Robot end effector for carrying
By designing an end effector with a rubber outer clamp and an electric telescopic rod, the problems of easy failure and wear of existing end effectors are solved, achieving efficient and stable object clamping and simple maintenance, thus reducing maintenance costs.
Patent Information
- Application Number
- CN202422985256.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-04
- Publication Date
- 2025-10-21
- Estimated Expiration
- 2034-12-04
AI Technical Summary
Existing end effectors are prone to malfunction or wear after clamping objects for a long time, making maintenance difficult, increasing costs and affecting production efficiency.
An end effector comprising an actuator arm, a rotating shaft, a clamping plate, a rubber outer clamping plate, and a motor is designed. The motor drives the rotating shaft to rotate, bringing the clamping plate closer. The toothed structure of the rubber outer clamping plate increases friction, and the engagement of the insert plate and the through slot achieves stable clamping. The electric telescopic rod provides additional pressure to enhance stability and facilitates maintenance and replacement of rubber components.
It improves the stability and precision of clamping, protects the clamped object, reduces vibration and impact, simplifies the maintenance process, and reduces maintenance costs.
Smart Images
Figure CN223456034U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to end effector device technical field especially relates to a kind of robot end effector for carrying. BACKGROUND
[0002] Nowadays, robot technology has been widely applied in various industries, especially in carrying operation, robots gradually replace traditional manual carrying mode with its efficient, accurate and tireless characteristics.
[0003] One of the main functions of end effector is to stably clamp the object to be carried, regardless of the shape, size or material of the object, end effector can ensure that the object will not slip or damage during carrying through its cleverly designed clamping mechanism, and this stable clamping capacity is the basis for efficient and safe carrying.
[0004] However, the applicant found that the prior art at least has the following problems:
[0005] The existing end effector is prone to failure or wear after long-term clamping of the object, but due to the complex structure, it is difficult and troublesome to maintain, which not only increases the maintenance cost and time, but also may affect the production progress and efficiency. SUMMARY
[0006] Therefore, the purpose of the utility model is to provide a robot end effector for carrying to solve the problems raised in the background art.
[0007] In order to achieve the above purpose, the utility model provides a robot end effector for carrying, which comprises an execution arm, a rotating shaft one and a support connecting beam, the rotating shaft one is fixedly connected to the upper side of the execution arm, and one end of the support connecting beam is rotatably connected to the rotating shaft one; a rotating shaft two, a clamping plate, a through slot, a rubber outer clamping plate and a plug-in plate, the rotating shaft two is fixedly connected to the outer sides below the execution arm, the clamping plate is rotatably connected to one end of the rotating shaft two, the through slot is provided on the back of the clamping plate, the plug-in plate is movably inserted into the clamping plate, the rubber outer clamping plate is arranged on the front of the clamping plate, and the rubber outer clamping plate and the plug-in plate are fixedly connected; a support frame and a motor, the support frame is fixedly connected to one end of the outer side of the support connecting beam, the motor is fixedly connected to the inner side of the support frame, and the output end of the motor is fixedly connected to the rotating shaft one.
[0008] Optionally, it further comprises a connecting frame, an electric telescopic rod and a base, the connecting frame is fixedly connected to the inner side below the execution arm, the electric telescopic rod is fixedly connected to the inner side of the connecting frame, and the base is fixedly connected to the movable end of the electric telescopic rod; a rotating rod and a pressing strip, the rotating rod is fixedly connected to the inner side of the base, the pressing strip is rotatably connected to the middle end of the outer side of the rotating rod, and the pressing strip is matched with the through slot.
[0009] Optionally, a plurality of sets of tooth-like structures are arranged on the front surface of the rubber outer clamping plate, and the rubber outer clamping plate is movably connected with the clamping plate.
[0010] Optionally, two sets of the rotating shafts I are arranged on the executing arm and the rotating shaft, and the two ends of the executing arm are respectively connected with the two sets of rotating shafts I.
[0011] Optionally, two sets of the clamping plates, the through grooves, the rubber outer clamping plates, the inserting plates, the supporting frames and the motors are arranged, and the two sets of supporting frames are symmetrically arranged at the two ends of the supporting connecting beam.
[0012] Optionally, two sets of the electric telescopic rods, the bases, the rotating rods and the pressing strips are arranged, and a plurality of sets of the connecting frames are symmetrically arranged on the inner sides of the two sets of executing arms.
[0013] The utility model discloses the beneficial effects: through two sets of motor start and respectively drive a set of rotating shaft I and the executing arm rotation rotates, make two sets of executing arm below clamping plate each other close, thereby clamping object carries, clamps object, through the rubber outer clamping plate of clamping plate outside, its tooth-like structure will be closely contacted with object surface, increase friction, ensure that clamping is firm, and through the flexibility of the clamping plate connection of rotating shaft II, it can also adapt to the irregularity of the object surface to a certain extent, improve the precision and stability of clamping, and the softness and elasticity of the rubber outer clamping plate can also play the role of protecting the surface of the clamped object, prevent the scratch or damage caused by hard contact in the clamping process, and through the setting that the inserting plate is inserted into the clamping plate and the connecting relationship of the rubber outer clamping plate and the clamping plate, the rubber outer clamping plate and the inserting plate can be conveniently disassembled and installed, which is convenient for daily maintenance and replacement; through the electric telescopic rod start base movement, and drive the pressing strip connected with the rotating rod to move, make the pressing strip embed the through groove, so when clamping object can exert an additional pressure or thrust on the rubber outer clamping plate, play the effect of auxiliary clamping, thereby further improve the stability of clamping, and because the pressing strip and the through groove are closely matched, it limits the lateral movement or deviation of the rubber outer clamping plate in the clamping process, in the process of carrying or moving the clamped object, may encounter vibration, impact or other dynamic force, the embedding of the pressing strip can provide an additional support point for the rubber outer clamping plate, reduce its vibration and impact under the action of these dynamic forces. BRIEF DESCRIPTION OF DRAWINGS
[0014] In order to more clearly illustrate the technical scheme in the utility model or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or the prior art description, and obviously, the drawings in the following description are only the utility model, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.
[0015] Figure 1 It is the whole structure schematic view of the embodiment of the utility model;
[0016] Figure 2 It is the structure schematic view of the support connection crossbeam in the embodiment of the utility model;
[0017] Figure 3 It is the structure schematic view of the execution arm in the embodiment of the utility model; Figure 4 It is the structure schematic view of the pressing strip in the embodiment of the utility model; Figure 5 It is the structure schematic view of the clamping plate in the embodiment of the utility model; Figure 6 It is the structure schematic view of the rubber outer clamping plate in the embodiment of the utility model.
[0018] Marked as in the drawing:
[0019] 1, execution arm, 2, pivot one, 3, support connection crossbeam, 4, pivot two, 5, clamping plate, 6, through slot, 7, rubber outer clamping plate, 8, plugboard, 9, support frame, 10, motor, 11, connecting frame, 12, electric telescopic rod, 13, base, 14, rotating rod, 15, pressing strip. Specific implementation
[0020] In order to make the purpose, technical scheme and advantage of the utility model more clearly, the following is in combination with specific embodiment, and the utility model is further detailed.
[0021] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the utility model should be understood as the usual meaning of the person skilled in the art to which the utility model belongs. The "first", "second" and similar words used in the utility model do not represent any order, quantity or importance, but only distinguish different components. "Include" or "contain" and similar words mean that the elements or objects before the word cover the elements or objects listed after the word and their equivalents, and do not exclude other elements or objects. "Connection" or "connected" and similar words are not limited to physical or mechanical connection, but can include electrical connection, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to represent relative positional relationship, when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0022] As Figures 1 to 6As shown, the utility model of specific embodiment provides a kind of robot end effector for carrying, including execution forearm 1, pivot one 2 and support connection crossbeam 3, pivot one 2 is fixedly connected on execution forearm 1 top, and support connection crossbeam 3 one end is rotatably connected with pivot one 2;Pivot two 4, clamping plate 5, through slot 6, rubber outer clamping plate 7 and plugboard 8, pivot two 4 is fixedly connected on the outside two sides below execution forearm 1, clamping plate 5 is rotatably connected with pivot two 4 one end, through slot 6 is opened in clamping plate 5 back, plugboard 8 is movably inserted in clamping plate 5, rubber outer clamping plate 7 is located clamping plate 5 front and is arranged, and rubber outer clamping plate 7 and plugboard 8 are fixedly connected;Support frame 9 and motor 10, support frame 9 is fixedly connected with support connection crossbeam 3 outside one end, and motor 10 is fixedly connected with support frame 9 inside, and the output end of motor 10 is fixedly connected with pivot one 2.
[0023] by two groups of motor 10 start and each drive a group of pivot one 2 and execution forearm 1 rotation are rotated, make two groups of execution forearm 1 below clamping plate 5 close to each other, to hold object and carry, when holding object, through the rubber outer clamping plate 7 of clamping plate 5 outside, its dentate structure can be in close contact with the surface of object, increase friction, ensure that clamping is stable, and also can adapt to the irregularity of object surface to a certain extent through the flexibility of pivot two 4 connected with clamping plate 5, improve the precision and stability of clamping, and the softness and elasticity of rubber outer clamping plate 7 can also play the role of protecting the surface of clamped object, prevent scratching or damage caused by hard contact in the process of clamping, and through the setting of plugboard 8 inserted into clamping plate 5 and the connection relationship between rubber outer clamping plate 7 and clamping plate 5, rubber outer clamping plate 7 and plugboard 8 can be conveniently disassembled and installed, which is convenient for daily maintenance and replacement.
[0024] In some optional embodiments, as shown in Figures 1 to 6 It also includes connecting frame 11, electric telescopic rod 12 and base 13, connecting frame 11 is fixedly connected to the inside below execution forearm 1, electric telescopic rod 12 is fixedly connected to the inside of connecting frame 11, and base 13 is fixedly connected with the movable end of electric telescopic rod 12;Rotating rod 14 and pressing strip 15, rotating rod 14 is fixedly connected to the inside of base 13, pressing strip 15 is rotatably connected to the middle end of rotating rod 14 outside, and pressing strip 15 is adapted to through slot 6.
[0025] In some optional embodiments, as shown in Figures 1 to 6 The front of rubber outer clamping plate 7 is provided with a plurality of dentate structures, and rubber outer clamping plate 7 is movably inserted with clamping plate 5.
[0026] In some optional embodiments, as shown in Figures 1 to 6As shown, the execution arm 1 and the pivot one 2 are provided with two groups, and the two ends of the execution arm 1 are connected with the two groups of pivot one 2 respectively.
[0027] In some alternative embodiments, as shown in the figure, Figures 1 to 6 As shown, the clamping plate 5, the through slot 6, the rubber outer clamping plate 7, the plug plate 8, the support frame 9 and the motor 10 are provided with two groups, and the two groups of support frames 9 are symmetrically arranged at the two ends of the support connection beam 3.
[0028] In some alternative embodiments, as shown in the figure, Figures 1 to 6 As shown, the electric telescopic rod 12, the base 13, the rotating rod 14 and the pressing strip 15 are provided with two groups, and the connecting frame 11 is provided with multiple groups and is symmetrically arranged on the inner side of the two groups of execution arms 1.
[0029] The working principle of the utility model is: when in use, two groups of motors 10 are started, and each drives a group of pivot one 2 and execution arm 1 to rotate, so that the clamping plates 5 below the two groups of execution arms 1 are close to each other, thereby clamping the object for carrying, when clamping the object, the toothed structure of the rubber outer clamping plate 7 on the outer side of the clamping plate 5 is in close contact with the surface of the object, the friction is increased, the clamping is stable, and the flexibility of the clamping plate 5 connected with the clamping plate 5 through the pivot two 4 can also adapt to the irregularity of the surface of the object to a certain extent, the accuracy and stability of clamping are improved, the softness and elasticity of the rubber outer clamping plate 7 can also play a role in protecting the surface of the clamped object, preventing scratches or damage caused by hard contact during clamping, and the plug plate 8 is inserted into the clamping plate 5 and the connecting relationship between the rubber outer clamping plate 7 and the clamping plate 5, which can facilitate the disassembly and installation of the rubber outer clamping plate 7 and the plug plate 8, and is convenient for daily maintenance and replacement; the base 13 is moved by starting the electric telescopic rod 12, and the pressing strip 15 connected with the rotating rod 14 is moved, so that the pressing strip 15 is embedded in the through slot 6, so that an additional pressure or thrust can be applied to the rubber outer clamping plate 7 when clamping the object, which plays an auxiliary clamping effect, thereby further improving the stability of clamping, and because the pressing strip 15 is closely matched with the through slot 6, it limits the horizontal movement or deviation of the rubber outer clamping plate 7 during clamping, and in the process of carrying or moving the clamped object, vibration, impact or other dynamic force may be encountered, the embedding of the pressing strip 15 can provide an additional support point for the rubber outer clamping plate 7, reducing the vibration and impact under the action of these dynamic forces.
[0030] Those skilled in the art will understand that the above discussion of any of the embodiments is merely exemplary in nature and is not intended to imply that 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.
[0031] 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 and variations are intended to be encompassed by the appended claims.
Claims
1. A robotic end effector for use in handling, characterized by, Include: The execution of the arm (1), the pivot (2) and the support connection beam (3), the pivot (2) is fixedly connected to the upper part of the execution arm (1), and one end of the support connection beam (3) is rotatably connected with the pivot (2); The pivot (4), the clamping plate (5), the through slot (6), the rubber outer clamping plate (7) and the plug-in plate (8), the pivot (4) is fixedly connected to the outside of the lower part of the execution arm (1), the clamping plate (5) is rotatably connected to one end of the pivot (4), the through slot (6) is provided on the back of the clamping plate (5), the plug-in plate (8) is movably inserted into the clamping plate (5), the rubber outer clamping plate (7) is arranged on the front of the clamping plate (5), and the rubber outer clamping plate (7) and the plug-in plate (8) are fixedly connected; The support frame (9) and the motor (10) are fixedly connected to the outer side of one end of the support connection beam (3), and the motor (10) is fixedly connected to the inner side of the support frame (9), and the output end of the motor (10) is fixedly connected with the pivot (2).
2. The robotic end effector for handling according to claim 1, wherein, Also includes: connecting frame (11), electric telescopic rod (12) and base (13), the connecting frame (11) is fixedly connected to the inner side below the execution arm (1), the electric telescopic rod (12) is fixedly connected to the inner side of the connecting frame (11), and the base (13) is fixedly connected with the movable end of the electric telescopic rod (12); The rotating rod (14) and the pressing strip (15) are fixedly connected to the inner side of the base (13), and the pressing strip (15) is rotatably connected to the middle end of the outer side of the rotating rod (14), and the pressing strip (15) is matched with the through slot (6).
3. The robotic end effector for handling according to claim 1, wherein, The front of the rubber outer clamping plate (7) is provided with a plurality of groups of toothed structure, and the rubber outer clamping plate (7) is movably inserted into the clamping plate (5).
4. The robotic end effector for handling according to claim 1, wherein, The execution of the arm (1) and the pivot (2) are provided with two groups, and the two ends of the execution arm (1) are respectively connected with the two groups of pivots (2).
5. The robotic end effector for handling according to claim 1, wherein, The clamping plate (5), the through slot (6), the rubber outer clamping plate (7), the plug-in plate (8), the support frame (9) and the motor (10) are provided with two groups, and the two groups of support frames (9) are symmetrically arranged on the outer sides of the two ends of the support connection beam (3).
6. The robotic end effector for handling according to claim 2, wherein, The electric telescopic rod (12), the base (13), the rotating rod (14) and the pressing strip (15) are provided with two groups, and the connecting frame (11) is provided with a plurality of groups, which are symmetrically arranged on the inner sides of the two groups of execution arms (1).