Robot tail end gun hooking mechanism and robot

Abstract

The utility model belongs to the technical field of robot part equipment, and particularly relates to a robot tail end gun hooking mechanism and a robot. The robot tail end gun hooking mechanism comprises an installation base, a mechanical arm is fixedly installed at one end of the installation base, and a containing cavity is formed in the end, away from the installation base, of the mechanical arm; a driving mechanism for driving the moving block to move is mounted in the containing cavity of the mechanical arm, a mounting block is fixedly mounted at the end, away from the mechanical arm, of the moving block, a circular groove is formed in the end, away from the mechanical arm, of the mounting block, and a gun hooking assembly is detachably mounted in the circular groove. The detachable hook gun assembly is arranged, the hook gun assembly is easy to mount and dismount, replacement can be rapidly completed in a rotating and bolt fixing mode, and the working efficiency is greatly improved; and in the actual use process, different types of hook guns can be rapidly replaced according to different working requirements, and the flexibility and universality of the robot end effector are improved.

Description

Technical Field

[0001] This utility model belongs to the field of robot component and equipment technology, specifically a robot end effector hook mechanism and robot. Background Technology

[0002] In industrial automation production, robot end effectors are widely used. Among them, the hook-gun mechanism is a common end effector, often used for material gripping and handling. However, most existing robot end effector hook-gun mechanisms are fixed structures, making it difficult to quickly change the hook-gun structure according to actual work needs once installed. When faced with materials of different shapes, weights, and materials, the inability to adjust the hook-gun structure and parameters in a timely manner leads to low robot efficiency and poor applicability. For example, on automotive parts assembly lines, sometimes the hook-gun needs to grip large metal parts, and sometimes it needs to grip small and delicate plastic parts; a fixed hook-gun mechanism cannot meet such diverse needs. To solve this problem, there is an urgent need for a robot end effector hook-gun mechanism that is easy to disassemble and install, and allows for flexible hook-gun structure replacement. Utility Model Content

[0003] To address the shortcomings of existing technologies, the purpose of this utility model is to provide a robot end-effector hook mechanism and a robot; to solve the problems of insufficient flexibility, inconvenient replacement, poor motion stability and low precision of existing robot end-effector hooking devices, to achieve rapid replacement of hook components, and to improve the motion stability and working accuracy of the robot in hooking operations.

[0004] The objective of this utility model can be achieved through the following technical solutions:

[0005] The robot's end effector hook mechanism includes:

[0006] A mounting base is provided, one end of which is fixedly mounted with a robotic arm. The end of the robotic arm away from the mounting base has a receiving cavity. A moving block is slidably mounted inside the end of the robotic arm away from the mounting base. A drive mechanism for moving the moving block is installed inside the receiving cavity of the robotic arm. A mounting block is fixedly mounted at the end of the moving block away from the robotic arm. A circular groove is provided at the end of the mounting block away from the robotic arm. A hook gun assembly is detachably mounted in the circular groove.

[0007] Furthermore, the driving mechanism includes a drive motor, a support plate, a threaded rod, a drive block, and a support block. The drive motor is fixedly installed inside the receiving cavity of the robotic arm. There are two support plates, both ends of which are fixedly connected to the inner wall of the robotic arm. The threaded rod is installed between the two support plates and is rotatably connected to the support plates. One end of the threaded rod is fixedly connected to the output shaft of the drive motor. The drive block is threadedly installed on the side end of the threaded rod. Support blocks are fixedly installed on both ends of the drive block. The end of the support block away from the drive block passes through the support plate and is fixedly connected to the side end of the moving block.

[0008] Furthermore, a limiting groove is provided inside the robotic arm, and limiting blocks are fixedly installed on both sides of the moving block, with the limiting blocks matching the limiting groove.

[0009] Furthermore, a slot is provided on the side end of the mounting block located at the side end of the circular groove, and an arc-shaped groove is provided inside the mounting block at the bottom of the circular groove. A through hole is provided on the side end of the mounting block at a position corresponding to the arc-shaped groove, and a plug-in component is fixedly installed at the through hole.

[0010] Furthermore, the hook gun assembly includes a mounting plate, a locking block, and a hook gun body. The mounting plate is adapted to the circular groove, the locking block is fixedly installed on the side of the mounting plate, the locking block is adapted to the arc-shaped groove, the hook gun body is fixedly installed on the side of the mounting plate, and the side of the locking block has an insertion hole.

[0011] Furthermore, the plug-in assembly includes a connecting plate, a connecting spring, and a pin. The connecting plate is fixedly connected to the mounting plate by two connecting springs. The pin is fixedly installed on the side end of the connecting plate, and the end of the pin away from the connecting plate is inserted into a through hole on the mounting plate.

[0012] Furthermore, when the card block is aligned with the side end of the arc-shaped groove, the insertion hole is aligned with the through hole.

[0013] A robot comprising the aforementioned end-effector hook mechanism.

[0014] The explanations of the nouns, conjunctions, or adjectives used in the above technical solutions are as follows:

[0015] Fixed connection: refers to a connection in which parts or components are fixed in place and there is no relative movement. It is divided into two types: detachable connection and non-detachable connection.

[0016] (1) Detachable connection: The components are fixed together using screws, splines, wedges, etc. This type of connection can be disassembled during maintenance without damaging the parts. However, the specifications of the connecting parts used must be correct (such as the length of the bolts, keys, wedges) and properly tightened.

[0017] (2) Non-removable connections: These mainly refer to welding, riveting, and tenon joints. Since disassembly requires forging, sawing, or oxyacetylene cutting for repair or replacement, the parts generally cannot be reused. At the same time, attention should be paid to process quality, technical inspection, and remedial measures (such as correction and polishing) during connection.

[0018] The beneficial effects of this utility model are:

[0019] 1. This utility model features a detachable hook gun assembly, which simplifies installation and disassembly. The assembly can be quickly replaced via rotation and pin fixing, significantly improving work efficiency. Furthermore, it allows for rapid replacement of different types of hook guns to meet varying work requirements, enhancing the flexibility and versatility of the robot's end effector and enabling its widespread application in various work scenarios.

[0020] 2. The drive mechanism adopts a drive motor, threaded rod and other structures, which can accurately control the movement of the moving block, thereby realizing the precise adjustment of the position of the hook gun assembly and improving the accuracy of hooking operations. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a cross-sectional view of the overall device according to an embodiment of the present invention;

[0023] Figure 2 This is a schematic diagram of the overall device according to an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the drive mechanism and hook gun assembly according to an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the installation block and hook gun assembly according to an embodiment of the present invention;

[0026] Figure 5 This is a schematic diagram of the structure of the mounting block and plug-in assembly according to an embodiment of the present invention;

[0027] Figure 6 This is a schematic diagram of the hook gun assembly according to an embodiment of the present invention.

[0028] Reference numerals: 1. Mounting base; 2. Robotic arm; 3. Receiving cavity; 4. Moving block; 5. Drive mechanism; 6. Mounting block; 7. Circular groove; 8. Hook gun assembly; 9. Drive motor; 10. Support plate; 11. Threaded rod; 12. Drive block; 13. Support block; 14. Limiting groove; 15. Limiting block; 16. Slot; 17. Arc groove; 18. Through hole; 19. Plug-in assembly; 20. Mounting plate; 21. Locking block; 22. Hook gun body; 23. Insertion hole; 24. Connecting plate; 25. Connecting spring; 26. Pin. Detailed Implementation

[0029] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0030] Robot end effector hook mechanism, such as Figures 1-6 As shown, it includes:

[0031] Mounting base 1, with a robotic arm 2 fixedly mounted at one end. A receiving cavity 3 is formed at the end of the robotic arm 2 away from the mounting base 1. A moving block 4 is slidably mounted inside the end of the robotic arm 2 away from the mounting base 1. A drive mechanism 5 for moving the moving block 4 is installed within the receiving cavity 3 of the robotic arm 2. A mounting block 6 is fixedly mounted at the end of the moving block 4 away from the robotic arm 2. A circular groove 7 is formed at the end of the mounting block 6 away from the robotic arm 2. A hook gun assembly 8 is detachably mounted within the circular groove 7. By providing a detachable hook gun assembly 8, the installation and removal of the hook gun assembly 8 are simple. Replacement can be quickly completed by rotation and fixing with pins 26, greatly improving work efficiency. This allows for quick replacement of different types of hook guns according to different work requirements during actual use, improving the flexibility and versatility of the robot's end effector, and enabling wide application in various work scenarios. The drive mechanism 5 uses a drive motor 9, threaded rod 11, and other structures to precisely control the movement of the moving block 4, thereby achieving precise adjustment of the position of the hook gun assembly 8 and improving the accuracy of hooking operations.

[0032] In a preferred embodiment of this invention, the driving mechanism 5 includes a drive motor 9, a support plate 10, a threaded rod 11, a drive block 12, and a support block 13. The drive motor 9 is fixedly installed inside the receiving cavity 3 of the robotic arm 2. There are two support plates 10, both ends of which are fixedly connected to the inner wall of the robotic arm 2. The threaded rod 11 is installed between the two support plates 10 and is rotatably connected to the support plates 10. One end of the threaded rod 11 is fixedly connected to the output shaft of the drive motor 9. The drive block 12 is threaded onto the side end of the threaded rod 11. Both ends of the drive block 12 are fixedly installed with support blocks 13. The end of the support block 13 away from the drive block 12 passes through the support plate 10 and is fixedly connected to the side end of the moving block 4. The rotational motion output by the drive motor 9 is directly transmitted to the threaded rod 11, converting the circular motion of the motor into the rotation of the threaded rod 11. The drive block 12 is connected to the threaded rod 11 via a threaded pair (such as a trapezoidal thread). When the threaded rod 11 rotates, according to the principle of screw transmission, the drive block 12 will move linearly along the axis of the threaded rod 11. The lead of the threaded pair determines the displacement of the drive block 12 per revolution of the threaded rod 11. The support blocks 13 at both ends of the drive block 12 pass through guide holes on the support plate 10 and are rigidly connected to the moving block 4. Therefore, the linear motion of the drive block 12 is synchronously transmitted to the moving block 4, driving the hook gun assembly 8 to achieve precise position adjustment. By changing the direction of rotation (forward and reverse) of the drive motor 9, the rotation direction of the threaded rod 11 can be controlled, thereby achieving bidirectional linear motion of the drive block 12 and the moving block 4, meeting the position requirements of the hook gun assembly 8 in different working scenarios.

[0033] In a preferred embodiment of this invention, a limiting groove 14 is provided inside the robotic arm 2, and limiting blocks 15 are fixedly installed on both sides of the movable block 4, with the limiting blocks 15 adapting to the limiting groove 14. The cooperation between the limiting groove 14 and the limiting blocks 15 ensures that the movable block 4 can only slide within the robotic arm 2 along the direction defined by the limiting groove 14. When the drive mechanism 5 moves the movable block 4 to adjust the position of the hook assembly 8, it prevents the movable block 4 from shifting laterally or in other directions due to uneven force, ensuring that the hook assembly 8 can accurately move to the preset position, thereby improving the accuracy of the robot's hooking operation, and is especially suitable for working scenarios with strict requirements for hooking position.

[0034] In a preferred embodiment of this utility model, the mounting block 6 has a slot 16 at the side end of the circular groove 7, and an arc-shaped groove 17 is formed inside the mounting block 6 at the bottom of the circular groove 7. A through hole 18 is formed at the position corresponding to the arc-shaped groove 17 on the side end of the mounting block 6, and a plug-in assembly 19 is fixedly installed at the through hole 18. The hook gun assembly 8 includes a mounting plate 20, a locking block 21, and a hook gun body 22. The mounting plate 20 is adapted to the circular groove 7, and the locking block 21 is fixedly installed on the side end of the mounting plate 20. The locking block 21 and the arc-shaped groove 17 are connected. The hook gun body 22 is fixedly installed on the side of the mounting plate 20, and the side of the locking block 21 has an insertion hole 23. The insertion assembly 19 includes a connecting plate 24, a connecting spring 25, and a pin 26. The connecting plate 24 is fixedly connected to the mounting plate 20 by two connecting springs 25. The pin 26 is fixedly installed on the side of the connecting plate 24, and the end of the pin 26 away from the connecting plate 24 is inserted into the through hole 18 on the mounting plate 20. When the locking block 21 is aligned with the side of the arc groove 17, the insertion hole 23 is aligned with the through hole 18. In actual use, after the mounting plate 20 is inserted into the circular groove 7, by rotating the hook gun assembly 8, the locking block 21 slides in the arc groove 17 to the edge of the arc groove 17, so that the insertion hole 23 is aligned with the through hole 18. The pin 26 is automatically inserted into the insertion hole 23 under the action of the spring. The installation process is simple and quick. During disassembly, simply press the connecting plate 24 to pull out the pin 26, and rotate it in the opposite direction to remove it. No complicated tools are required, greatly improving work efficiency and allowing the robot to quickly switch between different hook gun components 8 to adapt to diverse working scenarios. The cooperation between the slot 16, the arc-shaped slot 17, and the locking block 21 ensures that the hook gun component 8 is effectively limited in both the circumferential and radial directions after installation, preventing loosening. Simultaneously, the pin 26 inserts into the socket 23 for further reinforcement, ensuring that the hook gun component 8 will not fall off during robot operation, guaranteeing the safety and stability of the hooking operation. The matching design of the circular slot 7 with the mounting plate 20 and the arc-shaped slot 17 with the locking block 21 allows for precise matching between the hook gun component 8 and the mounting block 6, reducing installation errors. This matching relationship helps maintain the positional accuracy of the hook gun component 8 after installation, ensuring the accuracy of the robot's hooking actions and improving the quality of the hooking operation. The quick disassembly and assembly feature allows for rapid replacement of the hook gun component 8 when damaged, without requiring the complete disassembly and repair of the robot's end effector. Moreover, the standardized design of slot 16, arc groove 17, and insertion hole 23 facilitates the production of different types of hook gun components 8, reduces R&D and production costs, and extends the service life of the robot's end hook gun mechanism.

[0035] A robot comprising the aforementioned end-effector hook mechanism.

[0036] Working principle and usage process of this utility model:

[0037] In practical applications, firstly, select a suitable hook gun assembly 8 based on specific work requirements. Align the mounting plate 20 of the selected hook gun assembly 8 with the circular groove 7 of the mounting block 6, aligning the locking block 21 with the arc-shaped groove 17. Then, insert the mounting plate 20 into the circular groove 7 and rotate the hook gun assembly 8, causing the locking block 21 to slide along the arc-shaped groove 17. When the locking block 21 is aligned with the side end of the arc-shaped groove 17, the insertion hole 23 and the through hole 18 are also aligned. At this point, under the elastic force of the connecting spring 25, the pin 26 automatically inserts into the insertion hole 23, completing the installation of the hook gun assembly 8.

[0038] When the position of the hook gun assembly 8 needs to be adjusted, the drive motor 9 is started. The drive motor 9 drives the threaded rod 11 to rotate, and the drive block 12 moves axially under the action of the threaded rod 11. Through the support block 13, the moving block 4 slides within the robotic arm 2, thereby realizing the adjustment of the position of the hook gun assembly 8. During the movement of the moving block 4, the limiting block 15 slides within the limiting groove 14 to ensure the stability and accuracy of the movement of the moving block 4.

[0039] When the hook gun assembly 8 needs to be replaced, simply pull the connecting plate 24 to pull the pin 26 out of the socket 23, and then rotate the hook gun assembly 8 in the opposite direction to disengage the locking block 21 from the arc groove 17. This will allow the hook gun assembly 8 to be removed from the mounting block 6, which is convenient and quick.

[0040] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0041] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims of this utility model.

Claims

1. A robot end-effector hook mechanism, characterized in that, include: Mounting base (1), one end of which is fixedly mounted with a robotic arm (2), the end of the robotic arm (2) away from the mounting base (1) is provided with a receiving cavity (3), a moving block (4) is slidably mounted inside the end of the robotic arm (2) away from the mounting base (1), a driving mechanism (5) for driving the moving block (4) to move is installed in the receiving cavity (3) of the robotic arm (2), a mounting block (6) is fixedly mounted on the end of the moving block (4) away from the robotic arm (2), a circular groove (7) is provided on the end of the mounting block (6) away from the robotic arm (2), and a hook gun assembly (8) is detachably mounted in the circular groove (7).

2. The robot end effector hook mechanism according to claim 1, characterized in that, The drive mechanism (5) includes a drive motor (9), a support plate (10), a threaded rod (11), a drive block (12), and a support block (13). The drive motor (9) is fixedly installed in the receiving cavity (3) of the robotic arm (2). There are two support plates (10), and both ends of the two support plates (10) are fixedly connected to the inner wall of the robotic arm (2). The threaded rod (11) is installed between the two support plates (10) and is rotatably connected to the support plate (10). One end of the threaded rod (11) is fixedly connected to the output shaft of the drive motor (9). The drive block (12) is threadedly installed on the side end of the threaded rod (11). Both ends of the drive block (12) are fixedly installed with support blocks (13). The end of the support block (13) away from the drive block (12) passes through the support plate (10) and is fixedly connected to the side end of the moving block (4).

3. The robot end-effector hook mechanism according to claim 1, characterized in that, The robotic arm (2) has a limiting groove (14) inside, and the two sides of the moving block (4) are fixedly installed with limiting blocks (15), and the limiting blocks (15) are adapted to the limiting groove (14).

4. The robot end-effector hook mechanism according to claim 1, characterized in that, The mounting block (6) has a slot (16) on the side end of the circular groove (7). The mounting block (6) has an arc groove (17) at the bottom of the circular groove (7). The mounting block (6) has a through hole (18) at the position corresponding to the arc groove (17). A plug-in component (19) is fixedly installed at the through hole (18).

5. The robot end-effector hook mechanism according to claim 4, characterized in that, The hook gun assembly (8) includes a mounting plate (20), a locking block (21), and a hook gun body (22). The mounting plate (20) is adapted to the circular groove (7). The locking block (21) is fixedly installed on the side of the mounting plate (20). The locking block (21) is adapted to the arc groove (17). The hook gun body (22) is fixedly installed on the side of the mounting plate (20). The side of the locking block (21) is provided with an insertion hole (23).

6. The robot end-effector hook mechanism according to claim 5, characterized in that, The plug-in assembly (19) includes a connecting plate (24), a connecting spring (25), and a pin (26). The connecting plate (24) is fixedly connected to the mounting plate (20) by two connecting springs (25). The pin (26) is fixedly installed on the side of the connecting plate (24). The end of the pin (26) away from the connecting plate (24) is inserted into the through hole (18) on the mounting plate (20).

7. The robot end-effector hook mechanism according to claim 6, characterized in that, When the card block (21) is aligned with the side end of the arc groove (17), the insertion hole (23) is aligned with the through hole (18).

8. A robot, characterized in that, The robot includes the robot end-effector hook mechanism as described in any one of claims 1 to 7.

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