End effector capable of being quickly disassembled and assembled

Abstract

The utility model relates to the technical field of robot execution equipment, in particular to a quickly assembled and disassembled end effector which comprises a supporting cylinder body, a support and an air cylinder, the support is fixedly connected to one end of the inner side of the supporting cylinder body, and the air cylinder is fixedly connected to the inner side of the support; the through opening starts from one end of the outer side of the supporting cylinder body, the limiting ring piece is fixedly connected to the other end of the outer side of the supporting cylinder body, and the locking mechanism is arranged in the supporting cylinder body; through the arrangement that an air cylinder in a supporting cylinder body is connected with a connecting end, a cross and a square-shaped vertical block can be driven to move up and down, a rack on the front face of the square-shaped vertical block can drive a gear to rotate during moving, and due to the fact that a rotating shaft is rotationally connected with the two sides in a through opening, and the gear is fixedly connected with the rotating shaft, the rotating shaft is driven to rotate; the rotating shaft can be driven to rotate, so that the connecting arm and the lock hook rotate, the lock hook can hook the lock ring, and the end effector body connected with the top sleeve can be fixed.

Description

Technical Field

[0001] The utility model relates to the technical field of robot execution equipment, in particular to a fast-disassembly and assembly end effector. Background Art

[0002] The end effector is the actuator of the manipulator, that is, the hand of the robot. It is a component installed on the robot arm that directly grasps the workpiece or performs the operation. The end effector has the function of clamping, transporting, and placing the workpiece to a certain position, which directly affects the work efficiency and work quality of the robot.

[0003] Industrial robots are usually designed to perform a variety of different tasks, such as handling, assembly, welding, spraying, inspection, etc. Each task may require a different type of end effector to complete. Therefore, replacing the end effector can enable the robot to adapt to different operational requirements, thereby improving the flexibility and diversity of the production line.

[0004] However, the applicant has found that the prior art has at least the following problems:

[0005] When replacing an existing end effector after use, a complex fastening and locking mechanism is set up to prevent the end effector from loosening or falling off during use. Therefore, the installation and disassembly process may be relatively complicated, requiring specific tools and technical support, and is time-consuming and labor-intensive. Utility Model Content

[0006] In view of this, the purpose of the present invention is to provide a quick-disassembly and assembly end effector to solve the problems raised in the above background technology.

[0007] Based on the above-mentioned purpose, the utility model provides a quickly disassembled end actuator, including a support cylinder body, a bracket and a cylinder, the bracket is fixedly connected to one end of the inner side of the support cylinder body, and the cylinder is fixedly connected to the inner side of the bracket; a through port, a limiting ring and a locking mechanism, the through port starts at one end of the outer side of the support cylinder body, the limiting ring is fixedly connected to the other end of the outer side of the support cylinder body, and the locking mechanism is arranged inside the support cylinder body; a top sleeve, a connecting rod, a locking ring, a connecting piece, a limiting ring and an end actuator body, the top sleeve is movably inserted at the lower side of the outer side of the support cylinder body, the connecting rod is fixedly connected to one end of the top of the top sleeve, the locking ring is fixedly connected to the top of the connecting rod, the connecting piece is fixedly connected to one end of the top of the locking ring, the limiting ring is fixedly connected to the top of the connecting piece, and the end actuator body is fixedly connected to the bottom of the top sleeve.

[0008] Optionally, the locking mechanism includes a connecting end, a cross and a U-shaped block, the connecting end is fixedly connected to the movable end of the cylinder, the cross is fixedly connected to the bottom of the connecting end, and the U-shaped block is fixedly connected to one end of the cross; a rack, a rotating shaft and a gear, the rack is fixedly connected to the front end of the U-shaped block, the two ends of the rotating shaft are respectively rotatably connected to the two sides of the through opening, the gear is fixedly connected to the outer end of the rotating shaft, and the rack and the gear are meshed; a connecting arm and a locking hook, the connecting arm is fixedly connected to the middle end of the outer side of the rotating shaft, the locking hook is fixedly connected to one end of the connecting arm, and the locking ring is adapted to the locking hook.

[0009] Optionally, it also includes a support outer ring, a support rod and a small arm connecting plate, the support outer ring is fixedly connected to the upper outside of the support cylinder body, the support rod is fixedly connected to one end of the top of the support outer ring, and the small arm connecting plate is fixedly connected to the top of the support rod.

[0010] Optionally, the limiting ring piece and the limiting ring are movably plugged in, and the limiting ring is movably plugged in to the supporting cylinder body.

[0011] Optionally, there are four groups of connecting rods and connecting pieces, the four groups of connecting rods are symmetrically arranged at the four ends of the top of the top sleeve, and the four groups of connecting pieces are symmetrically arranged at the four ends of the top of the locking ring.

[0012] Optionally, the cross, U-shaped upright block, rotating shaft, connecting arm and locking hook are provided in four groups, and the four groups of U-shaped upright blocks are symmetrically arranged at the four ends of the cross. Two groups of racks are symmetrically provided on the front of each group of U-shaped upright blocks, and two groups of gears are symmetrically provided at the two ends of the outer side of each group of rotating shafts.

[0013] The beneficial effects of the present invention are as follows: through the setting of the connection between the cylinder in the supporting cylinder body and the connecting end, the cross and the U-shaped vertical block can be driven to move up and down. During the movement, the rack on the front of the U-shaped vertical block will drive the gear to rotate. Since the rotating shaft and the two sides in the through hole are rotatably connected, and the gear and the rotating shaft are fixedly connected, the rotating shaft can be driven to rotate, thereby causing the connecting arm and the locking hook to rotate. After the top sleeve is inserted into the supporting cylinder body, the limit ring is inserted into the limit ring piece. At this time, the cylinder moves downward, causing the connecting arm and the locking hook to rotate upward, so that the locking hook can hook the locking ring. In this way, the end effector body connected to the top sleeve can be fixed, achieving a stable working state. When installing or disassembling the end effector body, this method only requires inserting or removing the top sleeve and starting the cylinder. No complicated operation is required. The fixing function is achieved through mechanical transmission and locking mechanism, making the entire device compact in structure, small in occupancy, high in reliability and stability, and suitable for various working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only for the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the utility model;

[0016] Figure 2 This is a schematic structural diagram of the top sleeve in an embodiment of the present utility model;

[0017] Figure 3 This is a schematic structural diagram of a lock ring in an embodiment of the present utility model; Figure 4 This is a structural diagram of the supporting cylinder body in an embodiment of the present utility model; Figure 5 Schematic diagram of the structure of the locking mechanism in the embodiment of the present utility model.

[0018] The following are marked in the figure:

[0019] 1. Support cylinder body; 2. Bracket; 3. Cylinder; 4. Through port; 5. Limiting ring; 6. Locking mechanism; 601. Connecting end; 602. Cross; 603. U-shaped vertical block; 604. Rack; 605. Rotating shaft; 606. Gear; 607. Connecting arm; 608. Locking hook; 7. Top sleeve; 8. Connecting rod; 9. Locking ring; 10. Connecting piece; 11. Limiting ring; 12. End effector body; 13. Support outer ring; 14. Support rod; 15. Forearm connecting plate. DETAILED DESCRIPTION

[0020] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with specific embodiments.

[0021] It should be noted that, unless otherwise defined, the technical or scientific terms used in this utility model should have the usual meanings understood by people with ordinary skills in the field to which this utility model belongs. The "first", "second" and similar words used in this utility model do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative position relationships. When the absolute position of the object being described changes, the relative position relationship may also change accordingly.

[0022] like Figures 1 to 5 As shown, a specific embodiment of the present invention provides a quick-disassembly and assembly end effector, including a support cylinder body 1, a bracket 2 and a cylinder 3, the bracket 2 is fixedly connected to one end of the inner side of the support cylinder body 1, and the cylinder 3 is fixedly connected to the inner side of the bracket 2; a through port 4, a limiting ring piece 5 and a locking mechanism 6, the through port 4 starts at one end of the outer side of the support cylinder body 1, the limiting ring piece 5 is fixedly connected to the other end of the outer side of the support cylinder body 1, and the locking mechanism 6 is arranged inside the support cylinder body 1; a top sleeve 7, a connecting rod 8, a locking ring 9, a connecting piece 10, a limiting ring 11 and an end effector body 12, the top sleeve 7 is movably inserted at the lower outside of the support cylinder body 1, the connecting rod 8 is fixedly connected to one end of the top of the top sleeve 7, the locking ring 9 is fixedly connected to the top of the connecting rod 8, the connecting piece 10 is fixedly connected to one end of the top of the locking ring 9, the limiting ring 11 is fixedly connected to the top of the connecting piece 10, and the end effector body 12 is fixedly connected to the bottom of the top sleeve 7.

[0023] In some optional specific embodiments, such as Figures 1 to 5 As shown, the locking mechanism 6 includes a connecting end 601, a cross 602 and a U-shaped block 603, the connecting end 601 is fixedly connected to the movable end of the cylinder 3, the cross 602 is fixedly connected to the bottom of the connecting end 601, and the U-shaped block 603 is fixedly connected to one end of the cross 602; a rack 604, a rotating shaft 605 and a gear 606, the rack 604 is fixedly connected to one end of the front of the U-shaped block 603, the two ends of the rotating shaft 605 are respectively rotatably connected to the two sides of the through-port 4, the gear 606 is fixedly connected to the outer end of the rotating shaft 605, and the rack 604 and the gear 606 are meshed with each other; a connecting arm 607 and a locking hook 608, the connecting arm 607 is fixedly connected to the middle end of the outer side of the rotating shaft 605, the locking hook 608 is fixedly connected to one end of the connecting arm 607, and the locking ring 9 is adapted to the locking hook 608.

[0024] In some alternative embodiments, as shown in Figures 1 to 5 As shown, it also includes a support outer ring 13, a support rod 14 and a small arm connecting disc 15, the support outer ring 13 is fixedly connected to the upper side of the support cylinder 1, the support rod 14 is fixedly connected to one end of the top of the support outer ring 13, and the small arm connecting disc 15 is fixedly connected to the top of the support rod 14.

[0025] In some alternative embodiments, as shown in Figures 1 to 5 As shown, the limiting ring piece 5 and the limiting ring 11 are movably inserted, and the limiting ring 11 is movably inserted with the support cylinder 1.

[0026] In some alternative embodiments, as shown in Figures 1 to 5 As shown, the connecting rod 8 and the connecting piece 10 are both provided with four groups, four groups of the connecting rod 8 are symmetrically arranged at the four ends of the top of the top sleeve 7, and four groups of the connecting piece 10 are symmetrically arranged at the four ends of the top of the lock ring 9.

[0027] In some alternative embodiments, as shown in Figures 1 to 5 As shown, the cross 602, the H-shaped vertical block 603, the rotating shaft 605, the connecting arm 607 and the lock hook 608 are provided with four groups, four groups of the H-shaped vertical block 603 are symmetrically arranged at the four ends of the cross 602, each group of the H-shaped vertical block 603 is symmetrically provided with two groups of the rack 604 on the front face, and each group of the rotating shaft 605 is symmetrically provided with two groups of the gear 606 at the two ends of the outer side.

[0028] The working principle of the utility model is: when in use, the small arm of the robot is connected through the small arm connecting disc 15, the support cylinder 1 is supported through the support outer ring 13 and the support rod 14, the cross 602 and the H-shaped vertical block 603 can be driven to move up and down through the arrangement that the air cylinder 3 in the support cylinder 1 is connected with the connecting end 601, the rack 604 on the front face of the H-shaped vertical block 603 can drive the gear 606 to rotate when moving, the rotating shaft 605 can be driven to rotate due to the rotary connection between the rotating shaft 605 and the two sides in the through hole 4 and the fixed connection relationship between the gear 606 and the rotating shaft 605, so that the connecting arm 607 and the lock hook 608 are rotated, after the top sleeve 7 is inserted into the support cylinder 1, the limiting ring 11 is inserted into the limiting ring piece 5, at this time, the air cylinder 3 is moved downward, the connecting arm 607 and the lock hook 608 are rotated upward, so that the lock hook 608 hooks the lock ring 9, so that the end effector body 12 connected with the top sleeve 7 can be fixed, a stable working state is realized, when the end effector body 12 is installed or disassembled, only the top sleeve 7 needs to be inserted or pulled out and the air cylinder 3 needs to be started, without complex operation, the fixing function is realized through the mechanical transmission and the locking mechanism 6, the whole device is compact in structure, small in occupied space, high in reliability and stability, and suitable for various working environments.

[0029] It should be understood by those of ordinary skill in the art that the above discussion of any of the embodiments is merely exemplary and is not intended to suggest the scope of the present application (including the claims) is limited to these examples; the above embodiments or technical features among different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for the sake of brevity.

[0030] The present application is intended to cover all such alternatives, modifications, and variations as fall within the broad scope of the appended claims. Accordingly, any and all such alternatives, modifications, equivalents, improvements and the like are intended to be encompassed by the present application.

Claims

1. A quick-disassembly end effector, characterized in that: include: A support cylinder body (1), a bracket (2) and a cylinder (3), wherein the bracket (2) is fixedly connected to one end of the inner side of the support cylinder body (1), and the cylinder (3) is fixedly connected to the inner side of the bracket (2); a through port (4), a limiting ring (5) and a locking mechanism (6), wherein the through port (4) starts at one end of the outer side of the support cylinder body (1), the limiting ring (5) is fixedly connected to the other end of the outer side of the support cylinder body (1), and the locking mechanism (6) is arranged inside the support cylinder body (1); a top sleeve (7), a connecting rod (8), a locking ring ( 9), a connecting piece (10), a limiting ring (11) and an end effector body (12), the top sleeve (7) is movably plugged into the lower outer side of the support cylinder body (1), the connecting rod (8) is fixedly connected to one end of the top of the top sleeve (7), the locking ring (9) is fixedly connected to the top of the connecting rod (8), the connecting piece (10) is fixedly connected to one end of the top of the locking ring (9), the limiting ring (11) is fixedly connected to the top of the connecting piece (10), and the end effector body (12) is fixedly connected to the bottom of the top sleeve (7).

2. The quick-disassembly end effector according to claim 1, characterized in that: The locking mechanism (6) comprises: a connecting end (601), a cross (602) and a square-shaped upright block (603); the connecting end (601) is fixedly connected to the movable end of the cylinder (3); the cross (602) is fixedly connected to the bottom of the connecting end (601); the square-shaped upright block (603) is fixedly connected to one end of the cross (602); a rack (604), a rotating shaft (605) and a gear (606); the rack (604) is fixedly connected to the front of the square-shaped upright block (603); One end, the two ends of the rotating shaft (605) are respectively rotatably connected to the two sides of the through port (4), the gear (606) is fixedly connected to the outer end of the rotating shaft (605), and the rack (604) and the gear (606) are meshed and connected; the connecting arm (607) and the locking hook (608), the connecting arm (607) is fixedly connected to the middle end of the outer side of the rotating shaft (605), the locking hook (608) is fixedly connected to one end of the connecting arm (607), and the locking ring (9) is adapted to the locking hook (608).

3. The quick-disassembly end effector according to claim 1, characterized in that: Also includes: A support outer ring (13), a support rod (14) and a small arm connecting plate (15), wherein the support outer ring (13) is fixedly connected to the upper side of the outer side of the support cylinder (1), the support rod (14) is fixedly connected to one end of the top of the support outer ring (13), and the small arm connecting plate (15) is fixedly connected to the top of the support rod (14).

4. The quick-disassembly end effector according to claim 1, characterized in that: The limiting ring piece (5) and the limiting ring (11) are movably plugged in, and the limiting ring (11) and the supporting cylinder body (1) are movably plugged in.

5. The quick-disassembly end effector according to claim 1, characterized in that: The connecting rods (8) and connecting pieces (10) are both provided in four groups. The four groups of connecting rods (8) are symmetrically arranged at the four ends of the top of the top sleeve (7), and the four groups of connecting pieces (10) are symmetrically arranged at the four ends of the top of the locking ring (9).

6. The quick-disassembly end effector according to claim 2, characterized in that: The cross (602), the square-shaped vertical block (603), the rotating shaft (605), the connecting arm (607) and the locking hook (608) are provided in four groups. The four groups of square-shaped vertical blocks (603) are symmetrically arranged at the four ends of the cross (602). The front of each group of square-shaped vertical blocks (603) is symmetrically provided with two groups of racks (604), and the outer ends of each group of rotating shafts (605) are symmetrically provided with two groups of gears (606).

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