Multifunctional operation end tool

Abstract

The utility model relates to the technical field of robot end tools, in particular to a multifunctional operation end tool. Comprising an adapter flange, a tool main body assembly, a driving part, a right clamping finger assembly, a left clamping finger assembly and a side face alignment part, and the driving part is arranged in a tool main structural part and provides rotating power; a gear of the driving part is meshed with a rack on the right clamping finger assembly and drives the rack to move in parallel; the left clamping finger assembly and the right clamping finger assembly do symmetrical movement; the side face alignment component is perpendicular to the clamping surfaces of the left and right clamping finger assemblies, and tight attachment of the response contact face of the clamped object is achieved. When a cuboid object is clamped, strict alignment of the surface clamped by two clamping fingers, the surface in contact with the side face alignment component and the surface in contact with the end face alignment component on the clamped object can be realized by judging and adjusting the triggering conditions of the proximity switches on the side face alignment component and the end face alignment component; therefore, the grabbed object can be accurately positioned.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot end tool technical field, concretely a kind of multifunctional operation end tool. BACKGROUND

[0002] When needing to carry out precision work such as precision assembly to the object with similar cuboid shape (such as regular shape electric energy meter), the specific clamping position of robot end tool on the object is important for the success rate of subsequent precision work. At present, most robots generally grasp according to the position taught in advance or grasp based on visual guidance when grasping cuboid object. The former way requires high precision for the position of the grasped object, and the latter way requires high precision for visual system, and the visual system is easily affected by complex lighting environment, so the effect is difficult to meet the requirements under some working conditions. The ideal way is to use visual positioning or other constraints for rough positioning, and then use the sensor of robot end tool to sense and limit the relative position relationship with the grasped object, so that very high grasping precision can be achieved with lower technical and economic cost. SUMMARY

[0003] In view of the above problems, the utility model aims at providing a multifunctional operation end tool. The end effector is provided with a plurality of proximity sensors on two surfaces based on the parallel two-finger clamping principle, and the sensor signal triggering realizes the criterion for reliable adhesion of the constraint surface to the surface of the grasped object, realizes good adhesion of the grasped object in each direction, and thus realizes accurate grasping of the grasped object.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0005] The utility model provides a kind of multifunctional operation end tool, including adapter flange, tool main component, driving part, right clamping finger component, left clamping finger component and side surface alignment component, wherein driving part is placed in tool main component, provides the power source of rotary motion;Adapter flange is connected with tool main component, is the interface that multifunctional operation end tool is connected with other equipment when using;Right clamping finger component and tool main component realize movement guide effect by profile cooperation, and are provided with power source by driving part;Left clamping finger component and right clamping finger component structure are identical, symmetrically installed and symmetrically move;Side surface alignment component is connected with tool main component, and its inner surface is perpendicular to the clamping surface of clamping finger, when clamping cuboid object, realize effective adhesion with the surface of cuboid object;Tool main component is the main frame of multifunctional operation end tool, and when clamping cuboid object, realize effective adhesion with the end surface of cuboid object.

[0006] The tool body assembly includes a main structural member, an end face proximity sensor I, an end face proximity sensor II, an end face proximity sensor III and an end face proximity sensor IV, wherein the end face proximity sensor I, the end face proximity sensor II, the end face proximity sensor III and the end face proximity sensor IV are built into holes in the upper end face of the main structural member, and the triggerable action surface thereof is recessed in the upper end face of the main structural member.

[0007] The end face proximity sensor I, the end face proximity sensor II, the end face proximity sensor III and the end face proximity sensor IV are cylindrical proximity sensors of the same type, function and performance, and output different switch signals when the distance between the triggerable action surface thereof and the surface of the clamped object is within a certain range and exceeds the certain range.

[0008] When the output signals of the end face proximity sensor I, the end face proximity sensor II, the end face proximity sensor III and the end face proximity sensor IV are all consistent with the signal that the distance between the triggerable action surface thereof and the surface of the clamped object is within a certain range, it indicates that the tool body assembly is closely fitted with the surface of the clamped object.

[0009] The driving component includes a motor reducer encoder assembly, a driving gear, a gland and a compression screw; wherein the motor reducer encoder assembly is a combination of a servo motor, a reducer and an encoder, providing a power source; the driving gear is connected with the output shaft of the motor reducer encoder assembly; the gland is connected with the motor reducer encoder assembly through the compression screw, limiting the axial movement of the driving gear.

[0010] The right clamp finger assembly includes a right clamp finger and a right rack, wherein the right rack is connected with the right clamp finger.

[0011] The right clamp finger assembly moves through the meshing of the right rack and the driving gear.

[0012] The side alignment component includes a side alignment plate, a side face proximity sensor I, a side face proximity sensor II, a side face proximity sensor III and a side face proximity sensor IV, wherein the side face proximity sensor I, the side face proximity sensor II, the side face proximity sensor III and the side face proximity sensor IV are all placed in holes in the side alignment plate, and the triggerable action surface of the side face proximity sensor I, the side face proximity sensor II, the side face proximity sensor III and the side face proximity sensor IV is slightly lower than the surface of the side alignment plate.

[0013] When the output signals of the side face proximity sensor I, the side face proximity sensor II, the side face proximity sensor III and the side face proximity sensor IV of the side alignment component are all consistent with the signal that the distance between the triggerable action surface thereof and the surface of the clamped object is within a certain range, it indicates that the side alignment component is closely fitted with the surface of the clamped object.

[0014] The utility model discloses a right and left clamping fingers can be reliably attached to the four screens of the two planes of the object to be grabbed and the two planes of the clamping fingers, and accurate positioning of the grabbing position of the cuboid object is realized.

[0015] 1. The utility model discloses a right and left clamping fingers can be reliably attached to the four screens of the two planes of the object to be grabbed and the two planes of the clamping fingers, and accurate positioning of the grabbing position of the cuboid object is realized.

[0016] 2. The utility model discloses a right and left clamping fingers can be reliably attached to the four screens of the two planes of the object to be grabbed and the two planes of the clamping fingers, and accurate positioning of the grabbing position of the cuboid object is realized.

[0017] 3. The utility model discloses a right and left clamping fingers can be reliably attached to the four screens of the two planes of the object to be grabbed and the two planes of the clamping fingers, and accurate positioning of the grabbing position of the cuboid object is realized. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structural schematic view of the multifunctional operation end tool of the utility model;

[0019] Figure 2 It is a structural schematic view of the tool main component in the utility model;

[0020] Figure 3 It is a structural schematic view of the driving part in the utility model;

[0021] Figure 4 It is a structural schematic view of the right clamping finger component in the utility model;

[0022] Figure 5 It is a structural schematic view of the side surface alignment part in the utility model;

[0023] Figure 6 It is a structural schematic view of the proximity sensor used in the utility model.

[0024] 1 is the adapter flange, 2 is the tool main component, 3 is the driving part, 4 is the right clamping finger component, 5 is the left clamping finger component, 6 is the side surface alignment part, 201 is the main structural part, 202 is the end surface proximity sensor I, 203 is the end surface proximity sensor II, 204 is the end surface proximity sensor III, 205 is the end surface proximity sensor IV, 301 is the motor speed reducer encoder assembly, 302 is the driving gear, 303 is the gland, 304 is the compression screw, 401 is the right clamping finger, 402 is the right rack, 601 is the side surface alignment plate, 602 is the side surface proximity sensor I, 603 is the side surface proximity sensor II, 604 is the side surface proximity sensor III, 605 is the side surface proximity sensor IV. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the utility model more clear, the utility model will be described in detail below in combination with the drawings and specific embodiments.

[0026] As Figure 1 shown, the utility model provides a kind of multifunctional operation end tool, including adapter flange 1, tool main component 2, driving part 3, right clamping finger component 4, left clamping finger component 5 and side alignment component 6, wherein driving part 3 is placed in tool main component 2, provides the power source of rotary motion;Adapter flange 1 is connected with tool main component 2, is the interface that multifunctional operation end tool is connected with other equipment when use;Right clamping finger component 4 and tool main component 2 are realized motion guiding effect by profile cooperation, and are powered by driving part 3;Left clamping finger component 5 and right clamping finger component 4 structure are identical, symmetrically installed and symmetrically move;Side alignment component 6 is connected with tool main component 2, and the inner surface of side alignment component 6 is perpendicular to the clamping surface of left and right clamping finger components, when clamping cuboid object, realize the effective adhesion with the surface of cuboid object;Tool main component 2 is as the main frame of multifunctional operation end tool, and when clamping cuboid object, realize the effective adhesion with the end surface of cuboid object.

[0027] As Figure 2 shown, tool main component 2 includes main structural member 201, end face proximity sensor I 202, end face proximity sensor II 203, end face proximity sensor III 204 and end face proximity sensor IV 205, wherein end face proximity sensor I 202, end face proximity sensor II 203, end face proximity sensor III 204 and end face proximity sensor IV 205 are built-in in the hole of the upper end surface of main structural member 201, and the triggerable action surface thereof is recessed in the upper end surface of main structural member 201.

[0028] End face proximity sensor I 202, end face proximity sensor II 203, end face proximity sensor III 204 and end face proximity sensor IV 205 are cylindrical proximity sensors of the same type, function and performance, and output different switch quantity signals when the distance between the triggerable action surface and the surface of the clamped object is within a certain range or exceeds the certain range.

[0029] When the output signals of end face proximity sensor I 202, end face proximity sensor II 203, end face proximity sensor III 204 and end face proximity sensor IV 205 are all consistent with the signal when the distance between the triggerable action surface and the surface of the clamped object is within a certain range, it indicates that tool main component 2 is closely attached to the surface of the clamped object.

[0030] The above-mentioned proximity sensor includes but is not limited to Figure 6The proximity sensor shown. In one possible embodiment, the end face of the proximity sensor is sunken 0.3 mm below the surface of the main structural member 201. The sensor is triggered when the end face of the sensor is 0.6 mm from the grasped object. Therefore, when the grasped object is within 0.3 mm of the main structural member 201, the proximity sensor is triggered. The maximum triggering distance between the end face of the proximity sensor and the grasped object can be adjusted by adjusting the depth of the proximity sensor's sunken position in the main structural member 201.

[0031] like Figure 3 As shown, the driving component 3 includes a motor reducer encoder assembly 301, a driving gear 302, a pressure cover 303 and a clamping screw 304; wherein the motor reducer encoder assembly 301 is a combination of a servo motor, a reducer and an encoder, providing a power source; the driving gear 302 is connected to the output shaft of the motor reducer encoder assembly 301; the pressure cover 303 is connected to the motor reducer encoder assembly 301 through the clamping screw 304, limiting the axial movement of the driving gear 302.

[0032] like Figure 4 As shown, the right gripping finger assembly 4 includes a right gripping finger 401 and a right rack 402 , wherein the right rack 402 is connected to the right gripping finger 401 .

[0033] The right gripping finger assembly 4 moves by meshing the right rack 402 with the driving gear 302. The left gripping finger assembly 5 and the right gripping finger assembly 4 are symmetrically arranged and move in opposite directions.

[0034] like Figure 5 As shown, the side alignment component 6 includes a side alignment plate 601, a side proximity sensor I 602, a side proximity sensor II 603, a side proximity sensor III 604 and a side proximity sensor IV 605, wherein the side proximity sensor I 602, the side proximity sensor II 603, the side proximity sensor III 604 and the side proximity sensor IV 605 are all placed in the holes on the side alignment plate 601, and the triggered active surfaces of the side proximity sensor I 602, the side proximity sensor II 603, the side proximity sensor III 604 and the side proximity sensor IV 605 are slightly lower than the surface of the side alignment plate 601.

[0035] When the output signals of the side proximity sensor I 602, side proximity sensor II 603, side proximity sensor III 604 and side proximity sensor IV 605 of the side alignment component 6 are all consistent with the signals that the distance between their triggered active surfaces and the surface of the clamped object is within a specific range, it indicates that the side alignment component 6 is in close contact with the surface of the clamped object.

[0036] The utility model provides a multifunctional end-operation tool, the working principle of which is:

[0037] When the target object is to be grabbed, the right finger assembly 4 and the left finger assembly 5 are fully opened, and the distance between the two is the farthest. In operation, first, the side alignment part 6 is brought into contact with the target object, and if all the proximity sensors are triggered, it is considered that the side alignment part 6 is reliably attached to the target object. Then, the tool body assembly 2 of the end tool is moved towards the target object until all the proximity sensors of the tool body assembly 2 are triggered, and it is considered that the tool body assembly 2 is reliably attached to the target object. Finally, the right finger assembly 4 and the left finger assembly 5 are closed to clamp the target object.

[0038] The multifunctional operation end tool provided by the utility model realizes accurate positioning of the grabbing position of the cuboid object through reliable attachment of four screens in total, i.e., two planes in contact with the grabbed object and two planes of the finger assembly. The utility model has simple and compact structure, and compared with the general parallel two-finger clamp jaw, only one side alignment plate is added in the appearance, so that the grabbed object is reliable. The utility model can realize accurate grabbing of the cuboid object based on rough positioning, avoids the influence of the external environment when visual positioning is used, and has low accuracy requirement for the placement position of the object.

[0039] The above description is only the embodiment of the utility model, and is not used for limiting the protection scope of the utility model. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the utility model are included in the protection scope of the utility model.

Claims

1. A multifunctional operating end tool, characterized in that: The utility model comprises an adapter flange (1), a tool main body component (2), a driving component (3), a right clamping finger component (4), a left clamping finger component (5) and a side alignment component (6), wherein the driving component (3) is placed in the tool main body component (2) and provides a power source for rotational motion; the adapter flange (1) is connected to the tool main body component (2) and serves as an interface for connecting the multifunctional operation end tool with the device when in use; the right clamping finger component (4) and the tool main body component (2) realize a motion guiding function through profile matching, and the driving component (3) provides a power source; the left clamping finger component (5) and the right clamping finger component (4) have the same structure, are symmetrically installed and move symmetrically; the side alignment component (6) is connected to the tool main body component (2), and the inner surface of the side alignment component (6) is perpendicular to the clamping surfaces of the left and right clamping finger components, and when clamping a rectangular object, it realizes effective fitting with the surface of the rectangular object; the tool main body component (2) serves as the main frame of the multifunctional operation end tool and realizes effective fitting with the end face of the rectangular object when clamping the rectangular object.

2. The multifunctional operating end tool according to claim 1, characterized in that: The tool main body assembly (2) comprises a main structure (201), an end face proximity sensor I (202), an end face proximity sensor II (203), an end face proximity sensor III (204) and an end face proximity sensor IV (205), wherein the end face proximity sensor I (202), the end face proximity sensor II (203), the end face proximity sensor III (204) and the end face proximity sensor IV (205) are built into a hole on the upper end face of the main structure (201), and their triggerable action surfaces are recessed in the upper end face of the main structure (201).

3. The multifunctional operating end tool according to claim 2, characterized in that: The end face proximity sensor I (202), end face proximity sensor II (203), end face proximity sensor III (204) and end face proximity sensor IV (205) are cylindrical proximity sensors of the same type, function and performance, and output different switching signals when the distance between their triggered action surface and the surface of the clamped object is within a set range or exceeds the set range.

4. The multifunctional operating end tool according to claim 2, characterized in that: When the output signals of the end face proximity sensor I (202), the end face proximity sensor II (203), the end face proximity sensor III (204) and the end face proximity sensor IV (205) are all consistent with the signals indicating that the distance between their triggered action surfaces and the surface of the clamped object is within a set range, it indicates that the tool body assembly (2) is in close contact with the surface of the clamped object.

5. The multifunctional operating end tool according to claim 1, characterized in that: The driving component (3) includes a motor reducer encoder assembly (301), a driving gear (302), a pressure cover (303) and a clamping screw (304); wherein the motor reducer encoder assembly (301) is a combination of a servo motor, a reducer and an encoder, and provides a power source; the driving gear (302) is connected to the output shaft of the motor reducer encoder assembly (301); and the pressure cover (303) is connected to the motor reducer encoder assembly (301) via the clamping screw (304), and limits the axial movement of the driving gear (302).

6. The multifunctional operating end tool according to claim 5, characterized in that: The right clamping finger assembly (4) comprises a right clamping finger (401) and a right rack (402), wherein the right rack (402) is connected to the right clamping finger (401).

7. The multifunctional operating end tool according to claim 6, characterized in that: The right gripping finger assembly (4) moves through the meshing of the right rack (402) and the driving gear (302).

8. The multifunctional operating end tool according to claim 1, characterized in that: The side alignment component (6) includes a side alignment plate (601), a side proximity sensor I (602), a side proximity sensor II (603), a side proximity sensor III (604) and a side proximity sensor IV (605), wherein the side proximity sensor I (602), the side proximity sensor II (603), the side proximity sensor III (604) and the side proximity sensor IV (605) are all placed in a hole on the side alignment plate (601), and the triggered action surfaces of the side proximity sensor I (602), the side proximity sensor II (603), the side proximity sensor III (604) and the side proximity sensor IV (605) are slightly lower than the surface of the side alignment plate (601).

9. The multifunctional operating end tool according to claim 8, characterized in that: When the output signals of the side proximity sensor I (602), the side proximity sensor II (603), the side proximity sensor III (604) and the side proximity sensor IV (605) of the side alignment component (6) are all consistent with the signals indicating that the distance between the triggerable action surface and the surface of the clamped object is within a set range, it indicates that the side alignment component (6) is in close contact with the surface of the clamped object.

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