Robot tail end rotary cover opening mechanism

Abstract

The utility model discloses a rotary uncovering mechanism at the tail end of a robot, which relates to the technical field of rotary uncovering structures and comprises a four-axis robot, the rotary uncovering structure is arranged at the output end of the four-axis robot, and a fixing mechanism is arranged at one end of the rotary uncovering structure. The rotary cover opening structure comprises an electric slip ring servo motor and a servo electric clamping jaw, and floating clamping finger mechanisms are fixedly installed at the two clamping ends of the servo electric clamping jaw. According to the four-axis robot, the situation that a connecting wire is wound when the rotary uncovering structure rotates for multiple circles can be prevented, normal power supply and communication of the servo electric clamping jaw are guaranteed, the rotary uncovering structure can be normally used, and then the size of the tail end of the robot can be reduced through the combined design of the rotary uncovering structure and the four-axis robot; the device is convenient to use in narrow laboratory instruments and spaces, and meanwhile, the use of a rotating assembly is reduced, so that the cost can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of rotary cover opening structures, in particular to a rotary cover opening mechanism at the end of a robot. Background Art

[0002] The robot end effector is installed at the front end of the manipulator wrist to directly perform work tasks. According to different work tasks, it is divided into grippers or special tools. In many industries such as medical testing, drug development, genetic engineering, biology, chemical industry, food, and environment, the robot rotary capping structure is used to open the tube with a screw cap and separate the cap from the tube.

[0003] However, in the prior art, the Z axis and the rotation axis of the traditional four-axis robot are placed together. The end of the four-axis robot with this structure cannot be installed with an electric slip ring, and the servo electric gripper installed at the end cannot solve the problem of the connection line winding during the rotation of the electric gripper. This function can only be realized by installing a servo electric rotating gripper with integrated rotation and clamping functions at the end. The end of the traditional four-axis robot is very large, which leads to a very limited application range of the traditional four-axis robot in narrow laboratory instruments and spaces; at the same time, the rotation function of this structure is realized by the rotating axis of the servo electric rotating gripper, and the rotation of the traditional four-axis robot does not work, so the cost of this structure is high; in addition, the opening and closing cover action of this structure is completed by the control system controlling the up and down Z axis of the traditional four-axis robot and the rotating axis of the servo electric rotating gripper. Because the traditional four-axis robot and the servo electric rotating gripper are two independent components, it is difficult to achieve complete synchronization. In actual applications, the relevant workload will increase and there is a risk of damaging the opened bottle cap; therefore, a robot end rotating cover opening mechanism is proposed. Utility Model Content

[0004] The utility model aims to solve the problems existing in the prior art such as large terminal volume, limited use, high cost, heavy control workload and risk of damaging bottle caps, and proposes a robot terminal rotary cap opening mechanism.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a robot end rotary cover opening mechanism, comprising a four-axis robot, the output end of the four-axis robot is provided with a rotary cover opening structure, one end of the rotary cover opening structure is provided with a fixing mechanism, the rotary cover opening structure comprises an electric slip ring, a servo motor and a servo electric clamp, both clamping ends of the electric clamp are fixedly installed with floating clamping finger seats, one end of two groups of the floating clamping finger seats are fixedly installed with clamping fingers, the output end of the four-axis robot is fixedly installed with an assembly seat, the lower end of the assembly seat is fixedly installed with a fixing ring, and the upper end of the servo motor is provided with an output shaft;

[0006] The rotating cover opening structure includes two groups of L-shaped seats and two groups of limiting plates. The lower ends of the two groups of clamping seats and the two groups of L-shaped seats are provided with storage grooves, and the lower ends of the two groups of L-shaped seats are provided with circular grooves. Tension springs are fixedly installed inside the two groups of circular grooves.

[0007] Preferably, the lower ends of the two groups of floating clamping finger seats are provided with limiting grooves, and one end of the two groups of clamping fingers is respectively inserted into the interior of the two groups of limiting grooves.

[0008] Preferably, the lower end of the output shaft is fixed to the output end of the servo motor.

[0009] Preferably, the output end of the servo motor is fixedly mounted inside the electric slip ring.

[0010] Preferably, the two groups of limiting plates are respectively arranged inside the four groups of storage slots.

[0011] Preferably, the upper portion of the output shaft is rotatably mounted between the fixing ring and the assembly seat.

[0012] Preferably, one end of the L-shaped seat is respectively fixed to the lower ends of the two groups of floating clamping finger seats, and the upper ends of the two groups of limiting plates are respectively fixed to the other ends of the two groups of tension springs.

[0013] Compared with the prior art, the advantages and positive effects of the utility model are:

[0014] 1. In the utility model, a rotary cover opening structure is provided, and the electric slip ring can be fixed with the cooperation of the electric slip ring, the assembly seat, the output shaft and the fixed ring, so that the cover opening and closing structure and the four-axis robot can be conveniently cooperated, and the connecting wire can be prevented from being entangled when the rotary cover opening structure rotates multiple times, so that the power supply and communication of the servo electric gripper are normal, so that the rotary cover opening structure can be used normally. Secondly, through the combined design of the rotary cover opening structure and the four-axis robot, the size of the robot end can be reduced, which is convenient for use in small laboratory instruments and spaces; at the same time, the device reduces the use of rotating components and can reduce costs; in addition, because the Z-axis up and down and rotation actions used for the cover opening and closing are all completed by the four-axis robot, the control workload will be much less, and the two actions can be perfectly coordinated to reduce the risk of damaging the bottle cap.

[0015] 2. In the utility model, by providing a fixing mechanism, the two groups of clamping fingers can be fixed inside the two groups of limit grooves respectively, which can improve the stability of the two groups of clamping fingers. At the same time, by moving the two groups of limit plates downward, the two groups of limit plates are respectively moved out of the four groups of limit grooves, and then the two groups of clamping fingers are respectively moved out from the inside of the two groups of limit grooves one by one, so that the two groups of clamping fingers can be easily replaced, and the two groups of clamping fingers can be easily disassembled and installed. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional structural diagram of a rotary cover opening mechanism at the end of a robot is proposed for the utility model;

[0017] Figure 2 This is a partially exploded bottom view of a robot end rotary cover opening mechanism proposed by the utility model;

[0018] Figure 3 The utility model provides a schematic diagram of a rotary cover opening structure of a robot end rotary cover opening mechanism;

[0019] Figure 4 The utility model provides a schematic diagram of the exploded structure of two groups of gripping fingers and a fixing mechanism of a rotary cover opening mechanism at the end of a robot.

[0020] Legend: 1. Four-axis robot; 2. Rotating cover opening structure; 21. Electric slip ring; 22. Servo motor; 23. Servo electric gripper; 24. Floating gripper seat; 25. Gripper; 26. Assembly seat; 27. Output shaft; 28. Fixed ring; 3. Fixing mechanism; 31. L-shaped seat; 32. Storage slot; 33. Round slot; 34. Tension spring; 35. Limit plate; 36. Limit slot. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the utility model, the utility model is further described below in conjunction with the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments of the following disclosure. Embodiment 1

[0023] like Figure 1As shown in Figure 4, the utility model provides a robot end rotary cover opening mechanism, including a four-axis robot 1, the output end of the four-axis robot 1 is provided with a rotary cover opening structure 2, one end of the rotary cover opening structure 2 is provided with a fixing mechanism 3, the rotary cover opening structure 2 includes an electric slip ring 21, a servo motor 22 and a servo electric clamp 23, both clamping ends of the servo electric clamp 22 are fixedly installed with floating finger seats 24, one end of two groups of floating finger seats 24 are fixedly installed with clamping fingers 25, the output end of the four-axis robot 1 is fixedly installed with an assembly seat 26, the lower end of the assembly seat 26 is fixedly installed with a fixing ring 28, the upper end of the servo motor 22 is provided with an output shaft 27, the output end of the servo motor 22 is fixedly installed inside the electric slip ring 21, the lower end of the output shaft 27 is fixed to the output end of the servo motor 22, and the upper part of the output shaft 27 is rotatably installed between the fixing ring 28 and the assembly seat 26.

[0024] The specific settings and functions of this embodiment are described in detail below. A rotary cover opening structure 2 is provided, which is rotatably installed inside a fixed ring 28 through an output shaft 27, and the fixed ring 28 is fixed to an assembly seat 26, and the fixed ring 28 is fixedly installed on the outer wall of the electric slip ring 21, so that the electric slip ring 21 can be fixed, so that the rotary cover opening structure 2 is conveniently coordinated with the four-axis robot 1, thereby preventing the rotary cover opening structure 2 from causing entanglement of the connecting wires during operation, ensuring normal power supply and communication of the servo electric gripper, and facilitating the normal use of the rotary cover opening structure 2. Secondly, by combining the rotary cover opening structure 2 with the four-axis robot 1, the size of the robot can be reduced, which is convenient for use in narrow laboratory instruments and spaces. At the same time, the device reduces the use of rotating components and can reduce costs. In addition, because the Z-axis up and down and rotation actions used for opening and closing the cover are all completed by the four-axis robot, the control workload will be much less, and the two actions can be perfectly coordinated to reduce the risk of damaging the bottle cap. Embodiment 2

[0025] like Figure 2 , Figure 3 and Figure 4 As shown, the rotating cover opening structure 2 includes two groups of L-shaped seats 31 and two groups of limiting plates 35. The lower ends of the two groups of clamping fingers 25 and the two groups of L-shaped seats 31 are provided with storage grooves 32. The lower ends of the two groups of L-shaped seats 31 are provided with circular grooves 33. Tension springs 34 are fixedly installed inside the two groups of circular grooves 33. The lower ends of the two groups of floating clamping finger seats 24 are provided with limiting grooves 36. One ends of the two groups of clamping fingers 25 are respectively inserted into the interior of the two groups of limiting grooves 36. The two groups of limiting plates 35 are respectively arranged in the interior of the four groups of storage grooves 32. One end of the L-shaped seat 31 is respectively fixed to the lower ends of the two groups of floating clamping finger seats 24, and the upper ends of the two groups of limiting plates 35 are respectively fixed to the other ends of the two groups of tension springs 34.

[0026] The effect achieved by the entire embodiment is that, by providing a fixing mechanism 3, the two groups of clamping fingers 25 are respectively inserted into the inside of the two groups of limiting grooves 36, and then the two groups of limiting plates 35 are respectively clamped in the inside of the four groups of storage grooves 32. Under the tension of the two groups of tension springs 34, the two groups of tension springs 34 pull the limiting plates 35 fixed thereto to move upward, and then the two groups of clamping fingers 25 can be respectively fixed in the inside of the two groups of limiting grooves 36, thereby improving the stability of the two groups of clamping fingers 25. At the same time, by moving the two groups of limiting plates 35 downward, the two groups of limiting plates 35 are respectively removed from the four groups of limiting grooves 36, and then the two groups of clamping fingers 25 are respectively removed from the inside of the two groups of limiting grooves 36 one by one, thereby facilitating the replacement of the two groups of clamping fingers 25 and facilitating the disassembly and installation of the two groups of clamping fingers 25.

[0027] The use method and working principle of the present device are as follows: firstly, an electric slip ring 21 is installed at the output end of the four-axis robot 1 so that the rotary cover opening structure 2 will not cause the connecting wire to be entangled during operation, thereby ensuring the normal power supply and communication of the servo electric gripper, and allowing the servo electric gripper 22 to be used normally; then, the output shaft 27 is rotatably installed inside the fixing ring 28, and the fixing ring 28 is fixed to the assembly seat 26, and the fixing ring 28 is fixedly installed on the outer wall of the electric slip ring 21, so that the electric slip ring 21 can be fixed, and the rotary cover opening structure 2 is convenient to cooperate with the four-axis robot 1, thereby preventing the rotary cover opening structure 2 from causing the connecting wire to be entangled during operation, ensuring the normal power supply and communication of the servo electric gripper, and allowing the rotary cover opening structure 2 to be used normally; secondly, by combining the rotary cover opening structure 2 with the four-axis robot 1 The design can reduce the size of the robot end and facilitate its use in narrow laboratory instruments and spaces. At the same time, the device reduces the use of transmission components and can reduce costs. Finally, the two groups of clamping fingers 25 are respectively inserted into the two groups of limiting grooves 36, and then the two groups of limiting plates 35 are respectively clamped in the four groups of storage grooves 32. Under the tension of the two groups of tension springs 34, the two groups of tension springs 34 pull the limiting plates 35 fixed thereto to move upward, so that the two groups of clamping fingers 25 can be respectively fixed in the two groups of limiting grooves 36, thereby improving the stability of the two groups of clamping fingers 25. At the same time, by moving the two groups of limiting plates 35 downward, the two groups of limiting plates 35 are respectively removed from the four groups of limiting grooves 36, and then the two groups of clamping fingers 25 are respectively removed from the two groups of limiting grooves 36 one by one, so that the two groups of clamping fingers 25 can be easily replaced, and the two groups of clamping fingers 25 can be easily disassembled and installed.

[0028] The above are only preferred embodiments of the present invention, and are not intended to limit the present invention in other forms. Any technician familiar with the profession may use the technical contents disclosed above to change or modify them into equivalent embodiments with equivalent changes and apply them to other fields. However, any simple modification, equivalent change and modification made to the above embodiments based on the technical essence of the present invention without departing from the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A robot end rotary cover opening mechanism, comprising a four-axis robot (1), characterized in that: The output end of the four-axis robot (1) is provided with a rotary cover opening structure (2), one end of the rotary cover opening structure (2) is provided with a fixing mechanism (3), the rotary cover opening structure (2) comprises an electric slip ring (21), a servo motor (22) and a servo electric clamp (23), both clamping ends of the servo electric clamp (23) are fixedly mounted with floating clamping finger seats (24), one end of two groups of the floating clamping finger seats (24) are fixedly mounted with clamping fingers (25), the output end of the four-axis robot (1) is fixedly mounted with an assembly seat (26), the lower end of the assembly seat (26) is fixedly mounted with a fixing ring (28), and the upper end of the servo motor (22) is provided with an output shaft (27); The rotary cover opening structure (2) comprises two groups of L-shaped seats (31) and two groups of limiting plates (35). The lower ends of the two groups of clamping fingers (25) and the two groups of L-shaped seats (31) are provided with storage grooves (32). The lower ends of the two groups of L-shaped seats (31) are provided with circular grooves (33). Tension springs (34) are fixedly installed inside the two groups of circular grooves (33).

2. A robot end rotary cover opening mechanism according to claim 1, characterized in that: The lower ends of the two groups of floating clamping finger seats (24) are provided with limiting grooves (36), and one end of the two groups of clamping fingers (25) is respectively inserted into the inside of the two groups of limiting grooves (36).

3. The robot end rotating cover opening mechanism according to claim 1, characterized in that: The lower end of the output shaft (27) is fixed to the output end of the servo motor (22).

4. The robot end rotary cover opening mechanism according to claim 1, characterized in that: The output end of the servo motor (22) is fixedly mounted inside the electric slip ring (21).

5. The robot end rotary cover opening mechanism according to claim 2, characterized in that: The two groups of limit plates (35) are respectively arranged inside the four groups of storage slots (32).

6. The robot end rotary cover opening mechanism according to claim 3, characterized in that: The upper portion of the output shaft (27) is rotatably mounted between the fixing ring (28) and the assembly seat (26).

7. The robot end rotary cover opening mechanism according to claim 1, characterized in that: One end of the L-shaped seat (31) is respectively fixed to the lower ends of the two groups of floating clamping finger seats (24), and the upper ends of the two groups of limit plates (35) are respectively fixed to the other ends of the two groups of tension springs (34).

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