drive the two cranks to perform crank motion and enable the two sliding blocks to move towards each other or away from each other; the linear transmission motor is used for inputting power; the two clamping jaws are fixedly connected with the two sliding blocks respectively and are provided with handle grooves; according to the scheme, the operation of switching the connecting state of the connecting piece by hand can be replaced, and the life safety of an operator is guaranteed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of end effectors, and particularly relates to an end effector applied to connecting sheets. BACKGROUND

[0002] With the continuous development of robot technology, robots gradually replace humans to engage in some dangerous work. Many connecting sheets are integrated in an electrical control cabinet of a power grid, and the connecting sheets are important components of the power grid. The connecting sheets have high voltage, and if a human operator operates improperly, a short circuit may occur, so as to cause electric shock and explosion, which is a great threat to the personal safety of the operator, and the installation of the connecting sheets needs a series of complex movements, and traditional industrial clamps are difficult to perform. SUMMARY

[0003] The present application aims to provide an end effector applied to connecting sheets, which can replace human hands to perform the operation of connecting state conversion of the connecting sheets, and guarantee the life safety of the operator.

[0004] In order to solve the above technical problems, the present application provides an end effector applied to connecting sheets, which comprises a rotating mechanism, a linear transmission mechanism and a clamp connected in sequence along a straight line direction; the rotating mechanism is used for driving the linear transmission mechanism and the clamp to perform synchronous rotation; the linear transmission mechanism comprises linear guides, sliding blocks, cranks, a gear box and a linear transmission motor; the two linear guides are arranged in parallel; the two sliding blocks are respectively slidably installed on the two linear guides; one end of each of the two cranks is rotatably connected with the two sliding blocks, and the other end of each of the two cranks is transmissionally connected with two power output portions of the gear box; a power input portion of the gear box is transmissionally connected with an output shaft of the linear transmission motor, and the gear box is used for driving the two cranks to perform crank movement, and the crank movement of the two cranks is used for driving the two sliding blocks to move towards or away from each other; the linear transmission motor is used for inputting power to the gear box; the two clamps are respectively fixedly connected with the two sliding blocks, and the opposite surfaces of the two clamps are each provided with a handle groove for embedding a handle of a screwdriver.

[0005] In one of the embodiments, the rotating mechanism comprises a connecting flange and a rotating motor;

[0006] The connecting flange is provided with the rotating motor, and the connecting flange is used for connecting with a mechanical arm;

[0007] The output shaft of the rotating motor is connected with the linear transmission mechanism as a coaxial rotating structure.

[0008] In one of the embodiments, the two clamps are fixedly connected with the two sliding blocks by screws.

[0009] In one of the embodiments, the opposite surfaces of the two said clamping jaws are flat surfaces.

[0010] In one of the embodiments, the two said clamping jaws are provided with a jaw tip on the side away from the linear transmission mechanism, and the opposite surfaces of the two said jaw tips are flat surfaces.

[0011] The beneficial effects of the present application are as follows:

[0012] The end effector involved in the present application can complete clamping and rotation operations, and can complete corresponding opening and closing operations without relying on complex movements of the mechanical arm, and is convenient to use. Secondly, the inside of the effector is a handle groove specially designed for a socket screwdriver handle, which can realize the operation of grabbing the socket screwdriver without slipping. In addition, the effector can also clamp the copper sheet of the connecting sheet through the clamping jaw, and align the copper sheet of the connecting sheet with the screw. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings described in the following are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0014] Figure 1 is a structural schematic diagram provided by the embodiment of the present application;

[0015] Figure 2 is a sectional view structural schematic diagram of Figure 1 ;

[0016] Figure 3 is a linear transmission mechanism structural schematic diagram of Figure 1 ; Figure 1

[0017] Figure 4 is a linear transmission mechanism structural schematic diagram of Figure 1 ; Figure 2

[0018] Figure 5 is a clamping jaw structural schematic diagram of Figure 1 ;

[0019] Figure 6 is a socket screwdriver clamping state schematic diagram provided by the embodiment of the present application.

[0020] The following are the signs of the drawings:

[0021] 10, rotating mechanism; 11, connecting flange; 12, rotating motor;

[0022] ​​20, linear transmission mechanism; 21, linear guide rail; 22, sliding block; 23, crank; 24, gear box; 25, linear transmission motor;

[0023] 30, clamping jaw; 31, handle recess; 32, screw; 33, jaw tip. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.

[0025] The present application provides an end effector applied to a connecting piece, which implements, for example Figures 1 to 6 As shown in the figure, it comprises a rotating mechanism 10, a linear transmission mechanism 20 and a clamping jaw 30 connected in sequence along a linear direction; the rotating mechanism 10 is used to drive the linear transmission mechanism 20 and the clamping jaw 30 to rotate synchronously; the linear transmission mechanism 20 comprises a linear guide rail 21, a sliding block 22, a crank 23, a gear box 24 and a linear transmission motor 25; two linear guide rails 21 are arranged in parallel; two sliding blocks 22 are respectively slidably installed on the two linear guide rails 21; one end of two cranks 23 is respectively rotationally connected with two sliding blocks 22, and the other end of two cranks 23 is respectively transmissionally connected with two power output places of the gear box 24; the power input place of the gear box 24 is transmissionally connected with the output shaft of the linear transmission motor 25, and the gear box 24 is used to drive two cranks 23 to move, and the movement of two cranks 23 is used to drive two sliding blocks 22 to move towards each other or away from each other; the linear transmission motor 25 is used to input power to the gear box 24; two clamping jaws 30 are respectively fixedly connected with two sliding blocks 22, and the opposite surfaces of two clamping jaws 30 are respectively provided with a handle recess 31 for embedding a handle of a screwdriver.

[0026] In application, the mechanical arm can be connected with the rotating mechanism 10, so that the end effector can be controlled by the mechanical arm to move to the position of the object to be clamped, such as a sleeve screwdriver, so that two clamping jaws 30 can be respectively arranged on the opposite sides of the handle of the sleeve screwdriver.

[0027] At this time, the linear transmission motor 25 is started to input power to the gear box 24, the gear box 24 drives two cranks 23 to move, two cranks 23 drive two sliding blocks 22 to move towards each other through the movement of two cranks 23, until the handle of the sleeve screwdriver is embedded in two handle recesses 31, so that the sleeve screwdriver can be clamped by two clamping jaws 30.

[0028] Finally, the sleeve screwdriver is moved by the mechanical arm until the sleeve screwdriver is sleeved with the structure to be screwed, and the rotating mechanism 10 drives the linear transmission mechanism 20 and the clamping jaw 30 to rotate, so that the screwing operation can be realized.

[0029] For example,Figure 1 As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure.

[0030] After using this setting mode, the connecting flange 11 can realize the connection and fixation between the rotating mechanism 10 and the mechanical arm, and the rotating motor 12 can provide power input for the rotation of the linear transmission mechanism 20 and the clamping jaw 30.

[0031] As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure. Figure 2 , Figure 3 and Figure 5 As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure.

[0032] After using this setting mode, the connecting flange 11 can realize the connection and fixation between the rotating mechanism 10 and the mechanical arm, and the rotating motor 12 can provide power input for the rotation of the linear transmission mechanism 20 and the clamping jaw 30.

[0033] As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure. Figure 2 After using this setting mode, the connecting flange 11 can realize the connection and fixation between the rotating mechanism 10 and the mechanical arm, and the rotating motor 12 can provide power input for the rotation of the linear transmission mechanism 20 and the clamping jaw 30.

[0034] As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure.

[0035] Figure 1 and Figure 2 As shown in FIG. 1, the embodiment sets the rotating mechanism 10 to include a connecting flange 11 and a rotating motor 12; the connecting flange 11 is provided with the rotating motor 12, and is used to connect with the mechanical arm; the output shaft of the rotating motor 12 is connected with the linear transmission mechanism 20 as coaxial rotating structure.

[0036] After using this setting mode, the connecting flange 11 can realize the connection and fixation between the rotating mechanism 10 and the mechanical arm, and the rotating motor 12 can provide power input for the rotation of the linear transmission mechanism 20 and the clamping jaw 30.

[0037] The above is the preferred embodiment of the present application. It should be noted that those skilled in the art can make some improvements and refinements without departing from the principles of the present application, and these improvements and refinements are also considered within the scope of protection of the present application.​

Claims

1. An end effector applied to a connecting sheet, characterized in that, it comprises a rotating mechanism, a linear transmission mechanism and a clamping jaw connected in sequence along a straight line direction; the rotating mechanism is used to drive the linear transmission mechanism and the clamping jaw to rotate synchronously; the linear transmission mechanism comprises linear guides, sliders, cranks, a gear box and a linear transmission motor; the two linear guides are arranged in parallel; the two sliders are respectively slidingly installed on the two linear guides; one end of the two cranks is respectively rotationally connected with the two sliders, and the other end of the two cranks is respectively transmissionally connected with two power output places of the gear box; the power input place of the gear box is transmissionally connected with the output shaft of the linear transmission motor, the gear box is used to drive the two cranks to perform crank motion, and the crank motion of the two cranks is used to drive the two sliders to move towards or away from each other; the linear transmission motor is used to input power to the gear box; the two clamping jaws are respectively fixedly connected with the two sliders, and the opposite surfaces of the two clamping jaws are respectively provided with handle grooves for embedding handles of screwdrivers.

2. The end effector according to claim 1, characterized in that, the rotating mechanism comprises a connecting flange and a rotating motor; the connecting flange is provided with the rotating motor, and is used to be connected with a mechanical arm; the output shaft of the rotating motor is connected with the linear transmission mechanism as a coaxial rotating structure.

3. The end effector according to claim 1, characterized in that, the two clamping jaws and the two sliders are fixed by screwing.

4. The end effector according to claim 1, characterized in that, the opposite surfaces of the two clamping jaws are both flat surfaces.

5. The end effector according to claim 4, characterized in that, the two clamping jaws are respectively provided with jaw tips on the side away from the linear transmission mechanism, and the opposite surfaces of the two jaw tips are both flat surfaces.

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