Adjustable adsorption end type mechanical arm end effector

Abstract

The utility model discloses an adjustable adsorption end type mechanical arm end effector, which relates to the technical field of adsorption type end effectors, and comprises a base, the top of the base is rotatably connected with a rotating ring, the top of the rotating ring is fixedly connected with a protective shell, the top of the protective shell is fixedly connected with a protective film, and the protective film is fixedly connected with the bottom of the base. The top of the protective film is fixedly connected with a bearing plate, the lower surface of the bearing plate is fixedly provided with a first connecting block, the moving range of the end executor is enlarged by arranging the rotating ring and the bearing plate, when the end executor is used, the driven gear can be driven by rotating the pinion, the angle of the bearing plate is adjusted through the driven gear, and therefore the end executor is convenient to use. The bearing plate is arranged on the end effector to ensure that the end effector can rotate within various angles, and the structural stability of the bearing plate can also be ensured due to the existence of the partition plate and the positioning rod, so that the end effector can execute normal adsorption operation.

Description

Technical Field

[0001] The utility model relates to the technical field of adsorption type end effectors, in particular to an adjustable adsorption end type mechanical arm end effector. Background Art

[0002] The end effector of the robotic arm is the last part of the robotic arm, responsible for performing specific tasks or operations. The adsorption-type end effector is mainly used to grasp and move objects of various shapes and materials through adsorption force.

[0003] For example, publication number CN217318056U discloses a robotic arm end effector, comprising a mounting block, a suction cup and a clamping claw; the mounting block is arranged on a rotating shaft at the end of the robotic arm; two T-slots are provided on both sides of the mounting block; the first connecting arm is slidably connected to the T-slot on one side of the mounting block; the second connecting arm is slidably connected to the T-slot on the other side of the mounting block; the first connecting arm and the second connecting arm are provided with fixing screws, which are threadedly connected to the mounting block; an angle is provided between the first connecting arm and the second connecting arm; the clamping claw is provided on the first connecting arm; and the suction cup is provided on the second connecting arm.

[0004] However, in the prior art, the main purpose of the adsorption-type end effector when in use is to adsorb parts onto the robotic arm. During the adsorption process, the position of the parts cannot be determined, and at this time, the direction of the end effector needs to be continuously adjusted. However, due to the existence of the connection structure, the angle adjustment of the end effector is limited when adjusting the direction, and some angles cannot be adjusted. Utility Model Content

[0005] The purpose of this utility model is to solve the problem in the prior art that when the end effector adjusts the direction, due to the existence of the connection structure, the angle adjustment is limited and some angles cannot be adjusted. An adjustable adsorption end-type robotic arm end effector is proposed.

[0006] In order to achieve the above-mentioned object, the utility model adopts the following technical solution: an adjustable adsorption end-type robotic arm end effector, comprising a base, the top of the base is rotatably connected to a rotating ring, the top of the rotating ring is fixedly connected to a protective shell, the top of the protective shell is fixedly connected to a protective film, and the top of the protective film is fixedly connected to a bearing plate;

[0007] A first connecting block is fixedly installed on the lower surface of the supporting plate, a positioning rod is rotatably connected inside the first connecting block, a driven gear is fixedly connected to one side of the first connecting block, a partition plate is fixedly installed on the inner wall of the protective shell, a small gear is rotatably installed at the edge of the partition plate, and the small gear is meshed with the driven gear.

[0008] Preferably, a second connecting block is fixedly mounted on the upper surface of the partition plate, and a support rod is fixedly mounted inside the second connecting block.

[0009] Preferably, a positioning ring is fixedly connected between the support rod and the positioning rod, and the support rod and the positioning rod are perpendicular to each other.

[0010] Preferably, a vertical rod is fixedly connected to the lower surface of the partition plate, and the other end of the vertical rod is fixedly connected to the bottom plate.

[0011] Preferably, a bevel gear is fixedly mounted on the lower surface of the base plate, and a gear shaft is meshedly connected to the edge of the bevel gear.

[0012] Preferably, the gear shaft is rotatably mounted inside the base, and the gear shaft and the bevel gear are perpendicular to each other.

[0013] Preferably, through holes are provided at the centers of the bottom plate, the bevel gear and the partition plate.

[0014] Compared with the prior art, the advantages and positive effects of the present invention are:

[0015] 1. In the present invention, the range of motion of the end actuator is expanded by providing a rotating ring and a supporting plate. When in use, the driven gear can be driven by rotating the pinion, and the angle of the supporting plate is adjusted by using the driven gear to ensure that the end actuator can rotate within a range close to a hemispherical shape. The presence of the partition plate and the positioning rod can also ensure the structural stability of the supporting plate, ensuring that the end actuator can perform normal adsorption operations.

[0016] 2. In the present invention, a bevel gear is provided at the bottom of the base plate, and the bevel gear is meshed with the gear shaft. When in use, the gear shaft is connected to an external power component. When the gear shaft drives the bevel gear, it can drive the entire rotating ring, thereby achieving the purpose of directly adjusting the direction of the carrier plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The present invention provides a schematic diagram of the three-dimensional structure of an adjustable adsorption end-type robotic arm end effector;

[0018] Figure 2 The utility model proposes a schematic diagram of the internal structure of an adjustable adsorption end-type robotic arm end effector;

[0019] Figure 3 The utility model proposes a schematic diagram of the three-dimensional structure of the supporting plate and the partition plate of the end effector of an adjustable adsorption end type robotic arm;

[0020] Figure 4The utility model provides a schematic diagram of the connection and three-dimensional structure of a supporting plate and a partition plate of an adjustable adsorption end-effector of a robotic arm.

[0021] Legend: 1. Base; 2. Rotating ring; 3. Protective shell; 4. Protective film; 5. Loading plate; 6. Gear shaft; 7. Bevel gear; 8. Bottom plate; 9. Vertical rod; 10. Partition plate; 11. First connecting block; 12. Driven gear; 13. Pinion; 14. Through hole; 15. Positioning rod; 16. Support rod; 17. Second connecting block; 18. Positioning ring. DETAILED DESCRIPTION

[0022] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0023] 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 disclosed in the following specification.

[0024] Example 1: Figure 1 、 Figure 2 、 Figure 3 and Figure 4 As shown, the utility model provides an adjustable adsorption end-type robotic arm end effector, comprising a base 1, a rotating ring 2 is rotatably connected to the top of the base 1, a protective shell 3 is fixedly connected to the top of the rotating ring 2, a protective film 4 is fixedly connected to the top of the protective shell 3, and a supporting plate 5 is fixedly connected to the top of the protective film 4;

[0025] A first connecting block 11 is fixedly installed on the lower surface of the supporting plate 5, and a positioning rod 15 is rotatably connected inside the first connecting block 11. A driven gear 12 is fixedly connected to one side of the first connecting block 11. A partition plate 10 is fixedly installed on the inner wall of the protective shell 3, and a small gear 13 is rotatably installed at the edge of the partition plate 10. The small gear 13 is meshed with the driven gear 12. A second connecting block 17 is fixedly installed on the upper surface of the partition plate 10, and a support rod 16 is fixedly installed inside the second connecting block 17. A positioning ring 18 is fixedly connected between the support rod 16 and the positioning rod 15, and the support rod 16 and the positioning rod 15 are perpendicular to each other.

[0026] The following describes in detail the specific configuration and function of this embodiment. The base 1 is connected to the robotic arm and is used as a fixed structure of the end effector. The base 1 is connected to the rotating ring 2 above for adjusting the direction of the actuator. The supporting plate 5 is used to determine the position of the adsorption head. The overall shape is end-shaped to adsorb objects. The supporting plate 5 is connected to the protective shell 3 through a protective film 4. The presence of the protective film 4 can ensure that the supporting plate 5 can rotate normally, and the protective shell 3 can also protect other internal structures.

[0027] A first connecting block 11 and a second connecting block 17 are provided between the carrying plate 5 and the partition plate 10. The first connecting block 11 and the second connecting block 17 are in opposite directions to ensure that the carrying plate 5 has sufficient space for movement. When in use, the driven gear 12 is driven by rotating the pinion 13. When the driven gear 12 rotates, it drives the first connecting block 11, thereby changing the angle of the carrying plate 5.

[0028] A positioning rod 15 is connected between the two first connecting blocks 11. The positioning rod 15 can determine the rotation center of the first connecting block 11, and the positioning rod 15 is connected to the support rod 16 through the positioning ring 18, which can support the positioning rod 15 without affecting the setting of the trachea. The support rod 16 is connected to the second connecting block 17 on the upper surface of the partition plate 10, and the partition plate 10 is installed in the protective shell 3. Therefore, the overall structure can ensure that the first connecting block 11 can rotate normally and ensure the stability of the supporting plate 5.

[0029] Example 2: Figure 2 、 Figure 3 and Figure 4 As shown, the lower surface of the partition plate 10 is fixedly connected to a vertical rod 9, the other end of the vertical rod 9 is fixedly connected to a base plate 8, and a bevel gear 7 is fixedly installed on the lower surface of the base plate 8. The edge of the bevel gear 7 is meshed with a gear shaft 6, and the gear shaft 6 is rotatably installed inside the base 1. The gear shaft 6 and the bevel gear 7 are perpendicular to each other, and a through hole 14 is opened at the center of the base plate 8, the bevel gear 7 and the partition plate 10.

[0030] The effect achieved by the entire embodiment is that the partition plate 10 is connected to the base plate 8 through the vertical rod 9, and the space between the partition plate 10 and the base plate 8 can be used to place various electronic devices required for the actuator. A bevel gear 7 is provided at the bottom of the base plate 8. When in use, the gear shaft 6 is connected to the external transmission component. When the gear shaft 6 rotates, it drives the base plate 8 through the bevel gear 7, thereby achieving the purpose of changing the direction of the carrier plate 5.

[0031] The method of use and working principle of this device: When in use, the base 1 is connected to the robotic arm, and the gear shaft 6 is connected to the external transmission component. The carrier plate 5 is used to determine the position of the adsorption head. The carrier plate 5 is connected to the protective shell 3 through the protective film 4. The presence of the protective film 4 can ensure that the carrier plate 5 can rotate normally, and the protective shell 3 can also protect other internal structures;

[0032] When the orientation of the carrier plate 5 needs to be adjusted, the driven gear 12 is driven by rotating the pinion 13. When the driven gear 12 rotates, it drives the first connecting block 11 to change the angle of the carrier plate 5. When the gear shaft 6 rotates, it drives the bottom plate 8 through the bevel gear 7 to achieve the purpose of changing the direction of the carrier plate 5.

[0033] The partition plate 10 is connected to the base plate 8 through a vertical rod 9. The space between the partition plate 10 and the base plate 8 can be used to place various electronic devices required for the actuator. The partition plate 10 is installed in the protective shell 3. The overall structure can ensure that the first connecting block 11 can rotate normally and ensure the stability of the supporting plate 5.

[0034] The above description is only a preferred embodiment of the present invention and does not limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes for application in other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. An adjustable suction end type robotic arm end effector, comprising a base (1), characterized in that: The top of the base (1) is rotatably connected to a rotating ring (2), the top of the rotating ring (2) is fixedly connected to a protective shell (3), the top of the protective shell (3) is fixedly connected to a protective film (4), and the top of the protective film (4) is fixedly connected to a bearing plate (5); A first connecting block (11) is fixedly mounted on the lower surface of the carrier plate (5), a positioning rod (15) is rotatably connected to the interior of the first connecting block (11), a driven gear (12) is fixedly connected to one side of the first connecting block (11), a partition plate (10) is fixedly mounted on the inner wall of the protective shell (3), a small gear (13) is rotatably mounted on the edge of the partition plate (10), and the small gear (13) is meshedly connected to the driven gear (12).

2. The adjustable adsorption end-type robotic arm end effector according to claim 1, characterized in that: A second connecting block (17) is fixedly mounted on the upper surface of the partition plate (10), and a support rod (16) is fixedly mounted inside each of the two second connecting blocks (17).

3. The adjustable adsorption end-type robotic arm end effector according to claim 2, characterized in that: A positioning ring (18) is fixedly connected between the support rod (16) and the positioning rod (15), and the support rod (16) and the positioning rod (15) are perpendicular to each other.

4. The adjustable adsorption end-type robotic arm end effector according to claim 1, characterized in that: The lower surface of the partition plate (10) is fixedly connected to a vertical rod (9), and the other end of the vertical rod (9) is fixedly connected to a bottom plate (8).

5. The adjustable adsorption end-type robotic arm end effector according to claim 4, characterized in that: A bevel gear (7) is fixedly mounted on the lower surface of the bottom plate (8), and a gear shaft (6) is meshedly connected at the edge of the bevel gear (7).

6. The adjustable adsorption end-type robotic arm end effector according to claim 5, characterized in that: The gear shaft (6) is rotatably mounted inside the base (1), and the gear shaft (6) and the bevel gear (7) are perpendicular to each other.

7. The adjustable adsorption end-type robotic arm end effector according to claim 6, characterized in that: Through holes (14) are provided at the centers of the bottom plate (8), the bevel gear (7) and the partition plate (10).

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