An end effector

Abstract

The utility model discloses a kind of end pickers, including fixed frame and suction disc main body, the fixed frame lower two sides are respectively equipped with end picker cross bar, the fixed frame bottom is equipped with adjusting component, moving component is equipped on the end picker cross bar, the adjusting component includes respectively being equipped with two-way screw rod in the fixed frame bottom two sides, respectively with the two-way screw rod both ends linkage support plate, respectively with the two-way screw rod both sides linkages driving block and for the power component of two-way screw rod rotation, the utility model is equipped with fixed frame, suction disc main body, end picker cross bar, adjusting component and moving component, solved the existing end picker when using, although the distance between two end picker cross bars can be changed, when it is adjusted, multiple bolts need to be repeatedly loosened and tightened, leading to its adjustment efficiency reduces, and the position of suction disc main body is fixed, inconvenient to adjust the use position of suction disc main body, thereby leading to the problem of poor practicability.

Description

Technical Field

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

[0002] An end effector is an automated device installed at the end of an industrial robot or robotic arm. It is mainly used for gripping, handling, and placing workpieces and is widely used in production lines in industries such as automobile manufacturing, electronics, injection molding, and packaging. A home appliance control box is a device used to control and manage home appliances. It usually has multiple functions and control methods. During the production of home appliance control boxes, end effectors are needed for gripping and handling.

[0003] Existing patent CN219563115U discloses a variable-pitch end effector, relating to the field of end effector technology. It includes two end effector crossbars, each with a connecting block near its top on both sides. Each of the four connecting blocks has a sliding block at its top, and the tops of the four connecting blocks are connected to two sliding grooves via the four sliding blocks. This invention, by using the sliding grooves, allows the sliding blocks to move laterally repeatedly, enabling adjustment of the distance between the connecting blocks and the end effector crossbars. Furthermore, by using a lead screw to screw into threaded holes one and two, the adjustable distance can be fixed. This allows for movement of products of different structural sizes, improving the flexibility and range of applications of the device.

[0004] Based on the search of the aforementioned patents and in conjunction with the existing end effectors, it was found that although the aforementioned end effectors can change the distance between the two end effector crossbars when in use, their adjustment requires repeatedly loosening and tightening multiple bolts, which reduces their adjustment efficiency. Moreover, the position of the suction cup body is fixed, making it inconvenient to adjust the usage position of the suction cup body, thus reducing its practicality. Utility Model Content

[0005] The purpose of this utility model is to provide an end effector to solve the problems mentioned in the background art. Although the existing end effectors can change the distance between the two end effector crossbars, they require repeated loosening and tightening of multiple bolts during adjustment, which reduces the adjustment efficiency. In addition, the position of the suction cup body is fixed, making it inconvenient to adjust the usage position of the suction cup body, thus reducing its practicality.

[0006] To achieve the above objectives, the present invention provides the following technical solution: an end effector, comprising a fixed frame and a suction cup body, wherein end effector crossbars are respectively provided on both sides below the fixed frame, an adjustment component is provided at the bottom of the fixed frame, and a moving component is provided on the end effector crossbars;

[0007] The adjustment component includes bidirectional screws respectively located on both sides of the bottom of the fixed frame, support plates respectively connected to both ends of the bidirectional screws, drive blocks respectively connected to both sides of the bidirectional screws, and a power component for rotating the bidirectional screws. The bidirectional screws are screwed to the drive blocks, the bidirectional screws are rotatably connected to the support plates, the top of the support plates is fixedly connected to the bottom of the fixed frame, and the bottom of the drive blocks is fixedly connected to the top of the end effector crossbar.

[0008] Preferably, the movable component includes a sliding opening at the bottom of the end effector crossbar, a movable opening at the top of the sliding opening, a movable plate fixedly connected to the suction cup body, a sliding block fixedly connected to the top of the movable plate, a pull groove at the top of the sliding block, a pull rod connected to the pull groove, a spring sleeved on the outside of the pull rod, a locking plate fixedly connected to the outside of the pull rod, and a plurality of locking slots evenly arranged at the top of the movable opening. The locking plate is inserted into the locking slots, the pull rod is slidably connected to the pull grooves, and the sliding block is slidably connected to the sliding opening.

[0009] Preferably, the power component includes a gear fixedly connected to the outside of the bidirectional screw, a toothed belt connected to the gear, and a motor fixedly connected to one end of one of the bidirectional screws, wherein the gear meshes with the toothed belt.

[0010] Preferably, the bottom of the fixed frame is provided with support grooves around its four sides, and a support block is slidably connected in the support groove. The support block is fixedly connected to the drive block.

[0011] Preferably, protective grooves are provided on both sides of the pull groove, and protective plates are fixedly connected to both sides of the pull rod, with the protective plates slidably connected to the protective grooves.

[0012] Preferably, a grip plate is fixedly connected to the top of the pull rod, and a pull ring is fixedly connected to the top of the grip plate.

[0013] Preferably, a horizontal plate is fixedly connected to the inner wall of the fixed frame, and a mounting base is fixedly connected to the top of the horizontal plate.

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

[0015] 1. By setting up a fixed frame, suction cup body, end effector crossbar and adjustment components, the motor can drive the left bidirectional screw to rotate, which in turn drives the gear belt and another gear to rotate, which in turn drives the two bidirectional screws to rotate, which in turn controls the four drive blocks to drive the two end effector crossbars to move in opposite directions, thus quickly adjusting their spacing and greatly improving the spacing adjustment efficiency. At the same time, by using a single motor linkage method, the use and maintenance costs can be greatly reduced, thus greatly improving the practicality and efficiency of the device.

[0016] 2. By incorporating a movable component, pulling the pull ring allows the pull rod to move the locking plate, simultaneously deforming the spring. This allows the locking plate to disengage from the current locking slot, releasing the sliding block. The sliding block can then slide within the sliding opening, adjusting the position of the suction cup body. The spring's return allows the locking plate to engage with other locking slots, thus securing the adjusted suction cup body and significantly expanding its applicability. Attached Figure Description

[0017] Figure 1 A three-dimensional structural schematic diagram provided for this utility model;

[0018] Figure 2 Front view provided for this utility model;

[0019] Figure 3 Provided by this utility model Figure 2 A three-dimensional cross-sectional view at point AA;

[0020] Figure 4 Provided by this utility model Figure 3 Enlarged view of point C in the middle;

[0021] Figure 5 The left view provided for this utility model;

[0022] Figure 6 Provided by this utility model Figure 5 3D cross-sectional view at point BB;

[0023] Figure 7 Provided by this utility model Figure 6 Enlarged view of point D in the middle.

[0024] In the diagram: 1. Fixed frame; 11. Suction cup body; 12. End effector crossbar; 21. Bidirectional screw; 22. Support plate; 23. Drive block; 31. Sliding port; 32. Moving port; 33. Moving plate; 34. Sliding block; 35. Pull groove; 36. Pull rod; 37. Spring; 38. Locking plate; 39. Locking groove; 41. Gear; 42. Toothed belt; 43. Motor; 51. Support groove; 52. Support block; 61. Protective groove; 62. Protective plate; 71. Grip plate; 72. Pull ring; 81. Cross plate; 82. Mounting base. Detailed Implementation

[0025] 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 of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0026] Please see Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 as well as Figure 6 This utility model provides a technical solution: an end effector, including a fixed frame 1 and a suction cup body 11. End effector crossbars 12 are respectively provided on both sides of the lower part of the fixed frame 1. An adjustment component is provided at the bottom of the fixed frame 1. A moving component is provided on the end effector crossbars 12. The adjustment component includes bidirectional screws 21 respectively provided on both sides of the bottom of the fixed frame 1, support plates 22 respectively connected to both ends of the bidirectional screws 21, drive blocks 23 respectively connected to both sides of the bidirectional screws 21, and a power component for rotating the bidirectional screws 21. The bidirectional screws 21 are screwed to the drive blocks 23. Rod 21 is rotatably connected to support plate 22. The top of support plate 22 is fixedly connected to the bottom of fixed frame 1. The bottom of drive block 23 is fixedly connected to the top of end effector crossbar 12. Support plate 22 can support bidirectional screw 21. Rotation of the two bidirectional screws 21 can drive the two drive blocks 23 on both sides to move back and forth in opposite directions, thereby driving the two end effector crossbars 12 to move back and forth in opposite directions, thereby driving the suction cup body 11 to move, thereby controlling the distance between the end effector crossbars 12, which can improve its adjustment efficiency. The power component includes the bidirectional screws. 21 consists of a gear 41 fixedly connected to the outside, a toothed belt 42 connected to the gear 41, and a motor 43 fixedly connected to one end of one of the bidirectional screws 21. The gear 41 meshes with the toothed belt 42, and the motor 43 is fixed to the left bidirectional screw 21. The motor 43 can drive the left bidirectional screw 21 and the gear 41 to rotate, and through the toothed belt 42, it can drive the right gear 41 and the bidirectional screw 21 to rotate, thus enabling the two bidirectional screws 21 to rotate synchronously. Using a single power source to rotate both bidirectional screws 21 reduces usage and maintenance costs. Support grooves 51 are provided around the bottom of frame 1. Support blocks 52 are slidably connected in the support grooves 51. Support blocks 52 are fixedly connected to drive blocks 23. The movement of drive blocks 23 can drive the movement of support blocks 52. Support blocks 52 can guide drive blocks 23 and prevent drive blocks 23 from rotating synchronously with bidirectional screws 21. A horizontal plate 81 is fixedly connected to the inner wall of fixed frame 1. A mounting base 82 is fixedly connected to the top of horizontal plate 81. Horizontal plate 81 can support mounting base 82. Mounting base 82 can facilitate the installation of fixed frame 1.

[0027] Please see Figure 1 , Figure 5 , Figure 6 as well as Figure 7The moving components include a sliding opening 31 at the bottom of the end effector crossbar 12, a moving opening 32 at the top of the sliding opening 31, a moving plate 33 fixedly connected to the suction cup body 11, a sliding block 34 fixedly connected to the top of the moving plate 33, a groove 35 at the top of the sliding block 34, a pull rod 36 connected to the groove 35, a spring 37 sleeved on the outside of the pull rod 36, a locking plate 38 fixedly connected to the outside of the pull rod 36, and multiple locking slots 39 evenly arranged at the top of the moving opening 32. The locking plate 38 is inserted into the locking slots 39, the pull rod 36 is slidably connected to the groove 35, the sliding block 34 is slidably connected to the sliding opening 31, and the two ends of the spring 37 are fixedly connected to the pull rod 36 and the groove 35, respectively. By moving the pull rod 36 upward, the spring 37 can be deformed, and at the same time, the locking plate 38 can be disengaged from the current locking slot 39, which can move the sliding block 34. Release, the sliding block 34 moves, which can drive the moving plate 33 and the suction cup body 11 to move. The spring 37 resets, which can drive the locking plate 38 to lock into other locking grooves 39, which can fix the adjusted suction cup body 11, prevent it from moving and resetting, and improve the applicability. The pull groove 35 has protective grooves 61 on both sides. The pull rod 36 has protective plates 62 fixedly connected to both sides. The protective plates 62 are slidably connected to the protective grooves 61. The pull rod 36 can drive the protective plates 62 to slide vertically in the protective grooves 61, which can prevent the pull rod 36 from rotating, and thus prevent the spring 37 from rotating and being damaged. The top of the pull rod 36 is fixedly connected to the grip plate 71, and the top of the grip plate 71 is fixedly connected to the pull ring 72. The pull ring 72 can facilitate the vertical movement of the grip plate 71 and the pull rod 36, which is convenient for adjusting the position of the suction cup body 11.

[0028] Working principle: During operation, the motor 43 starts, driving the left bidirectional screw 21 to rotate. The rotation of the bidirectional screw 21 drives the gear 41 to rotate, which in turn drives the toothed belt 42 to rotate, which in turn drives the right gear 41 and the bidirectional screw 21 to rotate. This causes the two drive blocks 23 on the left and right sides to move in opposite directions, thereby adjusting the distance between the two end effector crossbars 12. When it is necessary to adjust the position of the suction cup body 11, the pull ring 72 can be pulled upwards. The pull ring 72 can drive the grip plate 71 to move, which in turn drives the pull rod 36 and the locking plate 38 to move. The movement of the pull rod 36 causes the spring 37 to be shaped. When the locking plate 38 moves, it can disengage from the current locking slot 39. At this time, the sliding block 34 is released, which can push the sliding block 34 to move the moving plate 33 and the suction cup body 11. After adjusting to the appropriate position, the pull ring 72 is released, the spring 37 resets, and the pull rod 36 resets, which allows the locking plate 38 to be inserted into another locking slot 39. This fixes the adjusted sliding block 34, and then fixes the suction cup body 11 to prevent it from moving, thus ensuring the stability of picking up objects. The above is the working process of the entire device. All contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0029] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A pick-up comprising a fixed frame (1) and a suction cup body (11), characterized in that: The fixed frame (1) is provided with end effector crossbars (12) on both sides below the fixed frame (1), and the bottom of the fixed frame (1) is provided with an adjustment component, and the end effector crossbars (12) are provided with a moving component; The adjustment component includes a bidirectional screw (21) respectively located on both sides of the bottom of the fixed frame (1), a support plate (22) respectively connected to both ends of the bidirectional screw (21), a drive block (23) respectively connected to both sides of the bidirectional screw (21), and a power component for rotating the bidirectional screw (21). The bidirectional screw (21) is screwed to the drive block (23), the bidirectional screw (21) is rotatably connected to the support plate (22), the top of the support plate (22) is fixedly connected to the bottom of the fixed frame (1), and the bottom of the drive block (23) is fixedly connected to the top of the end effector crossbar (12).

2. The end effector according to claim 1, characterized in that: The moving component includes a sliding port (31) at the bottom of the end effector crossbar (12), a moving port (32) at the top of the sliding port (31), a moving plate (33) fixedly connected to the suction cup body (11), a sliding block (34) fixedly connected to the top of the moving plate (33), a pull groove (35) at the top of the sliding block (34), a pull rod (36) connected to the pull groove (35), a spring (37) sleeved on the outside of the pull rod (36), a locking plate (38) fixedly connected to the outside of the pull rod (36), and a plurality of locking slots (39) evenly arranged at the top of the moving port (32). The locking plate (38) is inserted into the locking slot (39), the pull rod (36) is slidably connected to the pull groove (35), and the sliding block (34) is slidably connected to the sliding port (31).

3. An end effector according to claim 1, characterized in that: The power unit includes a gear (41) fixedly connected to the outside of the bidirectional screw (21), a toothed belt (42) connected to the gear (41), and a motor (43) fixedly connected to one end of one of the bidirectional screws (21), wherein the gear (41) meshes with the toothed belt (42).

4. An end effector according to claim 1, characterized in that: The fixed frame (1) has support grooves (51) on all four sides of its bottom. A support block (52) is slidably connected in the support groove (51). The support block (52) is fixedly connected to the drive block (23).

5. An end effector according to claim 2, characterized in that: The pull groove (35) has protective grooves (61) on both sides, and protective plates (62) are fixedly connected to both sides of the pull rod (36). The protective plates (62) are slidably connected to the protective grooves (61).

6. An end effector according to claim 2, characterized in that: The top of the pull rod (36) is fixedly connected to a grip plate (71), and the top of the grip plate (71) is fixedly connected to a pull ring (72).

7. An end effector according to claim 1, characterized in that: A horizontal plate (81) is fixedly connected to the inner wall of the fixed frame (1), and a mounting base (82) is fixedly connected to the top of the horizontal plate (81).

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