End execution mechanism and robot

Abstract

The embodiment of the utility model provides an end executing mechanism and a robot. The tail end executing mechanism comprises a middle shaft, a middle shaft and a middle shaft, wherein the middle shaft is connected with a tail end flange; the execution unit comprises a swing arm, the swing arm is rotatably connected with the middle shaft, a hook claw is arranged at the end, away from the middle shaft, of the swing arm, and the included angle between the extending direction of the hook claw and the extending direction of the swing arm is an acute angle; the execution unit is used for moving under the driving of the tail end flange, when the swing arm makes contact with the target object, the swing arm swings towards the side away from the target object while moving downwards, and when the swing arm moves to the position where the tail end of the hook claw is located below the hand buckling position of the target object, the swing arm swings towards the direction close to the target object under the action of gravity. And the tail end of the hook claw extends into the hand buckling position so as to grab a target object.

Description

Technical Field

[0001] This application relates to the field of robots, and more specifically, to an end effector and a robot. Background Art

[0002] Robots are widely used in many fields such as industrial production, aerospace, logistics, and medicine. As an important component of a robot, the structural forms of the actuators are diverse. Taking a handling robot as an example, its actuator is usually a fixture for grasping and handling target objects such as material boxes or turnover boxes. Such fixtures usually adopt electric or pneumatic forms. Among them, an electric fixture can be, for example, an electric gripper, and a pneumatic fixture can be, for example, a pneumatic gripper or a suction cup, etc.

[0003] Among the above-mentioned various forms of actuators, due to the existence of the driving and transmission mechanisms, the electric gripper has a complex structure and a high cost; in the pneumatic fixture, air pipelines need to be provided, resulting in a large structural size and occupying a large amount of space, which is not conducive to the miniaturization of the robot; and, in order to support the use of the pneumatic fixture, a compressed air source or a vacuum source also needs to be provided, resulting in an increase in its usage cost. At the same time, the adaptability of the above-mentioned various actuators is poor, and different models of fixtures need to be set to adapt to the changes in the type or size of the target object. Summary of the Utility Model

[0004] This application provides an end effector and a robot. The following details each aspect involved in the embodiments of this application.

[0005] In a first aspect, an end effector is provided, including: a central axis connected to the end flange of the robot; at least one execution unit including a swing arm rotatably connected to the central axis, a hook claw is provided at one end of the swing arm away from the central axis, and the included angle between the extending direction of the hook claw and the extending direction of the swing arm is an acute angle; the execution unit is configured to: move under the drive of the end flange, when the swing arm contacts the target object, the swing arm swings to the side away from the target object while moving downward, when the swing arm moves to make the end of the hook claw located below the buckle position of the target object, the swing arm swings towards the target object under the action of gravity, so that the end of the hook claw extends into the buckle position to grasp the target object.

[0006] According to the above technical means, the execution unit is moved to the edge above the buckle position of the target object, and its descent can complete the passive grasping of the target object based on the principle of gravity adaptation without providing other power for it. This actuator has a simple structure, a small volume and strong adaptability.

[0007] In some embodiments, the execution unit is further configured to: after completing the grasping and handling of the target object, move downward under the drive of the end flange until the end of the hook claw is located below the buckle position, and then move horizontally away from the target object to separate the hook claw from the buckle position.

[0008] According to the above technical means, the end effector can conveniently release the target object after completing the handling, and no other power source is required to intervene during the operation.

[0009] In some embodiments, one end of the hook claw away from the central axis has a first inclined surface, and the first inclined surface extends from the end of the swing arm towards the direction close to the central axis; when the swing arm moves downward to contact the target object, the first inclined surface abuts against the edge of the target object to push the swing arm to swing away from the target object during the downward movement of the swing arm.

[0010] According to the above technical means, by using the bevel design at the end of the swing arm, the swing arm can swing naturally after contacting the target object, so as to ensure that the hook claw is located on one side of the buckle position close to the target object and improve the grasping success rate.

[0011] In some embodiments, the execution unit further includes: a blocking rod, which is arranged on one side of the swing arm along the extension direction of the central axis and is rotatably connected to the central axis; a first limiting unit for restricting the swing arm and the blocking rod from closing, so that there is a first included angle between the extension direction of the swing arm and the extension direction of the blocking rod.

[0012] According to the above technical means, by setting the blocking rod and the first limiting unit, the swing arm can open naturally, so that the hook claw can be located on one side of the buckle position close to the target object to improve the grasping success rate.

[0013] In some embodiments, the first limiting unit is a first bolt; the swing arm has a plurality of first threaded holes arranged at intervals along the extension direction of the swing arm, and when the first bolt is located in different first threaded holes, the size of the first included angle is different; alternatively, the blocking rod has a plurality of second threaded holes arranged at intervals along the extension direction of the blocking rod, and when the first bolt is located in different second threaded holes, the size of the first included angle is different.

[0014] According to the above technical means, by arranging a plurality of threaded holes arranged at intervals on the swing arm or the blocking rod, the initial included angle between the swing arm and the blocking rod can be adjusted, so that it can be applicable to target objects of different sizes.

[0015] In some embodiments, one end of the blocking rod away from the central axis has a second inclined surface facing the swing arm; when the execution unit moves downward along the central axis and contacts the target object, the second inclined surface abuts against the edge of the target object, so as to push the blocking rod to swing away from the swing arm during the downward movement of the blocking rod.

[0016] According to the above technical means, by using the bevel design at the end of the blocking rod, the blocking rod can naturally open after contacting the target object, ensuring that the blocking rod and the swing arm swing away from each other, and improving the success rate of grasping.

[0017] In some embodiments, a first groove is provided on the swing arm, the first groove is located on the side of the swing arm away from the blocking rod and close to the central axis; the blocking rod is provided with a second groove, the second groove is located on the side of the blocking rod away from the swing arm and close to the central axis; the execution unit further includes an elastic member, the elastic member is sleeved outside the swing arm and the blocking rod, and the elastic member is embedded in the first groove and the second groove.

[0018] According to the above technical means, by providing an elastic member outside the swing arm and the blocking rod, the clamping force of the hook can be increased.

[0019] In some embodiments, the execution unit further includes two fixing rings sleeved on the central axis, the two fixing rings are respectively arranged on the side of the blocking rod away from the swing arm and the side of the swing arm away from the blocking rod, for restricting the movement of the swing arm and the blocking rod along the extension direction of the central axis.

[0020] In some embodiments, a first bearing is provided between the swing arm and the central axis, the inner ring of the first bearing is sleeved on the central axis, and the swing arm is sleeved on the outer ring of the first bearing; a second bearing is provided between the blocking rod and the central axis, the inner ring of the second bearing is sleeved on the central axis, and the blocking rod is sleeved on the outer ring of the second bearing.

[0021] According to the above technical means, by using the detachable fixing ring, the adjustment and fixation of the positions of the swing arm and the blocking rod are realized, and its structure is simple and reliable.

[0022] In some embodiments, the end effector further includes a first limiting rod and a second limiting rod; both the first limiting rod and the second limiting rod are connected to the end flange, and their extending directions are the same as the extending direction of the central axis, respectively used for restricting the rotation angles of the swing arm and the blocking rod around the central axis.

[0023] According to the above technical means, by setting the first limiting rod and the second limiting rod, the swinging ranges of the swing arm and the blocking rod can be limited to prevent them from exceeding the preset movement range.

[0024] In some embodiments, the end effector includes two of the execution units.

[0025] According to the above technical means, by providing two swing arms in the end effector, when there are position and / or angle deviations between the end effector and the target object, the two hook claws provide mutual insurance to ensure the success rate of grasping. At the same time, the two hook claws can grasp the same target object simultaneously to improve the stability of handling.

[0026] In a second aspect, a robot is provided, including at least one end effector structure, and the end effector is the end effector described in the first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a schematic structural diagram of the end effector provided by an embodiment of the present application;

[0028] Figure 2 It is a schematic diagram of the process of the execution unit provided by an embodiment of the present application for grasping a target object;

[0029] Figure 3 It is a schematic structural diagram of the end effector provided by another embodiment of the present application;

[0030] Figure 4 It is a partial structural diagram of the swing arm in the end effector provided by an embodiment of the present application;

[0031] Figure 5 It is a partial structural diagram of the blocking rod in the end effector provided by an embodiment of the present application;

[0032] Figure 6 It is a partial structural diagram of the fixing ring in the end effector provided by an embodiment of the present application;

[0033] Figure 7 It is a cross-sectional view of the end effector provided by an embodiment of the present application.

[0034] The reference numerals are as follows:

[0035] Among them, 10 - actuator; 11 - central axis; 12 - execution unit; 13 - connecting flange; 14 - intermediate connecting piece; 15 - first limiting rod; 16 - second limiting rod; 121 - swing arm; 122 - blocking rod; 123 - first limiting unit; 124 - fixing ring; 125 - first bearing; 126 - second bearing; 127 - spacer sleeve; 128 - retaining ring; 1211 - hook claw; 1212 - first inclined surface; 1213 - first threaded hole; 1214 - first groove; 1221 - second threaded hole; 1222 - second inclined surface; 1223 - second groove; 1241 - inner ring; 1242 - through hole; 1243 - threaded hole; 1244 - fastening screw. Detailed implementation manners

[0036] Embodiments of the present application provide an end effector and a robot. Hereinafter, through embodiments and in conjunction with the accompanying drawings, the technical solutions of the present application will be further specifically described. In the specification, the same or similar reference numerals indicate the same or similar components. The following description of the embodiments of the present application with reference to the accompanying drawings is intended to explain the overall concept of the present application and should not be construed as a limitation to the present application.

[0037] Currently, robots are widely used in many fields such as industrial production, aerospace, logistics, and medicine. As an important component of a robot, the actuator has various structural forms. Taking a handling robot as an example, its actuator is usually a fixture for grasping and handling a target object, which can be, for example, a material box or a turnover box. Such fixtures usually adopt an electric or pneumatic form; among them, an electric fixture can be, for example, an electric gripper, and a pneumatic fixture can be, for example, a pneumatic gripper or a suction cup, etc.

[0038] Among the above various methods, in the electric gripper, due to the presence of a drive and transmission mechanism, its structure is complex and the cost is high; in a robot using a pneumatic fixture, an air pipeline needs to be provided, resulting in a large structural size and occupying a large amount of space, which is not conducive to the miniaturization of the robot. At the same time, the adaptability of the above various solutions is poor. For different target objects, corresponding fixtures need to be set, resulting in an increase in cost.

[0039] Therefore, how to simplify the structure of the end effector and increase its application range has become an urgent problem to be solved.

[0040] In view of the above problems, embodiments of the present application provide an end effector and a robot. Hereinafter, the technical solutions provided by the embodiments of the present application will be described in detail in conjunction with the accompanying drawings.

[0041] Figure 1 It is a schematic structural diagram of the end effector provided by the embodiments of the present application. It should be noted that, for the convenience of understanding, Figure 1Also shown is the end flange 20 of the robot to which the end effector is applied.

[0042] As Figure 1 shown, the end effector 10 provided in the embodiment of the present application includes a central shaft 11 and at least one execution unit 12.

[0043] The central shaft 11 is connected to the end flange 20 of the robot, and the execution unit 12 includes a swing arm 121, and the swing arm 121 is rotatably connected to the central shaft 11.

[0044] A hook 1211 is provided at one end of the swing arm 121 away from the central shaft 11, and the included angle between the extending direction of the hook 1211 and the extending direction of the swing arm 121 is an acute angle.

[0045] Next, in conjunction with Figure 2 the process of the execution unit when grasping the target object will be described. Figure 2 It is described by taking the target object as a material box as an example.

[0046] During the operation of the robotic arm, the end flange drives the central shaft 1 and the execution unit thereon to move. As Figure 2 shown in a, the execution unit first moves downward in the vertical direction until the swing arm contacts the target object. After that, as Figure 2 shown in b, while the execution unit continues to move downward following the end flange and the central shaft, it swings around the central shaft to the side away from the target object until it reaches Figure 2 the state shown in c; as Figure 2 shown in c, in the vertical direction, the end of the hook moves to below the buckle position of the target object, and the swing arm will swing towards the direction close to the target object under the action of gravity, so that the end of the hook can extend into the buckle position.

[0047] After the grasping is completed, the end flange drives the central shaft and the execution unit to lift the target object. At this time, the hook will naturally hook at the buckle position during the ascending process, preventing the target object from falling off.

[0048] According to the above technical means, the execution unit is moved to the edge above the buckle position of the target object and lowered, and the passive grasping of the target object can be completed based on the principle of gravity self - adaptation without providing other power for it; the structure of the execution mechanism is simple, the volume is small, and it has strong adaptability.

[0049] It can be seen from the above description that in this end effector, the central shaft 11 is the main load - bearing component. That is to say, the lifting capacity of this end effector is closely related to the structural strength of the central shaft 11 itself and the connection strength between the central shaft 11 and the end flange.

[0050] In some embodiments, the central axis 11 can be made of a metal material with relatively high strength to improve its own structural strength. The material of the central axis 11 can be, for example, steel or aluminum alloy, etc., and the embodiments of the present application do not make specific limitations in this regard.

[0051] In some embodiments, a connecting flange 13 is further provided between the central axis 11 and the end flange 20 of the robot. The central axis 11 is fixed to the connecting flange 13 and is connected to the connecting flange 13 through an intermediate connecting member 14.

[0052] As a way of implementation, the central axis 11 can also be directly connected to the end flange 20. For example, an external thread can be prepared at one end of the central axis 11, and an internal thread can be prepared on the end flange 20, so that the central axis 11 and the end flange 20 are fixedly connected by means of threaded connection.

[0053] In some embodiments, continue to refer to Figure 2 , such as Figure 2 shown in d, after moving the target object to the target position, the execution unit moves vertically downward under the drive of the end flange until the end of the hook 1211 is below the buckling position; after that, as Figure 2 shown in e, the end flange drives the execution unit to move horizontally away from the target object, so that the hook 1211 is separated from the buckling position, and the handling process of the target object is completed.

[0054] According to the above technical means, the end effector can conveniently release the target object after completing the handling, and no other power source is required to intervene during the operation process.

[0055] In some embodiments, continue to refer to Figure 1 , one end of the hook 1211 away from the central axis 11 has a first inclined surface 1212, and the first inclined surface 1212 extends from the end of the swing arm 121 towards the direction close to the central axis 11.

[0056] When the swing arm 121 moves downward to contact the target object (i.e., the state shown in Figure 2 b), the first inclined surface 1212 can abut against the edge of the target object; during the continuous downward movement of the swing arm 121, the first inclined surface 1212 acts on the edge of the target object, thereby pushing the swing arm 121 to swing naturally away from the target object.

[0057] According to the above technical means, by using the bevel design at the end of the swing arm, the swing arm can swing naturally after contacting the target object, so as to ensure that the hook is located on one side of the buckling position close to the target object, and improve the grasping success rate.

[0058] In some embodiments, such as Figure 3As shown, the execution unit 12 further includes a blocking rod 122. The blocking rod 122 is arranged on one side of the swing arm 121 along the extension direction of the central axis 11 and is rotatably connected to the central axis 11.

[0059] The execution unit 12 further includes a first limiting unit 123, which is used to limit the closing of the swing arm 121 and the blocking rod 122, so that there is a first included angle between the extension direction of the swing arm 121 and the extension direction of the blocking rod 122.

[0060] In the technical solution of the embodiment of the present application, both the swing arm 121 and the blocking rod 122 can rotate freely around the central axis 11. In the absence of this first limiting unit, the swing arm 121 will hang on the central axis 11 under the action of gravity, and its extension direction will be basically coincident with the vertical direction. At this time, when grasping the target object, it is necessary to accurately control the horizontal distance between the execution mechanism 12 and the target object, otherwise the swing arm 121 will swing in the opposite direction, resulting in a failed grasp.

[0061] In the above technical solution, by setting the first limiting unit 123, there will be an included angle between the swing arm 121 and the blocking rod 122. When hanging naturally under the action of gravity, the swing arm 121 and the blocking rod 122 are in a symmetric or substantially symmetric state relative to the vertical direction; that is to say, there is an included angle between the extension direction of the swing arm 121 and the vertical direction. At this time, it can be avoided that the swing arm 121 swings in the wrong direction after contacting the target object, improving the success rate of grasping.

[0062] According to the above technical means, by setting the blocking rod and the first limiting unit, the swing arm can be naturally opened, so that the hook claw can be located on one side of the clasping position close to the target object, so as to improve the success rate of grasping.

[0063] In some embodiments, as Figure 3 shown, the above first limiting unit 123 is a limiting bolt. The limiting bolt can be arranged on the swing arm 121, and one end of it protrudes from the surface of the side of the swing arm 121 close to the blocking rod 122; when the swing arm 121 and the blocking rod 122 swing towards each other under the action of gravity, the side wall of the limiting rod close to the swing arm 121 abuts against the limiting bolt, thereby forming the aforementioned first included angle between the swing arm 121 and the blocking rod 122.

[0064] It can be understood that Figure 3 the description is made by taking the limiting bolt fixed on the swing arm 121 as an example. In actual application, the limiting bolt can also be fixed on the limiting rod, and the embodiment of the present application does not make specific limitations on this.

[0065] Figure 4 and Figure 5 are respectively Figure 3Partial structural schematic diagram of the swing arm 121 and the blocking rod 122 therein.

[0066] As Figure 4 shown, there are a plurality of first threaded holes 1213 arranged at intervals along the extension direction of the swing arm 121, and the plurality of first threaded holes 1213 are preferably located on the side of the swing arm 121 close to the blocking rod 122. When the first bolt is fixed in different first threaded holes 1213, the magnitude of the first angle between the swing arm 121 and the blocking rod 122 is different. More specifically, the closer the first bolt is to the central axis 11, the larger the first angle; conversely, the farther the first bolt is from the central axis 11, the smaller the first angle.

[0067] As Figure 5 shown, there are a plurality of second threaded holes 1221 arranged at intervals along the extension direction of the blocking rod 122, and the plurality of second threaded holes 1221 are preferably located on the side of the blocking rod 122 close to the swing arm 121. When the first bolt is fixed in different second threaded holes 1221, the magnitude of the above-mentioned first angle is different. More specifically, the closer the first bolt is to the central axis 11, the larger the first angle; conversely, the farther the first bolt is from the central axis 11, the smaller the first angle.

[0068] By adjusting the opening angle between the swing arm 121 and the blocking rod 122, the end effector assembly can adapt to different requirements. For example, the recognition accuracy is reduced, and grasping is performed with a larger error.

[0069] Taking the target object as a material box as an example, in practical applications, the magnitude of the first angle can be adjusted according to the width of the upper edge of the material box; when the edge width of the material box is larger, the first angle can be adjusted to be larger to improve the success rate of grasping.

[0070] According to the above technical means, by arranging a plurality of threaded holes arranged at intervals on the swing arm or the blocking rod, the adjustment of the initial angle between the swing arm and the blocking rod is realized, so that it can be applicable to target objects of different sizes.

[0071] In some embodiments, as Figure 3 and Figure 5 shown, one end of the blocking rod 122 far from the central axis 11 has a second inclined surface 1222, and the second inclined surface 1222 faces the swing arm 121. When the execution unit 12 moves downward along the central axis 11 until it contacts the target object, the second inclined surface 1222 abuts against the edge of the target object. During the continuous descent of the execution unit 12, the second inclined surface 1222 acts on the edge of the target object, pushing the blocking rod 122 to swing naturally in a direction away from the swing arm 121.

[0072] According to the above technical means, by using the bevel design at the end of the blocking rod, the blocking rod can naturally open after contacting the target object, ensuring that the blocking rod and the swing arm swing away from each other, and improving the success rate of grasping.

[0073] In some embodiments, referring to Figures 3 - 5 , a first groove 1214 is provided on the swing arm 121. The first groove 1214 is located on the side of the swing arm 121 away from the blocking rod 122 and close to the central axis 11. A second groove 1223 is provided on the blocking rod 122. The second groove 1223 is located on the side of the blocking rod 122 away from the swing arm 121 and close to the central axis 11.

[0074] The execution unit 12 further includes an elastic member (not shown). The elastic member is sleeved on the outer sides of the swing arm 121 and the blocking rod 122 and is embedded in the first groove 1214 and the second groove 1223.

[0075] The above elastic member can be, for example, an elastic cord. By sleeving it on the outer sides of the swing arm 121 and the blocking rod 122, the clamping force of the hook 1211 can be increased, avoiding situations such as loosening and slipping of the hook 1211 during the handling of the target object. Embedding the elastic cord in the first groove 1214 and the second groove 1223 can prevent the elastic cord from falling off.

[0076] According to the above technical means, by providing an elastic member on the outer sides of the swing arm and the blocking rod, the clamping force of the hook can be increased.

[0077] In some ways, the execution unit 12 further includes two fixing rings 124 sleeved on the central axis 11. The two fixing rings 124 are respectively provided on the side of the blocking rod 122 away from the swing arm 121 and the side of the swing arm 121 away from the blocking rod 122, for restricting the movement of the swing arm 121 and the blocking rod 122 along the extending direction of the central axis 11.

[0078] Figure 6 is a schematic structural diagram of the fixing ring 124. As Figure 6 shown, the fixing ring 124 is in a C shape. The diameter of its inner hole 1241 is greater than or equal to the diameter of the central axis 11. Through holes 1242 and threaded holes 1243 are respectively provided on both sides of the C-shaped opening. When a fastening bolt 1244 is screwed into the threaded hole 1243 from the side of the through hole 1242, the fixing ring 124 deforms, so that the fixing ring 124 can be fastened on the central axis 11.

[0079] When it is necessary to adjust the axial positions of the swing arm 121 and the blocking rod 122, the fastening screws 1224 on the fixing rings 124 at both ends can be loosened to release the axial constraints on the swing arm 121 and the blocking rod 122; after adjusting the swing arm 121 and the blocking rod 122 to the target positions, then move the fixing rings 124 to the positions where they respectively abut against both ends of the swing arm 121 and the blocking rod 122 and tighten the fastening screws 1224, so that the swing arm 121 and the blocking rod 122 can be re - defined at the target positions.

[0080] The fixing ring 124 can be made of an elastic material, for example, it can be a metal material such as steel or aluminum alloy; or, it can also be a non - metal material such as nylon or engineering plastic, and the embodiments of the present application do not make specific limitations on this.

[0081] According to the above technical means, by using the detachable fixing ring, the adjustment and fixation of the axial positions of the swing arm and the blocking rod are realized, and its structure is simple and reliable.

[0082] In some embodiments, as Figure 3 shown, the end - effector 10 in the embodiments of the present application further includes a first limiting rod 15 and a second limiting rod 16. Both the first limiting rod 15 and the second limiting rod 16 are fixedly connected to the end flange 20, and their extending directions are the same as the extending direction of the central axis 11, and are respectively used to limit the rotation angles of the swing arm 121 and the blocking rod 122 around the central axis 11.

[0083] The first limiting rod 15 and the second limiting rod 16 are arranged in a substantially symmetric manner on both sides of the central axis 11. When the swing angles of the swing arm 121 and the blocking rod 122 around the central axis 11 are relatively large, their outer edges will abut against the surfaces of the first limiting rod 15 or the second limiting rod 16, making them unable to swing further. This can ensure that in any posture of the execution assembly 12, the swing arm 121 and the blocking rod 122 will not exceed the preset movement range and can return to the initial position to be grasped.

[0084] In the embodiments of the present application, the first limiting rod 15 and the second limiting rod 16 can be directly connected to the end flange 20; or, as Figure 3 shown, the first limiting rod 15 and the second limiting rod 16 can be fixed on the connecting flange 13, and then connected to the end flange 20 through the connecting flange 13.

[0085] According to the above technical means, by setting the first limiting rod and the second limiting rod, the swing ranges of the swing arm and the blocking rod can be limited, and it can be avoided that they exceed the preset movement range.

[0086] In some embodiments, as Figure 7As shown, a first bearing 125 is provided between the swing arm 121 and the central axis 11. The inner ring of the first bearing 125 is sleeved on the central axis 11, and the swing arm 121 is sleeved on the outer ring of the first bearing 125; a second bearing 126 is provided between the blocking rod 122 and the central axis 11. The inner ring of the second bearing 126 is sleeved on the central axis 11, and the blocking rod 122 is sleeved on the outer ring of the second bearing 126.

[0087] The first bearing 125 and the second bearing 126 can be any one of ball bearings, roller bearings, needle bearings, and sliding bearings. The specific type thereof is not limited in the embodiments of the present application.

[0088] The types of the first bearing 125 and the second bearing 126 can be the same or different. For example, for the convenience of production and assembly, the first bearing 125 and the second bearing 126 can be set to be completely the same; or, the types of the first bearing 125 and the second bearing 126 can be different. For example, in this actuating assembly, the swing arm 121 is a load-bearing component and will bear a large radial force when carrying the target object, and it can be set as a deep groove ball bearing or a cylindrical roller bearing; the blocking rod 122 is less stressed and a needle bearing can be used to reduce its outer dimension and manufacturing cost.

[0089] According to the above technical means, by respectively arranging bearings between the swing arm and the blocking rod and the central axis, the resistance and noise during the rotation of the swing arm and the blocking rod can be reduced.

[0090] In some embodiments, continue to refer to Figure 7 , the actuating unit further includes a spacer sleeve 127 and two retaining rings 128. Among them, the spacer sleeve 127 is arranged between the first bearing 125 and the second bearing 126, and its two ends respectively abut against the inner rings of the first bearing 125 and the second bearing 126. The two retaining rings 128 are respectively arranged between the fixing ring 124 and the first bearing 125 and between the fixing ring 124 at the other end and the second bearing 126. By using the above spacer sleeve 127, retaining rings 128 and fixing ring 124, the axial positioning of the first bearing 125 and the second bearing 126 is realized.

[0091] In some embodiments, the end effector 10 includes at least two actuating units arranged at intervals along the extension direction of the central axis 11, and the at least two actuating units are the actuating units described in any one of the foregoing embodiments. For example, Figure 3 The schematic diagram of the two actuating units shown in

[0092] By arranging multiple execution units in the end effector, when there are position and / or angular deviations between the end effector and the target object, the claws in at least two execution units are mutually insured to ensure the success rate of grasping. At the same time, multiple claws can grasp the same target object simultaneously to improve the stability of handling.

[0093] An embodiment of the present application further provides a robot, including at least one end effector, and the end effector can be the end effector described in any of the foregoing embodiments.

[0094] The embodiment of the present application does not limit the specific type of the robot. For example, the robot can be an industrial robot or a humanoid robot.

[0095] The embodiment of the present application also does not limit the number of end effectors in the robot, and different numbers of end effectors can be configured for it according to different robot types. For example, for an industrial robot, it usually has one output flange, so one end effector can be configured for it; for a humanoid robot, both of its arms have output flanges, and end effectors can be arranged on both of its arms to achieve anthropomorphic operations during work.

[0096] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present application.

[0097] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0098] In this application, unless otherwise clearly stipulated or defined, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0099] In this application, unless otherwise clearly stipulated or defined, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher horizontal level than the second feature. The first feature being "under", "below" and "beneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower horizontal level than the second feature.

[0100] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0101] As mentioned above, it is only the preferred embodiment of this application, and is not used to limit the protection scope of this application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

1. An end effector, characterized in that: include: The middle axis is connected to the end flange of the robot; At least one execution unit, comprising a swing arm, the swing arm being rotatably connected to the central axis, a hook being provided at one end of the swing arm away from the central axis, and an angle between an extension direction of the hook and an extension direction of the swing arm being an acute angle; The execution unit is used to: move under the drive of the end flange, and when the swing arm contacts the target object, the swing arm swings toward the side away from the target object while moving downward, and when the swing arm moves to the point where the end of the hook claw is located below the hand-catching position of the target object, the swing arm swings toward the target object under the action of gravity, so that the end of the hook claw extends into the hand-catching position to grab the target object.

2. The end effector according to claim 1, characterized in that: The execution unit is also used to: after completing the grasping and carrying of the target object, move downward under the drive of the end flange until the end of the claw is located below the hand-grip position, and then move horizontally away from the target object to separate the claw from the hand-grip position.

3. The end effector according to claim 2, characterized in that: The hook has a first inclined surface at one end away from the central axis, and the first inclined surface extends from the end of the swing arm toward the central axis; When the swing arm moves downward to contact the target object, the first inclined surface abuts against the edge of the target object to push the swing arm to swing in a direction away from the target object during the downward movement of the swing arm.

4. The end effector according to claim 3, characterized in that: The execution unit also includes: A blocking rod, which is arranged on one side of the swing arm along the extension direction of the central axis and is rotatably connected to the central axis; The first limiting unit is used to limit the closure of the swing arm and the blocking rod so that an extension direction of the swing arm and an extension direction of the blocking rod have a first angle.

5. The end effector according to claim 4, characterized in that: The first limiting unit is a first bolt; The swing arm has a plurality of first threaded holes arranged at intervals along the extending direction of the swing arm, and when the first bolt is located in different first threaded holes, the first angle has different sizes; or, The blocking rod has a plurality of second threaded holes arranged at intervals along the extending direction of the blocking rod. When the first bolt is located in different second threaded holes, the sizes of the first angle are different.

6. The end effector according to claim 4, characterized in that: The blocking rod has a second inclined surface at one end away from the central axis, and the second inclined surface faces the swing arm; When the execution unit moves downward with the central axis until it contacts the target object, the second inclined surface abuts against the edge of the target object to push the blocking rod to swing in a direction away from the swing arm during the downward movement of the blocking rod.

7. The end effector according to claim 4, characterized in that: The swing arm is provided with a first groove, and the first groove is located at a side of the swing arm away from the blocking rod and close to the central axis; The blocking rod is provided with a second groove, and the second groove is located on a side of the blocking rod away from the swing arm and close to the central axis; The execution unit further comprises an elastic member, wherein the elastic member is sleeved on the outer sides of the swing arm and the blocking rod, and the elastic member is embedded in the first groove and the second groove.

8. The end effector according to any one of claims 4 to 7, characterized in that: The execution unit further comprises two fixing rings sleeved on the central axis, the two fixing rings are respectively arranged on a side of the blocking rod away from the swing arm and a side of the swing arm away from the blocking rod, and are used to limit the movement of the swing arm and the blocking rod along the extension direction of the central axis; and / or, A first bearing is arranged between the swing arm and the central axis, the inner ring of the first bearing is sleeved on the central axis, and the swing arm is sleeved on the outer ring of the first bearing; a second bearing is arranged between the blocking rod and the central axis, the inner ring of the second bearing is sleeved on the central axis, and the blocking rod is sleeved on the outer ring of the second bearing; and / or, The end actuator also includes a first limit rod and a second limit rod; the first limit rod and the second limit rod are both connected to the end flange, and their extension direction is the same as the extension direction of the central axis, and are respectively used to limit the rotation angle of the swing arm and the blocking rod around the central axis.

9. The end effector according to any one of claims 1 to 7, characterized in that: The end effector mechanism includes at least two effector units.

10. A robot, characterized in that: The invention comprises at least one end-effector structure, wherein the end-effector is the end-effector according to any one of claims 1 to 9.

Images