A robot end effector with adaptive grasping force

Abstract

The utility model discloses a robot end effector of self -adaptation grabbing strength relates to robot end effector technical field, including mechanical arm, the mechanical arm end fixedly connected with fixed establishment, is provided with end effector on fixed establishment, fixed establishment, the mechanical arm end outer wall is through the cavity and is provided with slide plate, mounting frame, connecting rod and limit block, be provided with the clamping block on end effector, the mechanical arm end outer wall is provided with the clamping groove of using in cooperation with clamping block. The utility model through the unique fixed establishment design, end effector can conveniently and quickly install and replace, when needing to overhaul or replace end effector, do not need to stop the complex mechanical structure adjustment or replace entire end effector, save a large amount of time and manpower cost, reduce the production interruption condition, improve the versatility and production efficiency of robot significantly.

Description

Technical Field

[0001] This utility model relates to the field of robot end effector technology, specifically an adaptive gripping force robot end effector. Background Technology

[0002] Robotics technology is playing an increasingly important role in many fields, including industrial automation, logistics and warehousing, medical assistance, and service robots. As a key component that directly contacts the work object and performs specific tasks, the performance of the robot's end effector directly affects its work efficiency, operational accuracy, and operational safety.

[0003] However, the objects to be grasped in real-world operating environments are diverse and uncertain, with significant differences in shape, size, material, and surface characteristics. For example, on industrial production lines, robots may need to grasp everything from thin electronic components to heavy metal parts; in logistics and warehousing, the goods handled may range from fragile glassware to sturdy metal crates. For objects with different characteristics, a fixed grasping force is insufficient to meet practical needs. If the grasping force is too great, fragile, soft, or easily damaged objects are easily damaged, increasing the defect rate in the production process and potentially causing safety accidents. For instance, damage to electronic components may lead to the scrapping of the entire product, and broken glassware may injure operators. If the grasping force is too small, the object cannot be firmly grasped, causing it to slip during handling, affecting the continuity of the production process, reducing work efficiency, and also posing safety hazards. For example, slipping goods during logistics handling may injure personnel or damage other goods. Therefore, we propose an adaptive grasping force robot end effector. Utility Model Content

[0004] The purpose of this invention is to provide a robot end effector with adaptive grasping force to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution:

[0006] An adaptive grasping force robot end effector includes a robotic arm, the end of which is fixedly connected to a fixing mechanism, and the end effector is mounted on the fixing mechanism.

[0007] The fixed mechanism includes several cavities evenly distributed on the outer wall of the end of the robotic arm. A slide plate is slidably disposed in each cavity. A mounting frame is disposed on one side wall of the slide plate. A connecting rod is slidably disposed on the mounting frame. A limit block is disposed on the connecting rod. A locking block is disposed on the end effector. A locking groove is disposed on the outer wall of the end of the robotic arm to cooperate with the locking block. A limit groove is disposed on the locking block to cooperate with the limit block.

[0008] The end effector has a locking block fixedly mounted on one side wall of a fixed plate, and a mounting frame fixedly connected to the other side wall of the fixed plate. A slider is slidably mounted on the mounting frame, and connecting plates are mounted on the top and bottom of the slider via rotating shafts. The mounting frame also has multiple links mounted via rotating shafts, and clamping plates are mounted at the ends of the multiple links.

[0009] As a further embodiment of this utility model: a synchronous belt drive mechanism is mounted on the mounting frame, and a threaded rod is also rotatably connected to the mounting frame, the threaded rod passing through the slider and being threadedly connected to the slider.

[0010] As a further improvement of this utility model, the power output shaft of the synchronous belt drive mechanism is connected to the threaded rod.

[0011] As a further improvement of this utility model: a motor is also mounted on the mounting bracket, and the power output shaft of the motor is connected to the power input end of the synchronous belt transmission mechanism through a coupling.

[0012] As a further improvement of this utility model, a pull ring is fixedly connected to the upper side wall of the skateboard.

[0013] As a further improvement of this utility model: a return spring is provided on the other side wall of the skateboard, and the other end of the return spring is fixedly connected to the robotic arm.

[0014] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0015] With its unique fixing mechanism design, the end effector can be installed and replaced easily and quickly. When the end effector needs to be repaired or replaced, there is no need to stop the machine to make complex mechanical adjustments or replace the entire end effector, which saves a lot of time and labor costs, reduces production interruptions, and significantly improves the robot's versatility and production efficiency.

[0016] This robot's end effector can automatically adjust its gripping force according to the characteristics of the object being gripped. When faced with objects of different shapes, sizes, materials, and surface properties, it can prevent fragile, soft, or easily damaged objects from being damaged due to excessive gripping force, thereby reducing the rate of defective products and lowering the risk of safety accidents. At the same time, it can also prevent objects from slipping due to insufficient gripping force, ensuring the continuity of the production process, improving work efficiency, and guaranteeing operational safety and quality. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of an embodiment of the present utility model.

[0018] Figure 2 This is a side view of the structure of an embodiment of the present invention.

[0019] Figure 3 This is a schematic diagram of the structure at point A in embodiment A of this utility model.

[0020] Figure 4 This is a schematic diagram of the end effector in an embodiment of the present invention.

[0021] Figure reference numerals: 1. Robotic arm; 2. Fixing mechanism; 21. Slide plate; 211. Pull ring; 22. Return spring; 24. Mounting frame; 25. Connecting rod; 26. Limiting block; 27. Locking block; 3. End effector; 31. Fixing plate; 32. Mounting bracket; 33. Synchronous belt drive mechanism; 331. Motor; 34. Threaded rod; 35. Connecting plate; 36. Multi-link; 37. Clamping plate. Detailed Implementation

[0022] The following embodiments will be described in detail with reference to the accompanying drawings. In the drawings and description, similar or identical parts are referred to by the same reference numerals. Furthermore, in practical applications, the shape, thickness, or height of each component may be enlarged or reduced. The embodiments listed in this utility model are merely illustrative and not intended to limit the scope of the utility model. Any obvious modifications or alterations made to this utility model do not depart from its spirit and scope.

[0023] Example

[0024] Please see Figures 1-4 In this embodiment of the present invention, an adaptive gripping force robot end effector includes a robotic arm 1, a fixing mechanism 2 fixedly connected to the end of the robotic arm 1, and an end effector 3 disposed on the fixing mechanism 2.

[0025] The fixed mechanism 2 has several cavities evenly distributed on the outer wall of the end effector 1. A sliding plate 21 is slidably disposed in each cavity. A mounting frame 24 is disposed on one side wall of the sliding plate 21. A connecting rod 25 is slidably disposed on the mounting frame 24. A limit block 26 is disposed on the connecting rod 25. The end effector 3 is provided with a locking block 27. A locking groove is provided on the outer wall of the end effector 1 to cooperate with the locking block 27. The locking block 27 is provided with a limit groove to cooperate with the limit block 26. In actual use, when it is necessary to install or remove the end effector 3, the operator can move the mounting frame 24 by sliding plate 21, thereby driving the limit block 26 through the connecting rod 25. The movement of block 26 allows the limiting block 26 to insert into or exit the limiting slot on the locking block 27, thereby facilitating the disassembly or installation of the end effector 3. This ensures the efficiency of the end effector 3 to a certain extent and also facilitates its maintenance. A pull ring 211 is fixedly connected to the upper side wall of the slide plate 21, which can drive the slide plate 21 to move. A return spring 22 is provided on the other side wall of the slide plate 21, and the other end of the return spring 22 is fixedly connected to the robotic arm 1. Under the action of the return spring 22, the connection quality between the limiting block 26 and the locking block 27 is ensured, thereby ensuring the installation quality of the end effector 3.

[0026] The end effector 3 and the locking block 27 are fixedly mounted on one side wall of the fixed plate 31. A mounting bracket 32 ​​is fixedly connected to the other side wall of the fixed plate 31. A synchronous belt drive mechanism 33 is mounted on the mounting bracket 32. A threaded rod 34 is also rotatably connected to the mounting bracket 32. A slider is slidably mounted on the mounting bracket 32. The threaded rod 34 passes through the slider and is threadedly connected to it. Connecting plates 35 are mounted on the top and bottom of the slider via rotating shafts. A multi-link 36 is also mounted on the mounting bracket 32 ​​via rotating shafts. A clamping plate 37 is mounted at the end of the multi-link 36. The power output shaft of the synchronous belt drive mechanism 33 is connected to the threaded rod 34. The synchronous belt drive mechanism 33 can drive the threaded rod 34 to rotate, thereby driving the connecting plate 35 to move through the slider, and then driving the clamping plate 37 to move through the multi-link 36. Thus, the clamping plate 37 clamps the component. At the same time, under the action of the slider, the clamping plate 37 can meet the clamping requirements of objects of different sizes, thereby improving the adaptability of the end effector 3. The mounting bracket 32 ​​is also equipped with a motor 331. The power output shaft of the motor 331 is connected to the power input end of the synchronous belt drive mechanism 33 through a coupling. At this time, the motor 331 can drive the threaded rod 34 to rotate through the synchronous belt drive mechanism 33.

[0027] In actual use, when the end effector 3 needs to be installed, the operator pulls the slide plate 21 outward through the pull ring 211. The slide plate 21 slides along the cavity at the end of the robotic arm 1, causing the mounting frame 24 to move synchronously. At this time, the limiting block 26 at the end of the connecting rod 25 disengages from the limiting groove of the locking block 27 as the slide plate 21 moves, and the return spring 22 is stretched. Then, the locking block 27 of the end effector 3 is aligned with the locking groove at the end of the robotic arm 1 and inserted. After releasing the pull ring 211, the elastic restoring force of the return spring 22 pushes the slide plate 21 back to its original position, and the limiting block 26 re-embeds into the limiting groove of the locking block 27, completing the mechanical locking. For disassembly, the end effector 3 can be quickly separated by reversing the operation.

[0028] After the motor 331 starts, it drives the threaded rod 34 to rotate via the synchronous belt drive mechanism 33. Since the threaded rod 34 and the slider are threaded together, the rotational motion is converted into the linear displacement of the slider. As the slider moves, it drives the connecting plates 35 at both ends to translate synchronously, forcing the multi-link 36 to move in tandem. The clamping plate 37 at the end of the multi-link 36 then retracts towards the center or expands outward, forming an adaptive clamping action. When the clamping plate 37 contacts the object, the geometric characteristics of the multi-link 36 allow the clamping force to automatically adjust according to the object's size: for small objects, the clamping plate 37 closes more fully, and after contact, the multi-link 36 forms a self-locking structure to maintain stable clamping; for large objects, the slider continues to move until the clamping plate 37 fully contacts the object surface, at which point the self-locking characteristic of the threaded rod 34 maintains a constant clamping force. Throughout the process, the synchronous belt drive mechanism 33 achieves precise force control through speed reduction and torque amplification, ensuring smooth and adaptive clamping action.

[0029] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0030] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A robotic end effector with adaptive grasping force, comprising a robotic arm (1), characterized in that, The end of the robotic arm (1) is fixedly connected to a fixing mechanism (2), and an end effector (3) is provided on the fixing mechanism (2). The fixed mechanism (2) has several cavities evenly opened on the outer wall of the end of the robotic arm (1), and a sliding plate (21) is slidably arranged in the cavity. A mounting frame (24) is provided on one side wall of the sliding plate (21), and a connecting rod (25) is slidably arranged on the mounting frame (24). A limit block (26) is provided on the connecting rod (25). A locking block (27) is provided on the end actuator (3). A locking groove that cooperates with the locking block (27) is provided on the outer wall of the end of the robotic arm (1). A limiting groove that cooperates with the limit block (26) is opened on the locking block (27). The end effector (3) has a locking block (27) fixedly installed on one side wall of a fixed plate (31). A mounting bracket (32) is fixedly connected to the other side wall of the fixed plate (31). A slider is slidably installed on the mounting bracket (32). A connecting plate (35) is installed at the top and bottom of the slider via a rotating shaft. A multi-link (36) is also installed on the mounting bracket (32) via a rotating shaft. A clamping plate (37) is installed at the end of the multi-link (36).

2. The adaptive gripping force robot end effector according to claim 1, characterized in that, The mounting bracket (32) is equipped with a synchronous belt drive mechanism (33), and a threaded rod (34) is also provided on the mounting bracket (32) by rotational connection. The threaded rod (34) passes through the slider and is threadedly connected to the slider.

3. The adaptive gripping force robot end effector according to claim 2, characterized in that, The power output shaft of the synchronous belt drive mechanism (33) is connected to the threaded rod (34).

4. The adaptive gripping force robot end effector according to claim 1, characterized in that, A motor (331) is also mounted on the mounting bracket (32), and the power output shaft of the motor (331) is connected to the power input end of the synchronous belt transmission mechanism (33) through a coupling.

5. The adaptive gripping force robot end effector according to claim 1, characterized in that, A pull ring (211) is fixedly connected to the upper side wall of the skateboard (21).

6. The adaptive gripping force robot end effector according to claim 1, characterized in that, A reset spring (22) is provided on the other side wall of the skateboard (21), and the other end of the reset spring (22) is fixedly connected to the robotic arm (1).

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