Tooling, tooling assembly and industrial robot
Through the cooperation of the rotating component and the sliding component, the multi-directional movement of the end picker is achieved, which solves the problem of poor adaptability of traditional stamping end pickers, improves adaptability and reduces costs.
Patent Information
- Application Number
- CN202422947049.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-29
- Publication Date
- 2025-10-03
- Estimated Expiration
- 2034-11-29
AI Technical Summary
Traditional stamping end pickers cannot adapt to stamping parts of different shapes and have poor adaptability.
The rotary assembly, the first sliding assembly and the second sliding assembly are adopted, and the driving member drives the rotary disk and the sliding member to cooperate with each other to realize the multi-directional movement of the grasping member to adapt to parts to be grasped of different shapes.
The adaptability of the end picker is improved, the development and use costs are reduced, the storage space and the replacement hours of workers are reduced, and the maintenance costs are reduced.
Smart Images
Figure CN223407000U_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the technical field of automobile parts assembly, and specifically relates to an end picker, an end picker assembly and an industrial robot. Background Art
[0002] Stamping, a core technology in the modern automotive industry, plays a vital role in vehicle production. However, traditional stamping tooling uses a specialized structure that is unable to adapt to the diverse shapes of stamped parts, resulting in poor adaptability. Therefore, improving the adaptability of stamping tooling is a pressing technical challenge. Utility Model Content
[0003] The present application provides an end picker, an end picker assembly and an industrial robot to solve the technical problem of improving the adaptability of stamping end pickers.
[0004] To solve the above technical problems, the present application adopts a technical solution: an end picker, comprising: a rotating assembly, the rotating assembly comprising a first driving member and a rotating disk connected to the first driving member, the first driving member being able to drive the rotating disk to rotate; a first sliding assembly, the first sliding assembly comprising a second driving member and a first sliding member, the first sliding member being movably connected to the rotating disk, the first sliding member moving along a first direction relative to the rotating disk under the action of the second driving member; a second sliding assembly, the second sliding assembly comprising a third driving member and a second sliding member, the second sliding member being movably connected to the second sliding member, the second sliding member moving along a second direction relative to the first sliding member under the action of the third driving member; a grabbing member, the grabbing member being fixed to the second sliding member; wherein, the first direction and the second direction intersect, and the rotation axis of the rotating disk is parallel to the second direction.
[0005] According to one embodiment of the present application, the first driving member includes an output shaft, on which a transmission tooth is provided; the rotating assembly also includes a gear, the transmission tooth is engaged with the gear, and the gear is fixedly arranged on the rotating disk; wherein, the transmission tooth rotates with the first driving member, driving the gear to engage and move, thereby driving the rotating disk to rotate.
[0006] According to one embodiment of the present application, it also includes a support member, which is provided with a connecting through hole; the first driving member is arranged on the support member; the rotating disk is rotatably arranged in the connecting through hole; the end picker module also includes a plurality of balls, and the plurality of balls are accommodated in the connecting through hole, and the balls are arranged between the circumference of the rotating disk and the inner wall of the connecting through hole, and the plurality of balls are in sliding contact with the circumference of the rotating disk and the inner wall of the connecting through hole.
[0007] According to one embodiment of the present application, the second driving member includes a second motor and a first rack, and a second gear meshing with the first rack is provided on the output shaft of the second motor; the first rack is fixed to the rotating disk; the second motor is fixed to the first sliding member, wherein the second gear rotates with the second motor, and under the action of the first rack, the second gear drives the first sliding member to move relative to the rotating disk along the first direction.
[0008] According to one embodiment of the present application, a first guide rail extending along a first direction is provided on the rotating disk, and the first sliding member is slidably connected to the first guide rail.
[0009] According to one embodiment of the present application, the third driving member includes a third motor and a second rack, and a third gear meshing with the second rack is provided on the output shaft of the third motor; the second rack is fixed to the first sliding member; the third motor is fixed to the second sliding member, wherein the third gear rotates with the third motor, and under the action of the second rack, the third gear drives the second sliding member to move relative to the first sliding member along the second direction.
[0010] According to one embodiment of the present application, a first guide block is fixed on the first sliding member, and a second guide rail extending along the second direction is provided on the first guide block; the second sliding member is slidably connected to the second guide rail.
[0011] According to one embodiment of the present application, the first guide block includes a mounting plate and a bending plate connected to each other, the mounting plate extends along the second direction, and the bending plate is connected to the edge of the mounting plate extending along the second direction; along the second direction, the second guide rail is arranged on the mounting plate; along the second direction, the second rack is arranged on the side of the bending plate facing away from the mounting plate; a second guide block is also fixed on the second sliding member, the second guide block is arranged parallel to the mounting plate along the second direction, and the third motor and the grabbing member are fixed to the second guide block.
[0012] In order to solve the above technical problems, another technical solution adopted in the present application is: an end effector assembly, comprising a connecting member and a plurality of end effectors as described above, wherein the connecting member connects the plurality of end effectors as needed.
[0013] In order to solve the above technical problems, another technical solution adopted in the present application is: an industrial robot, comprising the end picker assembly and a robotic arm as described above, wherein the end picker assembly is connected to the robotic arm.
[0014] The beneficial effects of the present application are as follows: the end picker of the present application includes a rotating assembly, a first sliding assembly, a second sliding assembly and a gripping member. The rotating assembly includes a first driving member and a rotating disk connected to the first driving member, and the first driving member can drive the rotating disk to rotate. The first sliding assembly includes a second driving member and a first sliding member, the first sliding member is movably connected to the rotating disk, and the first sliding member moves relative to the rotating disk along a first direction under the action of the second driving member. The second sliding assembly includes a third driving member and a second sliding member, the second sliding member is movably connected to the second sliding member, and the second sliding member moves relative to the first sliding member along a second direction under the action of the third driving member. The gripping member is fixed to the second sliding member. The first direction and the second direction intersect, and the rotation axis of the rotating disk is parallel to the second direction. Since different parts to be gripped have different structural forms, and the gripping member of the existing end picker is fixed and cannot be adjusted, the adaptability is poor when gripping different parts to be gripped. In the present application, the rotation component, the first sliding component and the second sliding component cooperate to drive the movement of the grasping member. When it is necessary to grasp parts of different structural forms, the grasping member can be driven by the above structure to move to the point where it can be adsorbed with the grasping surface of the part to be grasped, so that the part to be grasped can be grasped smoothly to meet the needs of the part to be grasped and transport operation. Therefore, the present application can adapt to parts of different shapes to be grasped through the above structure, thereby greatly improving the adaptability of the end picker. In addition, compared with the prior art method of switching between parts of different shapes to be grasped using different end pickers for grasping, the embodiments of the present application can not only reduce the development cost of the end picker, but also reduce the use of the end picker, thereby reducing the use of the storage space for the end picker and the replacement time of workers, reducing labor costs and storage costs. Furthermore, it can also effectively reduce the subsequent maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present application. Those skilled in the art can also derive other drawings based on these drawings without inventive work, among which:
[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of an embodiment of the end effector of the present application;
[0017] Figure 2 This is a partial three-dimensional structural diagram of an embodiment of an end effector of the present application;
[0018] Figure 3 1 is a schematic diagram of a partial cross-sectional structure of an embodiment of an end effector of the present application;
[0019] Figure 4 This is another three-dimensional structural diagram of an embodiment of the end effector of the present application;
[0020] Figure 5 It is a schematic diagram of the three-dimensional structure of an industrial robot according to an embodiment of the present application. DETAILED DESCRIPTION
[0021] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It will be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some, rather than all, structures related to the present application are shown in the accompanying drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.
[0022] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute an independent or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0023] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the described features. In the description of this application, "plurality" means two or more, unless otherwise specifically specified.
[0024] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections, electrical connections, or mutual communication; they can refer to direct connections or indirect connections through an intermediate medium; they can refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.
[0025] The end picker of the present application can be used in the fields of automobile industry, electronic parts production, warehousing and logistics, etc. to grab materials. The end picker in the present application is mainly described by taking the application in the automobile industry as an example.
[0026] Please refer to Figure 1 ,in, Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the end effector of the present application.
[0027] In one aspect of the present application, an end picker 10 is provided. The end picker 10 includes a rotating assembly 11, a first sliding assembly 12, a second sliding assembly 13, and a grabbing member 14. The rotating assembly 11 includes a first driving member 111 and a rotating disk 112 connected to the first driving member 111, and the first driving member 111 can drive the rotating disk 112 to rotate. The first sliding assembly 12 includes a second driving member 121 and a first sliding member 122, and the first sliding member 122 is movably connected to the rotating disk 112. The first sliding member 122 moves relative to the rotating disk 112 along a first direction X under the action of the second driving member 121. The second sliding assembly 13 includes a third driving member 131 and a second sliding member 132, and the second sliding member 132 is movably connected to the second sliding member 132. The second sliding member 132 moves relative to the first sliding member 122 along a second direction Y under the action of the third driving member 131. The grabbing member 14 is fixed to the second sliding member 132. The first direction X and the second direction Y intersect, and the rotation axis of the rotating disk 112 is parallel to the second direction Y.
[0028] It can be seen from the above structure that, first, during the movement of the first sliding component 12 and the second sliding component 13, the first sliding component 122 can be driven by the second driving component 121 to move relative to the rotating disk 112 in the first direction X to above the part to be grasped, and then the second sliding component 132 can be driven by the third driving component 131 to move relative to the first sliding component 122 toward the part to be grasped in the second direction Y, and then the rotating disk 112 is driven to rotate by the first driving component 111, so that the rotating component 11 can drive the first sliding component 12, the second sliding component 13 and the grasping component 14 to rotate, so that the grasping component 14 can rotate to the grasping surface of the workpiece to be grasped for grasping, thereby realizing the transport operation requirements of the part to be grasped.
[0029] Therefore, in the present application, the setting of the rotating assembly 11 can drive the grasping member 14 to rotate to the grasping surface of the part to be grasped for grasping. At this time, the grasping member 14 can adapt to the parts to be grasped of different shapes, thereby improving the adaptability of the end pick 10. In addition, since the grasping member 14 can rotate to the grasping surface of the part to be grasped for grasping, the contact area between the grasping member 14 and the part to be grasped can also be increased, thereby improving the stability of the grasping member 14 when grasping the part. Since the grasping surfaces of different parts to be grasped are in different positions, the setting of the first sliding assembly 12 and the second sliding assembly 13 can drive the grasping member 14 to move above the grasping surface of the part to be grasped. At this time, the distance between the grasping member 14 and the grasping surface can be reduced, thereby facilitating the grasping action of the grasping member 14 on the part to be grasped.
[0030] Furthermore, since different parts to be grasped have different structural forms, and thus the positions of their grasping surfaces are also different, and the grasping member 14 of the existing end pick 10 is fixed and cannot be adjusted, the adaptability is poor when grasping different parts to be grasped. The present application uses the rotation component 11, the first sliding component 12, and the second sliding component 13 to drive the grasping member 14 to move. When it is necessary to grasp parts to be grasped with different structural forms, the grasping member 14 can be driven by the above structure to move to the point where it can be adsorbed with the grasping surface of the part to be grasped, thereby being able to smoothly grasp the part to be grasped, so as to meet the needs of the part to be grasped transport operation. Therefore, the present application can adapt to parts to be grasped of different shapes through the above structure, thereby greatly improving the adaptability of the end pick 10. Furthermore, compared to the prior art method of using different end effectors 10 to grasp parts of different shapes, the embodiments of the present application can not only reduce the development cost of the end effectors 10, but also reduce the use of the end effectors 10, thereby reducing the storage space used for the end effectors 10 and the labor hours required for workers to change positions, thereby reducing labor costs and storage costs. Furthermore, it can also effectively reduce subsequent maintenance costs.
[0031] Preferably, the first direction X and the second direction Y are perpendicular. At this time, the cooperation of the rotating component 11, the first sliding component 12 and the second sliding component 13 can realize the movement of the grasping member 14 in three-dimensional directions, thereby greatly improving the adaptability of the end tool 10.
[0032] See also Figures 1 to 2 , Figure 2It is a partial three-dimensional structural diagram of an embodiment of the end picker of the present application. In the embodiment of the present application, the first driving member 111 includes an output shaft, and a transmission tooth 113 is provided on the output shaft. The rotating assembly 11 also includes a gear 114, and the transmission tooth 113 is engaged with the gear 114, and the gear 114 is fixedly arranged on the rotating disk 112. Among them, the transmission tooth 113 rotates with the first driving member 111, and the driving gear 114 is engaged to drive the rotating disk 112 to rotate. During the rotation of the rotating assembly 111, the first driving member 111 generates power, and the power is transmitted to the transmission tooth 113 through the output shaft, so that the transmission tooth 113 can engage and rotate with the gear 114. Since the gear 114 is fixedly arranged on the rotating disk 112, the rotation of the rotating disk 112 is achieved through the engagement and rotation of the transmission tooth 113 and the gear 114. In this application, the meshing movement of the gear 114 and the transmission teeth 113 can achieve high-precision motion transmission, thereby improving the motion accuracy and reliability of the rotating assembly 11. Furthermore, the meshing movement of the gear 114 also provides good stability. Furthermore, the gear 114 is fixed to the rotating disk 112, which provides good support for the gear 114, further improving the reliability of the rotating assembly 11.
[0033] See also Figures 1 to 3 , Figure 3 It is a partial cross-sectional structural diagram of an embodiment of the end picker of the present application. In the embodiment of the present application, the end picker 10 also includes a support member 15, and the support member 15 is provided with a connecting through-hole 151. The first driving member 111 is arranged on the support member 15. The rotating disk 112 is rotatably arranged in the connecting through-hole 151. Specifically, the gear 114 is rotatably accommodated in the connecting through-hole 151, and the output shaft with the transmission gear 113 extends into the connecting through-hole 151 and engages with the gear 114. The rotating disk 112 is fixedly connected to the connecting through-hole 151 and is also rotatably accommodated in the connecting through-hole 151. The structure of the support member 15 can play a good supporting role for the rotating disk 112, the first driving member 111 and other structures. The setting of the connecting through-hole 151 can also facilitate the installation of the rotating disk 112. Specifically, in some embodiments, the rotating disk 112 is provided with a flange portion, the flange portion abuts against the support member 15, and the flange portion and the connecting through hole 151 are rotatably connected. At this time, the flange portion can drive the rest of the rotating disk 112 to rotate, and the flange portion can also abut against the support member 15 to prevent the rotating disk 112 from being separated from the connecting through hole 151, thereby improving the stability of the rotation process of the rotating disk 112.
[0034] Furthermore, the end tool 10 includes a plurality of balls 152, which are housed within the connecting hole 151. The balls 152 are disposed between the circumference of the rotating disk 112 and the inner wall of the connecting hole 151, and the balls 152 are in sliding contact with both the circumference of the rotating disk 112 and the inner wall of the connecting hole 151. The provision of the balls 152 converts the sliding friction between the support member 15 and the inner wall of the connecting hole 151 into rolling friction, effectively reducing the friction between the rotating disk 112 and the inner wall of the connecting hole 151, thereby enabling the rotating disk 112 to rotate more effortlessly.
[0035] The number of the balls 152 can be specifically set according to the size of the rotating disk 112 and the diameter of the balls 152 , and is not limited here.
[0036] Please continue reading Figure 1 and Figure 2 In the embodiment of the present application, the second driving member 121 includes a second motor 1211 and a first rack 1212. A second gear 1213 is provided on the output shaft of the second motor 1211, which meshes with the first rack 1212. The first rack 1212 is fixed to the rotating disk 112. The second motor 1211 is fixed to the first sliding member 122. The second gear 1213 rotates with the second motor 1211. Under the action of the first rack 1212, the second gear 1213 drives the first sliding member 122 to move along the first direction X relative to the rotating disk 112. During the movement of the first sliding member 122 in the first direction X, the second motor 1211 generates power, which is transmitted to the second gear 1213 via the output shaft. Since the second gear 1213 and the first rack 1212 are meshed, the rotational motion of the second gear 1213 can be converted into linear motion along the first rack 1212. Therefore, under the drive of the second motor 1211, the second gear 1213 can mesh with the first rack 1212, thereby achieving movement relative to the rotating disk 112 in the first direction X. In addition, since the second gear 1213 and the first rack 1212 have matching tooth profiles, the load is evenly distributed during their movement, which can improve the stability of their movement process. In addition, the meshing movement method also has the advantages of higher precision and better reliability.
[0037] In order to guide the moving direction of the first sliding member 122, in an embodiment of the present application, a first guide rail 123 extending along the first direction X is provided on the rotating disk 112, and the first sliding member 122 is slidably connected to the first guide rail 123. Through the structural setting of the first guide rail 123, the first sliding member 122 can be limited to always slide in the first direction X, avoiding its deviation during the movement process, thereby improving the reliability of the movement of the first sliding member 122 and the stability of the movement. Preferably, in some embodiments, in order to limit the moving direction of the first sliding member 122, stop blocks (not shown) are respectively provided at the opposite ends of the first guide rail 123. Therefore, when the first sliding member 122 moves to abut against the stop block, the moving position of the first sliding member 122 is limited.
[0038] In the examples of this application, please refer to Figure 1 and Figure 2 The third driving member 131 includes a third motor 1311 and a second rack 1312. A third gear 1313 is provided on the output shaft of the third motor 1311 and meshes with the second rack 1312. The second rack 1312 is fixed to the first sliding member 122. The third motor 1311 is fixed to the second sliding member 132, wherein the third gear 1313 rotates with the third motor 1311. Under the action of the second rack 1312, the third gear 1313 drives the second sliding member 132 to move relative to the first sliding member 122 along the second direction Y. During the movement of the second sliding member 132 along the second direction Y, the third motor 1311 generates power, which is transmitted to the third gear 1313 via the output shaft. Due to the meshing of the third gear 1313 and the second rack 1312, the rotational motion of the third gear 1313 can be converted into linear motion along the second rack 1312. Therefore, the second sliding member 132 can be driven by the third motor 1311 to mesh the third gear 1313 with the second rack 1312, thereby being able to move relative to the first sliding member 122 in the second direction Y. In addition, because the third gear 1313 and the second rack 1312 have matching tooth profiles, the load is evenly distributed during their movement, which can improve the stability of the movement process. In addition, the meshing movement method also has the advantages of higher precision and better reliability.
[0039] Please refer to Figure 1 and Figure 2In order to guide the moving direction of the second sliding member 132, in an embodiment of the present application, a first guide block 124 is fixed to the first sliding member 122, and a second guide rail 133 extending along the second direction Y is provided on the first guide block 124. The second sliding member 132 is slidably connected to the second guide rail 133. Through the structural setting of the second guide rail 133, the second sliding member 132 can be limited to always slide in the second direction Y to avoid its deviation during the movement, thereby improving the reliability and stability of the movement of the second sliding member 132. Preferably, in some embodiments, in order to limit the moving direction of the second sliding member 132, stop blocks (not shown) are respectively provided at the opposite ends of the second guide rail 133. Therefore, when the second sliding member 132 moves to abut against the stop block, the moving position of the second sliding member 132 is limited.
[0040] The setting of the first guide block 124 can, on the one hand, provide an installation space for the installation of the second guide rail 133, so as to facilitate the installation of the second guide rail 133. On the other hand, the first guide block 124 is connected to the first sliding member 122, and the second sliding assembly 13 can drive the grabbing member 14 to move in the first direction X as the first sliding member 122 moves; and by installing the second guide rail 133 on the first guide block 124, the contact area between the second guide rail 133 and the first guide block 124 can be increased, thereby improving the connection stability between the second sliding assembly 13 and the first guide block 124.
[0041] In the embodiments of this application, please refer to Figure 4 , Figure 4 This is another schematic diagram of the three-dimensional structure of an embodiment of the end picker of the present application. The first guide block 124 includes a mounting plate 1241 and a bending plate 1242 that are connected to each other. The mounting plate 1241 extends along the second direction Y, and the bending plate 1242 is connected to the edge of the mounting plate 1241 extending along the second direction Y. Along the second direction Y, the second guide rail 133 is arranged on the mounting plate 1241; along the second direction Y, the second rack 1312 is arranged on the side of the bending plate 1242 facing away from the mounting plate 1241. Among them, the setting of the bending plate 1242, on the one hand, can provide space for the setting position of the second rack 1312, which not only facilitates the installation of the second rack 1312, but also improves the stability of the second rack 1312; on the other hand, it can also facilitate the meshing movement between the third gear 1313 and the second rack 1312, thereby improving the reliability of the movement of the two. The mounting plate 1241 can provide space for the installation of the second guide rail 133 to facilitate the installation of the second guide rail 133; in addition, it can also improve the connection stability between the second guide rail 133 and the mounting plate 1241 by increasing the contact area between the second guide rail 133 and the mounting plate 1241.
[0042] Further, in some embodiments, please refer to Figure 2 A second guide block 125 is also fixed to the second sliding member 132. The second guide block 125 is arranged parallel to the mounting plate 1241 along the second direction Y. The third motor 1311 and the grabbing member 14 are fixed to the second guide block 124. The second guide block 125 can connect the third motor 1311 and the grabbing member 14 to a certain extent, thereby maintaining a relatively fixed state between the grabbing member 14 and the third motor 1311. The grabbing member 14 then moves with the movement of the second sliding assembly 13, the first sliding assembly 12, and the rotating assembly 11, allowing the grabbing member 14 to grasp parts of different shapes, thereby improving the adaptability of the end effector 10.
[0043] Therefore, when the end picker 10 of the present application is applied to an industrial robot and performs a grasping operation on a part to be grasped, as needed, when the grasping member 14 needs to be rotated, the first driving member 111 starts to drive the transmission gear 113 to rotate, so that the transmission gear 113 and the gear 114 engage to drive the rotating disk 112 to rotate. At this time, the first sliding assembly 12 and the second sliding assembly 13 rotate together around the rotating disk 112, and the grasping member 14 installed on the second sliding assembly 13 also rotates around the rotating disk 112, thereby realizing that the grasping member 14 rotates with the rotation. The rotating disk 112 rotates; when the position of the grabbing member 14 needs to be moved in the first direction X, the second motor 1211 starts to drive the second gear 1213 to rotate, and the second gear 1213 can mesh along the first rack 1212, thereby driving the first sliding member 122 to move in the first direction X, and then the first sliding assembly 12 can move in the first direction X, and the second sliding assembly 13 moves with the movement of the first sliding assembly 12, so as to drive the grabbing member 14 to move in the first direction X. When the position of the grabbing member 14 needs to be moved in the second direction Y, the third motor 1311 drives the third gear 1313 to transmit, and the third gear 1313 can mesh along the second rack 1312, thereby driving the second sliding member 132 to move in the second direction Y, and then the second sliding assembly 13 can move in the second direction Y, and the grabbing member 14 installed on the second sliding assembly 13 also moves in the second direction Y with the movement of the second sliding assembly 13. By the above-mentioned method, the grasping member 14 can be moved to contact the grasping surface of the part to be grasped, thereby realizing the grasping of parts to be grasped in different shapes.
[0044] It should be noted that most structures of the end effector 10 are made of aluminum, which can better achieve a lightweight setting of the end effector 10.
[0045] A second aspect of the present application provides an end effector assembly, comprising a connector and any of the aforementioned end effectors 10. The connector can connect multiple end effectors 10 as needed. In the present application, the number of end effectors 10 can be expanded based on the size and shape of the parts to be grasped, thereby enabling the end effector assembly to accommodate the handling requirements of parts of varying sizes and shapes, thereby further improving the adaptability of the end effector assembly.
[0046] See also Figure 5 , Figure 5 It is a schematic diagram of the three-dimensional structure of an embodiment of the industrial robot of the present application. The third aspect of the present application provides an industrial robot 20. The industrial robot 20 includes the above-mentioned end picker 10 assembly and a robotic arm 23. Among them, the end picker 10 assembly is connected to the robotic arm 23. Through the above-mentioned arrangement, the end picker 10 assembly can serve as an extension of the robotic arm 23, so that it can efficiently complete the tasks of grasping, transporting and placing the parts to be grasped, so as to improve production efficiency. In addition, the industrial robot 20 can also expand different numbers of end pickers 10 according to production needs, so that the industrial robot 20 can adapt to parts to be grasped of different shapes and sizes, thereby improving the adaptability of the industrial robot 20 and reducing the adjustment cost of the production line.
[0047] In some embodiments, the support member 15 of the end picker 10 includes a first surface with grooves formed around it. In the process of expanding the number of end pickers of the industrial robot, the expansion of multiple end pickers 10 can be achieved by clamping the connecting member in the semicircular groove. Therefore, the industrial robot 20 can also expand different numbers of end pickers 10 according to production needs, so that the industrial robot 20 can adapt to parts to be grasped of different shapes and sizes.
[0048] Preferably, a semicircular groove 21 is formed at each of the four corners of the first surface of the support member 15 of the end effector 10. The connector 22 can be a circular connector or a semicircular connector. When multiple end effectors 10 are connected, the semicircular groove 21 at the center is secured with a circular connector, while the semicircular grooves 21 at the edge are secured with semicircular connectors. Of course, in some other embodiments, the shapes of the grooves and connectors can also be other shapes, which will not be detailed here.
[0049] It should be noted that terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or vertical, but rather that they may be slightly tilted. Terms such as "parallel" and "perpendicular" do not imply that components are absolutely parallel or perpendicular to each other, but rather that they may form a certain angular deviation. For example, "horizontal" simply means that its direction is more horizontal than "vertical" and does not mean that the structure must be completely horizontal, but rather that it may be slightly tilted. Furthermore, terms such as "center," "longitudinal," "transverse," "length," "width," "thickness," "up," "down," "front," "back," "left," "right," "vertical," "horizontal," "top," "bottom," "inside," "outside," "clockwise," and "counterclockwise" indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships typically used when the products of this application are used. These terms are intended solely to facilitate the description of the embodiments of this application and to simplify the description, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this application.
[0050] It is understood that the meaning of "plurality" in this article is at least two, such as two, three, etc., unless there is a special limitation. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or units inherent to these processes, methods, products or devices. The term "and / or" is merely a description of the association relationship of associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the previous and subsequent associated objects are in an "or" relationship.
[0051] The above description is only an implementation method of the present application and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the description and drawings of this application, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. An end picker, characterized in that: include: A rotating assembly, the rotating assembly comprising a first driving member and a rotating disk connected to the first driving member, wherein the first driving member can drive the rotating disk to rotate; a first sliding assembly, the first sliding assembly comprising a second driving member and a first sliding member, the first sliding member being movably connected to the rotating disk and moving relative to the rotating disk along a first direction under the action of the second driving member; a second sliding assembly, the second sliding assembly comprising a third driving member and a second sliding member, the second sliding member being movably connected to the second sliding member, and the second sliding member being moved relative to the first sliding member along a second direction under the action of the third driving member; A gripping member, the gripping member being fixed to the second sliding member; wherein, The first direction and the second direction intersect, and the rotation axis of the rotating disk is parallel to the second direction.
2. The end effector according to claim 1, characterized in that: The first driving member includes an output shaft, and the output shaft is provided with transmission teeth; The rotating assembly further includes a gear, the transmission teeth are engaged with the gear, and the gear is fixedly disposed on the rotating disk; The transmission teeth rotate along with the first driving member, driving the gears to mesh and move, thereby driving the rotating disk to rotate.
3. The end tool according to claim 2, characterized in that: It also includes a support member, wherein the support member is provided with a connecting through hole; The first driving member is arranged on the supporting member; The rotating disk is rotatably disposed on the connecting through hole; The end tool module further includes a plurality of balls, and the plurality of balls are accommodated in the connecting through hole; The balls are arranged between the circumference of the rotating disk and the inner wall of the connecting through hole, and a plurality of the balls are in sliding contact with the circumference of the rotating disk and the inner wall of the connecting through hole.
4. The end tool according to claim 1, characterized in that: The second driving member includes a second motor and a first rack, wherein the output shaft of the second motor is provided with a second gear meshing with the first rack; The first rack is fixed to the rotating disk; The second motor is fixed to the first sliding member, wherein the second gear rotates along with the second motor, and under the action of the first rack, the second gear drives the first sliding member to move relative to the rotating disk along a first direction.
5. The end tool according to claim 4, characterized in that: The rotating disk is provided with a first guide rail extending along a first direction, and the first sliding member is slidably connected to the first guide rail.
6. The end effector according to claim 1, characterized in that: The third driving member includes a third motor and a second rack, and the output shaft of the third motor is provided with a third gear meshing with the second rack; The second rack is fixed to the first sliding member; The third motor is fixed to the second sliding member, wherein the third gear rotates along with the third motor, and under the action of the second rack, the third gear drives the second sliding member to move relative to the first sliding member along the second direction.
7. The end tool according to claim 6, characterized in that: A first guide block is fixed on the first sliding member, and a second guide rail extending along the second direction is provided on the first guide block; the second sliding member is slidably connected to the second guide rail.
8. The end effector according to claim 7, characterized in that: The first guide block includes a mounting plate and a bent plate connected to each other, the mounting plate extends along the second direction, and the bent plate is connected to an edge of the mounting plate extending along the second direction; Along the second direction, the second guide rail is arranged on the mounting plate; Along the second direction, the second rack is arranged on the side of the bent plate facing away from the mounting plate; A second guide block is also fixed on the second sliding member. The second guide block is arranged parallel to the mounting plate along the second direction. The third motor and the grabbing member are fixed to the second guide block.
9. An end pick assembly, characterized in that: The invention comprises a connecting member and a plurality of end effectors according to any one of claims 1 to 8, wherein the connecting member connects the plurality of end effectors as required.
10. An industrial robot, characterized in that: It comprises the end-tool assembly and the robotic arm as claimed in claim 9, wherein the end-tool assembly is connected to the robotic arm.