Tooling with linkage type telescopic mechanical arm

Abstract

The utility model discloses an end picking-up device with a linkage type telescopic mechanical arm, which relates to the technical field of end picking-up devices and comprises a power component, a fixed disc, a mechanical arm group and a transmission component, the power assembly is fixed to the fixing disc, and the output end of the power assembly is connected with the transmission assembly. A plurality of mechanical arm sets are fixedly installed on the periphery of the fixed disc, sliding blocks are installed on the mechanical arm sets in a sliding mode, suction cup assemblies are fixedly connected to the sliding blocks, and the sliding blocks are connected with a transmission assembly; according to the utility model, the tooling is large in adjustment span, simple and rapid in adjustment and high in control precision.

Description

Technical Field

[0001] This utility model relates to the field of end effector technology, specifically to an end effector with a linked telescopic robotic arm. Background Technology

[0002] Stamping production has developed rapidly in recent years and is widely used in many fields such as automobiles, electronics, and aerospace. The end effector devices on robotic arms are widely used in the loading and unloading of sheet metal and play an important role in automated stamping production lines.

[0003] In actual production, due to the different sizes of sheet metal and the variety of specifications of stamped sheet metal, traditional end effectors need to adjust the overall size and suction cup position of the end effector according to the size of the sheet metal in order to adsorb sheet metal of different specifications, which is inefficient.

[0004] To address this, Chinese Patent 202320451723.8 discloses a variable-pitch end effector. By using a sliding groove, the sliding block can be moved laterally repeatedly, allowing the distance between the connecting block and the end effector's crossbar to be adjusted. The disadvantages of this variable-pitch end effector are: 1. The position of the sliding block needs to be manually adjusted, and the screw needs to be manually tightened after adjusting the distance between the sliding blocks; 2. The spacing of the threaded holes is fixed, making continuous position adjustment impossible and reducing its applicability to different sizes of sheet metal; 3. It can only achieve expansion and contraction in one direction.

[0005] To address this, Chinese Patent 202310504507.X discloses a suction cup end effector with adjustable end-grab span. By using two sets of orthogonally placed guide rails, the expansion process of the working size of the suction cup end effector is changed from the traditional unidirectional expansion to a bidirectional expansion. The disadvantages of this suction cup end effector with adjustable end-grab span are: 1. The motor, the first reducer, and the second reducer are installed in the same direction, all perpendicular to the two sets of orthogonally placed guide rails, resulting in a larger size of the device in the direction perpendicular to the two sets of orthogonal guide rails; 2. It can only achieve expansion and contraction in two orthogonal directions, and due to the limitation of the orthogonal arrangement of the guide rails, the adsorption size of the suction cup is smaller than the overall size of the end effector, failing to effectively utilize the remaining adsorption space. Utility Model Content

[0006] The purpose of this invention is to provide an end effector with a linkage telescopic robotic arm, which enables the end effector to have a large adjustment range, simple and quick adjustment, and high control precision.

[0007] This utility model includes a power component, a fixed plate, a robotic arm assembly, and a transmission component; the power component is fixed on the fixed plate, and the output end of the power component is connected to the transmission component; several robotic arm assemblies are fixedly installed on the outer periphery of the fixed plate, and sliders are slidably installed on the robotic arm assemblies. Suction cup assemblies are fixedly connected to the sliders, and the sliders are connected to the transmission component.

[0008] Preferably, the robotic arm assembly consists of three units, which are evenly spaced around the outer periphery of the fixed disk.

[0009] Preferably, the robotic arm assembly includes a mounting plate, a vertical adapter block, a hollow optical axis, a profile bracket, a linear guide rail, a slider, and a suction cup assembly; the suction cup assembly is fixed on the hollow optical axis, the hollow optical axis is fixed on the vertical adapter block, the vertical adapter block is fixed on the outside of the mounting plate, and the mounting plate is fixedly connected to the slider; the slider is slidably connected to the linear guide rail, the linear guide rail is fixed on the profile bracket, and the profile bracket is fixedly connected to the fixed plate.

[0010] Preferably, the power assembly includes a servo motor, a right-angle planetary reducer, and a stepped connecting plate. The servo motor is fixed to the right-angle planetary reducer, and the stepped connecting plate is fixed to the output end of the right-angle planetary reducer.

[0011] Preferably, the transmission assembly includes several transmission rod groups, which are evenly spaced around the outer periphery of the stepped connecting plate. Each transmission rod group includes a straight connecting rod, a stepped rod, a right-angle rod, and a transition fixing block. One end of the straight connecting rod is hinged to the inner side of the mounting plate, and the other end of the straight connecting rod is hinged to the outer side of the stepped rod. The inner side of the stepped rod is fixed to the lower part of the right-angle rod, and the upper part of the right-angle rod is fixed to the transition fixing block. The transition fixing block is fixedly connected to the outer periphery of the stepped connecting plate.

[0012] Preferably, the number of transmission rod assemblies is the same as the number of robotic arm assemblies.

[0013] In summary, this utility model has the following beneficial effects:

[0014] The rotational motion of a single motor shaft is converted into synchronous linear reciprocating motion in three different directions, enabling the end effector to extend in conjunction along three linear guide rails. At the same time, the servo motor with brake ensures the locking of the suction cup end effector at different extension and retraction positions, resulting in a large end effector span, simple and quick adjustment, and high control precision. The single motor and right-angle planetary reducer make the end effector small in height, which is suitable for occasions with limited working space. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the structure of an end effector with a linkage telescopic robotic arm according to the present invention.

[0016] Figure 2 for Figure 1 A bottom view;

[0017] Figure 3 This is a schematic diagram of the transmission assembly.

[0018] In the diagram: 1. Power assembly; 11. Right-angle planetary reducer; 12. Servo motor; 13. Stepped connecting plate; 2. Fixed plate; 3. Robotic arm assembly; 31. Profile bracket; 32. Linear guide rail; 33. Angle code; 34. Slider; 35. Limit stop; 36. Suction cup assembly; 37. Hollow optical axis; 38. Vertical adapter block; 39. Mounting plate; 4. Transmission assembly; 41. Adapter fixing block; 42. Right-angle rod; 43. Straight connecting rod; 44. Stepped rod. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] The orientations mentioned in this specification are based on the orientation of the end effector with a linkage telescopic robotic arm of this utility model when it is working normally. They do not limit the orientation during storage and transportation, and only represent relative positional relationships, not absolute positional relationships.

[0021] like Figure 1 As shown, an end effector with a linkage telescopic robotic arm includes a power component 1, a fixed disk 2, a robotic arm assembly 3, and a transmission component 4; several robotic arm assemblies 3 with identical structures are evenly spaced around the outer periphery of the fixed disk 2. Preferably, in this embodiment, there are three robotic arm assemblies 3. In other embodiments, the number of robotic arm assemblies 3 can be adjusted according to the usage.

[0022] like Figure 1 and Figure 3 As shown, the power assembly 1 includes a servo motor 12 with brake, a right-angle planetary reducer 11, and a stepped connecting plate 13. The servo motor 12 is fixed on the right-angle planetary reducer 11, the stepped connecting plate 13 is fixed to the output end of the right-angle planetary reducer 11, and the flange of the right-angle planetary reducer 11 is connected to the upper mounting surface of the fixed plate 2.

[0023] like Figure 2 As shown, the robotic arm assembly 3 includes a mounting plate 39, a vertical adapter block 38, a hollow optical axis 37, a profile bracket 31, a linear guide rail 32, a slider 34, a limit stop block 35, a suction cup assembly 36, and a corner bracket 33. The suction cup assembly 36 is fixed on the hollow optical axis 37, the hollow optical axis 37 is fixed on the vertical adapter block 38, the vertical adapter block 38 is fixed on the outer side of the mounting plate 39, the mounting plate 39 is fixedly connected to the slider 34, the slider 34 is slidably connected to the linear guide rail 32, the linear guide rail 32 is fixed on the profile bracket 31, the limit stop block 35 is fixed on the innermost side of the linear guide rail 32, and the corner bracket 33 is fixed on the left and right sides of the profile bracket 31, thus fixing the profile bracket 3 to the fixed plate 2.

[0024] like Figure 3As shown, the transmission assembly 4 includes several transmission rod groups with the same structure. The transmission rod groups are evenly spaced on the outer periphery of the stepped connecting plate 13, and the number of transmission rod groups is the same as the number of robotic arm groups. The transmission rod groups include a straight connecting rod 43, a stepped rod 44, a right-angle rod 42, and a transition fixing block 41. One end of the straight connecting rod 43 is hinged to the inner side of the mounting plate 39, and the other end of the straight connecting rod 43 is hinged to the outer side of the stepped rod 44. The inner side of the stepped rod 44 is fixed to the lower part of the right-angle rod 42, and the upper part of the right-angle rod 42 is fixed to the transition fixing block 41. The transition fixing block 41 is fixedly connected to the outer periphery of the stepped connecting plate 13.

[0025] Working Principle: This utility model discloses an end effector with a linkage telescopic robotic arm. When picking up sheets of different sizes, the rotational power of the servo motor 12 on the power assembly 1 is transmitted to the stepped connecting plate 13 after passing through the right-angle planetary reducer 11. The transmission rod assembly is fixed to the outer periphery of the stepped connecting plate 13 by the fixing block 41. When the stepped connecting plate 13 rotates, it drives the fixing block 41, the right-angle rod 42 and the stepped rod 44 to rotate. The rotational power is converted into a tangential force perpendicular to the straight connecting rod 43, which in turn drives the slider 34 to reciprocate linearly on the linear guide rail 32. The rotational motion of a single motor shaft is converted into synchronous linear reciprocating motion in three different directions, realizing the linkage deployment of the end effector along the three linear guide rails 32. At the same time, the servo motor 12 with brake ensures the locking of the suction cup end effector at different telescopic positions, resulting in a large span of end effector, simple and quick adjustment, and high control precision. The single motor and the right-angle planetary reducer make the height of the end effector small, which is suitable for occasions with limited working space.

[0026] Of course, the above description is not intended to limit the present utility model, and the present utility model is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present utility model should also fall within the protection scope of the present utility model.

Claims

1. An end effector with a linked telescopic robotic arm, characterized in that: It includes a power assembly (1), a fixed disk (2), a robotic arm assembly (3), and a transmission assembly (4); the power assembly (1) is fixed on the fixed disk (2), and the output end of the power assembly (1) is connected to the transmission assembly (4); a number of robotic arm assemblies (3) are fixedly installed on the outer periphery of the fixed disk (2), and a slider (34) is slidably installed on the robotic arm assembly (3), and a suction cup assembly (36) is fixedly connected to the slider (34), and the slider (34) is connected to the transmission assembly (4); the transmission assembly (4) includes a number of transmission rod assemblies, and the transmission rod assemblies include a straight connecting rod (43), a stepped rod (44), a right-angle rod (42), and a transition fixing block (41).

2. The end effector with a linked telescopic robotic arm as described in claim 1, characterized in that: The robotic arm assembly (3) consists of three arms, which are evenly spaced around the outer periphery of the fixed disk (2).

3. An end effector with a linked telescopic robotic arm as described in claim 1, characterized in that: The robotic arm assembly (3) includes a mounting plate (39), a vertical adapter block (38), a hollow optical axis (37), a profile bracket (31), a linear guide rail (32), a slider (34), and a suction cup assembly (36). The suction cup assembly (36) is fixed on the hollow optical axis (37), the hollow optical axis (37) is fixed on the vertical adapter block (38), the vertical adapter block (38) is fixed on the outside of the mounting plate (39), and the mounting plate (39) is fixedly connected to the slider (34). The slider (34) is slidably connected to the linear guide rail (32), the linear guide rail (32) is fixed on the profile bracket (31), and the profile bracket (31) is fixedly connected to the fixed plate (2).

4. An end effector with a linked telescopic robotic arm as described in claim 1, characterized in that: The power assembly (1) includes a servo motor (12), a right-angle planetary reducer (11), and a stepped connecting plate (13). The servo motor (12) is fixed on the right-angle planetary reducer (11), and the stepped connecting plate (13) is fixed to the output end of the right-angle planetary reducer (11).

5. An end effector with a linked telescopic robotic arm as described in claim 4, characterized in that: Several transmission rod groups are evenly spaced on the outer periphery of the stepped connecting plate (13). One end of the straight connecting rod (43) is hinged to the inner side of the mounting plate (39), and the other end of the straight connecting rod (43) is hinged to the outer side of the stepped rod (44). The inner side of the stepped rod (44) is fixed to the lower part of the right angle rod (42), and the upper part of the right angle rod (42) is fixed to the adapter fixing block (41). The adapter fixing block (41) is fixedly connected to the outer periphery of the stepped connecting plate (13).

6. An end effector with a linked telescopic robotic arm as described in claim 5, characterized in that: The number of transmission rod groups is the same as the number of robotic arm groups (3).

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