A telescopic rotary gripped robot end effector

Abstract

The utility model relates to a telescopic rotary clamping's robot end clamp, it includes telescopic subassembly, rotating assembly, clamping subassembly and unlocking subassembly, telescopic subassembly is used for with robot end connection and has a telescopic end, rotating assembly is connected with telescopic end, and rotating assembly has a rotating end, clamping subassembly is connected with rotating end, and clamping subassembly has the clamping end for clamping frock, unlocking subassembly includes jacking piece and yoke, jacking piece installs on rotating end, and the output of jacking piece is connected with yoke, is used for driving yoke movement to supply the spring pin on the spring pin of yoke and drive, through the robot drive this clamp moves to the position department close frock, and through the telescopic subassembly and rotating assembly that set up can drive clamping subassembly telescopic and rotate to supply the clamping end of clamping subassembly can catch work piece, simultaneously, jacking piece drives yoke movement to make yoke drive the spring pin on frock to realize the unlocking between frock and card board, need not manual assistance, convenient to use.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, and in particular to a retractable and rotatable robot end effector. Background Technology

[0002] Robot grippers are devices installed at the end of a robot arm, enabling it to physically interact with its working environment. Their core functions are to grasp, hold, and manipulate objects.

[0003] For example, the utility model patent with application number CN201820932821.2 proposes a robot end effector. The end effector uses an adsorption mechanism to adsorb the top of a box, preventing it from falling due to gravity. Furthermore, the end effector can adjust the positions of the adsorption mechanism and the gripper mechanism in real time according to the size and shape of the box, resulting in better adsorption. The gripper's claws are appropriately selected to perform side gripping or bottom support operations based on the size and shape of the box. The adsorption mechanism, gripper mechanism, and basic support frame of the end effector are all flexibly adjustable, enabling more stable, precise, and efficient gripping of boxes of various sizes and shapes.

[0004] However, when gripping tooling, the tooling is usually fixed to the pallet by spring pins. Existing robot end effectors do not have the function of unlocking the spring pins, which is inconvenient to use. Utility Model Content

[0005] In view of this, it is necessary to provide a telescopic and rotatable robot end effector to solve the problem that when gripping tooling, the tooling is usually fixed to the pallet by spring pins, and the existing robot end effector does not have the function of unlocking the spring pins, which is inconvenient to use.

[0006] This utility model provides a telescopic and rotatable robot end effector, including a telescopic component, a rotatable component, a clamping component, and an unlocking component. The telescopic component is used to connect to the robot end effector and has a telescopic end. The rotatable component is connected to the telescopic end and has a rotatable end. The clamping component is connected to the rotatable end and has a clamping end for clamping a tooling. The unlocking component includes a lifting member and a fork. The lifting member is mounted on the rotatable end, and the output end of the lifting member is connected to the fork to drive the fork to move so as to actuate a spring pin on the tooling.

[0007] Furthermore, the spring pin includes a sleeve, a pin body, and a spring. The sleeve is fixedly mounted on the tooling. The pin body is slidably connected to the sleeve, and the pin body is connected to the inner wall of the sleeve via the spring. A circular hole is provided on the outer wall of the sleeve. A first inclined surface is provided on the outer wall of the pin body, facing the circular hole. A second inclined surface is formed at the end of the shift fork. The shift fork can be moved to a position where its second inclined surface abuts against the first inclined surface. The shift fork is driven to move via the lifting member so that the pin body moves in the direction of the compression spring until it disengages from the clamping plate.

[0008] Furthermore, there are two spring pins, which are arranged opposite each other on both sides of the clamping fixture. The opposite ends of the two spring pins are respectively connected to the limiting holes opened on the two clamping plates. There are two shift forks, which are arranged facing the round holes on the two sleeves.

[0009] Furthermore, the telescopic assembly includes a connecting frame, a slide, and a first driving member. The connecting frame is used to connect with the robot end effector, the slide is slidably connected to the connecting frame, and the first driving member is mounted on the connecting frame. The output end of the first driving member is connected to the connecting frame and is used to drive the connecting frame to move.

[0010] Furthermore, the first driving component includes a first motor, a first gear, and a rack. The first motor is fixedly mounted on the connecting frame, and the output end of the first motor is connected to the first gear. The rack is fixedly mounted on the slide, and the first gear meshes with the rack.

[0011] Furthermore, it also includes guide rails, connecting flanges, and multiple reinforcing ribs. Guide rails are installed on both sides of the slide table. The two guide rails are respectively connected to the grooves opened on both sides of the connecting frame. The top of the connecting frame is connected to one end of the connecting flange. The other end of the connecting flange is used to connect to the robot end effector. Multiple reinforcing ribs are arranged opposite to each other on both sides of the connecting flange. The connecting flange is connected to the connecting frame via the multiple reinforcing ribs.

[0012] Furthermore, the rotating assembly includes two rotating arms, two turntables, and a second driving member. The two rotating arms are fixedly connected to both sides of the telescopic end, the two turntables are arranged in parallel and rotatably connected to the two rotating arms, the second driving member is mounted on the telescopic end, and the output end of the second driving member is connected to the two turntables to drive the two turntables to rotate synchronously. The two sides of the clamping assembly are connected to the two turntables, and the lifting member is mounted on the turntables.

[0013] Furthermore, the second driving component includes a second motor, a rotating shaft, and two second gears. The rotating shaft passes through the telescopic end, and both ends of the rotating shaft are rotatably connected to the two rotating arms respectively. The second motor is mounted on the telescopic end, and the output end of the second motor is connected to the rotating shaft to drive the rotating shaft to rotate. The two second gears are fixedly mounted on the rotating shaft, and the two second gears are respectively engaged with arc-shaped teeth opened on the outer wall of the two turntables.

[0014] Furthermore, the clamping assembly includes a crossbeam, two clamping blocks, and a third driving member. The crossbeam is fixedly connected to the rotating end, the two clamping blocks are slidably connected to the crossbeam, and a clamping gap is formed between the two clamping blocks. The third driving member is mounted on the crossbeam, and the output end of the third driving member is connected to the two clamping blocks for driving the two clamping blocks to slide relative to or away from each other.

[0015] Furthermore, the third driving component includes a third motor, a lead screw, and a belt. The lead screw is rotatably connected to the crossbeam. The lead screw has a first threaded section and a second threaded section with opposite directions of rotation. The first threaded section is connected to a threaded hole on one of the clamping blocks, and the second threaded section is connected to a threaded hole on the other clamping block. The third motor is mounted on the crossbeam, and the output end of the third motor is connected to the lead screw via the belt.

[0016] Compared with existing technologies, the robot moves the fixture to a position close to the tooling, and the telescopic and rotating components can drive the clamping component to extend, retract and rotate so that the clamping end of the clamping component can grasp the workpiece. At the same time, the lifting component drives the shift fork to move so that the shift fork can move the spring pin on the tooling to unlock the tooling and the chuck. No manual assistance is required, making it convenient to use. Attached Figure Description

[0017] Figure 1 A schematic diagram of the overall structure of the telescopic and rotatable robot end effector provided in this embodiment of the utility model; Figure 2 for Figure 1 Schematic diagram of the telescopic component; Figure 3 for Figure 1 Schematic diagram of the rotating component; Figure 4 for Figure 1 A schematic diagram of the structure of the clamping component; Figure 5 This is a schematic diagram of the tooling structure in one embodiment. Detailed Implementation

[0018] The preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0019] like Figure 1 As shown in the figure, an embodiment of the present invention provides a telescopic and rotatable robot end effector, including a telescopic component 100, a rotatable component 200, a clamping component 300, and an unlocking component 400; the telescopic component 100 is used to connect to the robot end effector and has a telescopic end; the rotatable component 200 is connected to the telescopic end and has a rotatable end; the clamping component 300 is connected to the rotatable end and has a clamping end for clamping a tooling; the unlocking component 400 includes a lifting member 410 and a fork 420, the lifting member 410 is mounted on the rotatable end, and the output end of the lifting member 410 is connected to the fork 420 for driving the fork 420 to move so as to actuate the spring pin on the tooling.

[0020] During implementation, the robot moves the fixture to a position close to the tooling, and the telescopic component 100 and the rotating component 200 can drive the clamping component 300 to extend, retract and rotate so that the clamping end of the clamping component 300 can grasp the workpiece. At the same time, the lifting component 410 drives the shift fork 420 to move so that the shift fork 420 can move the spring pin on the tooling to unlock the tooling and the chuck. No manual assistance is required, making it convenient to use.

[0021] The telescopic component 100 in this embodiment is used to connect to the robot end effector and has a telescopic end.

[0022] like Figure 2 As shown, in one embodiment, the telescopic assembly 100 includes a connecting frame 110, a slide 120, and a first drive member 130. The connecting frame 110 is used to connect with the robot end effector, the slide 120 is slidably connected to the connecting frame 110, and the first drive member 130 is mounted on the connecting frame 110. The output end of the first drive member 130 is connected to the connecting frame 110 and is used to drive the connecting frame 110 to move.

[0023] In this embodiment, the first driving component 130 includes a first motor 131, a first gear 132 and a rack 133. The first motor 131 is fixedly mounted on the connecting frame 110, and the output end of the first motor 131 is connected to the first gear 132. The rack 133 is fixedly mounted on the slide table 120, and the first gear 132 and the rack 133 are meshed together.

[0024] This embodiment also includes guide rails 111, connecting flanges 112, and multiple reinforcing ribs 113. Guide rails 111 are installed on both sides of the slide table 120. The two guide rails 111 are respectively connected to the grooves 321 opened on both sides of the connecting frame 110. The top of the connecting frame 110 is connected to one end of the connecting flange 112. The other end of the connecting flange 112 is used to connect to the robot end effector. Multiple reinforcing ribs 113 are arranged opposite to each other on both sides of the connecting flange 112. The connecting flange 112 is connected to the connecting frame 110 via multiple reinforcing ribs 113.

[0025] In this embodiment, the rotating component 200 is connected to the telescopic end, and the rotating component 200 has a rotating end.

[0026] like Figure 3 As shown, in one embodiment, the rotating assembly 200 includes two rotating arms 210, two turntables 220, and a second driving member 230. The two rotating arms 210 are fixedly connected to both sides of the telescopic end, and the two turntables 220 are arranged in parallel and rotatably connected to the two rotating arms 210 respectively. The second driving member 230 is mounted on the telescopic end, and the output end of the second driving member 230 is connected to the two turntables 220 to drive the two turntables 220 to rotate synchronously. The two sides of the clamping assembly 300 are connected to the two turntables 220 respectively, and the lifting member 410 is mounted on the turntables 220.

[0027] In this embodiment, the second driving component 230 includes a second motor, a rotating shaft 231, and two second gears 232. The rotating shaft 231 is disposed through the telescopic end, and both ends of the rotating shaft 231 are rotatably connected to the two rotating arms 210 respectively. The second motor is mounted on the telescopic end, and the output end of the second motor is connected to the rotating shaft 231 to drive the rotating shaft 231 to rotate. The two second gears 232 are fixedly disposed on the rotating shaft 231, and the two second gears 232 are respectively engaged with the arc-shaped teeth 233 opened on the outer wall of the two turntables 220.

[0028] The second motor can be connected to the rotating shaft 231 via two gears or a conveyor belt. In addition, to improve the stability of the connection between the two rotating arms 210 and the slide table 120, in one embodiment, multiple connecting rods are also included. The multiple connecting rods are disposed through the slide table 120, and the two ends of the multiple connecting rods are respectively fixedly connected to the two rotating arms 210.

[0029] In this embodiment, the clamping assembly 300 is connected to the rotating end, and the clamping assembly 300 has a clamping end for clamping the tooling.

[0030] like Figure 4As shown, in one embodiment, the clamping assembly 300 includes a crossbeam 310, two clamping blocks 320, and a third driving member 330. The crossbeam 310 is fixedly connected to the rotating end, the two clamping blocks 320 are slidably connected to the crossbeam 310, and a clamping gap is formed between the two clamping blocks 320. The third driving member 330 is mounted on the crossbeam 310, and the output end of the third driving member 330 is connected to the two clamping blocks 320 for driving the two clamping blocks 320 to slide relative to or away from each other.

[0031] In this embodiment, the third driving component 330 includes a third motor 331, a lead screw 332, and a belt 333. The lead screw 332 is rotatably connected to the crossbeam 310. The lead screw 332 has a first threaded section and a second threaded section with opposite directions of rotation. The first threaded section is engaged with a threaded hole on one of the clamping blocks 320, and the second threaded section is engaged with a threaded hole on the other clamping block 320. The third motor 331 is mounted on the crossbeam 310, and the output end of the third motor 331 is connected to the lead screw 332 via the belt 333.

[0032] The unlocking assembly 400 in this embodiment includes a lifting member 410 and a shift fork 420. The lifting member 410 is mounted on the rotating end, and its output end is connected to the shift fork 420 to drive the shift fork 420 to move, thereby actuating the spring pin on the tooling. The lifting member 410 can be implemented using a cylinder or similar structure.

[0033] It should be noted that the spring pin includes a sleeve, a pin body, and a spring. The sleeve is fixedly mounted on the tooling. The pin body is slidably connected to the sleeve, and the pin body is connected to the inner wall of the sleeve via the spring. A circular hole is provided on the outer wall of the sleeve. A first inclined surface is provided on the outer wall of the pin body, which faces the circular hole. A second inclined surface is formed at the end of the shift fork 420. The shift fork 420 can be moved to a position where its second inclined surface abuts against the first inclined surface. The shift fork 420 is driven to move by the lifting member 410 so that the pin body moves in the direction of compressing the spring until it disengages from the clamping plate.

[0034] The fixture has two spring pins, which are positioned opposite each other on both sides of the clamping fixture. The opposite ends of the two spring pins are respectively connected to the limiting holes on the two clamping plates. There are also two shift forks 420, which are positioned opposite the round holes on the two sleeves.

[0035] Example: like Figure 5As shown, the tooling M30 is fixed to the wall M10 on both sides by two clamping plates M20. The tooling M30 is provided with two handles M31. The two clamping blocks 320 have grooves 321 on their opposite sides. The two grooves 321 can abut against the opposite sides of the two handles M31. The two clamping blocks 320 are controlled to move relative to each other by the third driving member 330, thereby clamping the tooling M30. At least two spring pins M32 are installed on both sides of the tooling M30. Each turntable 220 is provided with a fork 420 that matches the number of spring pins M32 on the corresponding side. The fork 420 extends into the spring pin M32. By pressing the first inclined plane down by the second inclined plane, the pin can be driven to compress the spring, thereby disengaging from the limiting hole on the clamping plate. Finally, the robot can transport the tooling M30 to the target point.

[0036] Compared with existing technologies: The robot drives the fixture to move to a position close to the tooling, and the telescopic component 100 and the rotating component 200 can drive the clamping component 300 to extend, retract and rotate so that the clamping end of the clamping component 300 can grasp the workpiece. At the same time, the lifting component 410 drives the shift fork 420 to move so that the shift fork 420 can move the spring pin on the tooling to unlock the tooling and the chuck. No manual assistance is required, making it convenient to use.

[0037] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present utility model should be included within the protection scope of the present utility model.

Claims

1. A retractable and rotatable robot end effector, characterized in that, include: A telescopic assembly for connection to a robot end effector and having a telescopic end; A rotating assembly connected to the telescopic end, the rotating assembly having a rotating end; A clamping assembly connected to the rotating end, the clamping assembly having a clamping end for clamping a tooling; The unlocking component includes a lifting member and a shift fork. The lifting member is mounted on the rotating end, and the output end of the lifting member is connected to the shift fork to drive the shift fork to move so as to actuate the spring pin on the tooling.

2. The retractable and rotatable robot end effector according to claim 1, characterized in that, The spring pin includes a sleeve, a pin body, and a spring. The sleeve is fixedly mounted on a tooling. The pin body is slidably connected to the sleeve, and the pin body is connected to the inner wall of the sleeve via the spring. A circular hole is provided on the outer wall of the sleeve. A first inclined surface is provided on the outer wall of the pin body, facing the circular hole. A second inclined surface is formed at the end of the shift fork. The shift fork can be moved to a position where its second inclined surface abuts against the first inclined surface. The shift fork is driven to move via the lifting member so that the pin body moves in the direction of the compression spring until it disengages from the clamping plate.

3. The retractable and rotatable robot end effector according to claim 2, characterized in that, The number of spring pins is two, and the two spring pins are arranged opposite each other on both sides of the clamping fixture. The opposite ends of the two spring pins are respectively connected to the limiting holes opened on the two clamping plates. The number of shift forks is two, and the two shift forks are arranged facing the round holes on the two sleeves.

4. The retractable and rotatable robot end effector according to claim 1, characterized in that, The telescopic assembly includes a connecting frame, a slide, and a first driving component. The connecting frame is used to connect to the robot end effector. The slide is slidably connected to the connecting frame. The first driving component is mounted on the connecting frame, and its output end is connected to the connecting frame to drive the connecting frame to move.

5. The retractable and rotatable robot end effector according to claim 4, characterized in that, The first driving component includes a first motor, a first gear, and a rack. The first motor is fixedly mounted on the connecting frame, and the output end of the first motor is connected to the first gear. The rack is fixedly mounted on the slide, and the first gear meshes with the rack.

6. The telescopic rotary gripper for robots according to claim 4, characterized in that, It also includes guide rails, connecting flanges, and multiple reinforcing ribs. Guide rails are installed on both sides of the slide table. The two guide rails are respectively connected to the grooves opened on both sides of the connecting frame. The top of the connecting frame is connected to one end of the connecting flange. The other end of the connecting flange is used to connect to the robot end effector. Multiple reinforcing ribs are arranged opposite to each other on both sides of the connecting flange. The connecting flange is connected to the connecting frame via the multiple reinforcing ribs.

7. The retractable and rotatable robot end effector according to claim 1, characterized in that, The rotating assembly includes two rotating arms, two turntables, and a second driving component. The two rotating arms are fixedly connected to both sides of the telescopic end, and the two turntables are arranged in parallel and rotatably connected to the two rotating arms. The second driving component is mounted on the telescopic end, and its output end is connected to the two turntables to drive them to rotate synchronously. The two sides of the clamping assembly are connected to the two turntables, and the lifting component is mounted on the turntables.

8. The retractable and rotatable robot end effector according to claim 7, characterized in that, The second driving component includes a second motor, a rotating shaft, and two second gears. The rotating shaft passes through the telescopic end and is rotatably connected to the two rotating arms at both ends. The second motor is mounted on the telescopic end and its output end is connected to the rotating shaft to drive the rotating shaft to rotate. The two second gears are fixedly mounted on the rotating shaft and are respectively engaged with arc-shaped teeth on the outer walls of the two turntables.

9. The retractable and rotatable robot end effector according to claim 1, characterized in that, The clamping assembly includes a crossbeam, two clamping blocks, and a third driving member. The crossbeam is fixedly connected to the rotating end, the two clamping blocks are slidably connected to the crossbeam, and a clamping gap is formed between the two clamping blocks. The third driving member is mounted on the crossbeam, and the output end of the third driving member is connected to the two clamping blocks for driving the two clamping blocks to slide relative to or away from each other.

10. The retractable rotary gripper for robots according to claim 9, characterized in that, The third driving component includes a third motor, a lead screw, and a belt. The lead screw is rotatably connected to the crossbeam. The lead screw has a first threaded section and a second threaded section with opposite directions of rotation. The first threaded section is connected to a threaded hole on one of the clamping blocks, and the second threaded section is connected to a threaded hole on the other clamping block. The third motor is mounted on the crossbeam, and the output end of the third motor is connected to the lead screw via the belt.

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