Robotic end effector damping mechanism

Abstract

The utility model relates to the technical field of parts for robots, disclose robot end effector buffer mechanism, including fixed arm, the outer wall top of fixed arm is connected with the adjusting arm of sliding, the inner wall middle part of adjusting arm is connected with electric push rod fixedly, the output fixed connection of electric push rod has the rack, the outer wall top of adjusting arm is connected with adjusting rod no.

Description

Technical Field

[0001] This utility model relates to the field of robot component technology, and in particular to a buffer mechanism for robot end effectors. Background Technology

[0002] A robot end effector is a component that a robot uses directly to perform tasks. It is installed at the end of the robot arm and its function is to interact with objects in the working environment to complete various specific operational tasks. It grasps and releases objects by controlling the opening and closing of the grippers or the suction force of the suction cups. During robot operation, the end effector may collide with the workpiece or the surrounding environment. The collision will generate a large impact force, which can easily lead to damage to the end effector, the workpiece, or even the robot itself.

[0003] A robot end effector buffer mechanism is a device installed on the robot end effector to absorb and buffer the impact, vibration and energy generated during operation. When the end effector comes into contact with an object and performs certain actions, it avoids damage caused by rigid collisions, improves the accuracy and reliability of robot operation, and extends the service life of the robot and related equipment. However, in the existing robot end effector buffer mechanisms, the end effector will have a certain elastic deformation and limited deflection angle during operation. In some tasks with high response speed requirements, the buffer mechanism will cause the end effector to be unable to complete the action in a timely and accurate manner, reducing work efficiency and accuracy. Utility Model Content

[0004] To overcome the above shortcomings, this utility model provides a buffer mechanism for robot end effectors, which aims to improve the problem that in the prior art, the end effector produces certain elastic deformation and has a limited deflection angle during operation, which causes the end effector to be unable to complete the action in a timely and accurate manner, thus reducing work efficiency and accuracy.

[0005] To achieve the above objectives, this utility model adopts the following technical solution: a robot end effector buffer mechanism, including a fixed arm, an adjusting arm slidably connected to the top of the outer wall of the fixed arm, an electric push rod fixedly connected to the middle of the inner wall of the adjusting arm, a rack fixedly connected to the output end of the electric push rod, an adjusting rod one rotatably connected to the top of the outer wall of the adjusting arm, a connecting frame rotatably connected to the adjacent side of the inner wall of the adjusting rod one, the connecting frame engaging with the rack, a gripping claw rotatably connected to the top of the outer wall of the adjusting rod one, an adjusting rod two rotatably connected to the bottom of the gripping claw on the side furthest away from it, and the other end of the adjusting rod two rotatably connected to... On the top left and right sides of the adjusting arm, a fixed frame is fixedly connected to the middle of the inner wall of the fixed arm. A support plate is fixedly connected to the outer wall of the fixed frame on the side away from it. A second buffer frame is rotatably connected to the outer wall of the fixed frame. A spring is fixedly connected to the bottom of the outer wall of the support plate. The other end of the spring is fixedly connected to the top of the outer wall of the second buffer frame. A first buffer frame is rotatably connected to the top of the outer wall of the fixed frame. A fixed column is rotatably connected to the side of the outer wall of the first buffer frame and the second buffer frame. The fixed column is fixedly connected to the middle of the inner wall of the fixed arm. A connecting mechanism is fixedly connected to the bottom of the outer wall of the fixed arm. The connecting mechanism is used to fix and connect the robot.

[0006] As a further description of the above technical solution:

[0007] The connecting mechanism includes a fixing block 1, which is fixedly connected to the bottom of the fixing arm around the perimeter. Bolt 1 passes through the middle of the inner wall of multiple fixing blocks 1. A fixing plate is rotatably connected to the bottom of the outer wall of the bolt 1. Washers are fixedly connected to the four corners at the bottom of the fixing plate. A connecting plate is fixedly connected to the bottom of the outer wall of the washers. Multiple moving grooves are opened in the middle of the inner wall of the connecting plate. Bolt 2 is slidably connected to the middle of the inner wall of the moving groove.

[0008] As a further description of the above technical solution:

[0009] A tripod is fixedly connected to the top of the outer wall of the support plate, and three bolts are threadedly connected to one side of the outer wall of the support plate.

[0010] As a further description of the above technical solution:

[0011] A socket is fixedly connected to the bottom of the inner wall of the fixed arm, and a socket hole is opened on one side of the outer wall of the socket.

[0012] As a further description of the above technical solution:

[0013] Nuts are threaded to both the front and rear sides of the inner wall of the adjusting arm, and a screw is threaded to one side of the outer wall of the nut.

[0014] As a further description of the above technical solution:

[0015] A fixing block two is fixedly connected to the front side of the outer wall of the adjusting arm, and a fixing rod passes through the middle of the inner wall of the fixing block two.

[0016] As a further description of the above technical solution:

[0017] The outer walls of the first adjusting rod and the second adjusting rod are provided with sliding grooves, and a moving rod is threadedly connected to the middle of the inner wall of the sliding groove.

[0018] As a further description of the above technical solution:

[0019] A wear-resistant pad is fixedly connected to one side of the outer wall of the gripper, and a fixing hole is provided on one side of the outer wall of the wear-resistant pad.

[0020] This utility model has the following beneficial effects:

[0021] 1. In this utility model, in the buffer mechanism of the robot end effector, the top of the fixed arm is slidably connected to the adjusting arm, the electric push rod in the adjusting arm drives the rack, and the clamping claw and the adjusting rod are linked to achieve opening and closing. At the same time, the fixed frame in the fixed arm connects the support plate and the buffer frame. The spring absorbs the impact when the buffer frame swings, and the fixed column ensures the stability of the buffer structure, taking into account both precise clamping and efficient shock absorption.

[0022] 2. In this utility model, in the connecting mechanism, a fixing block is located around the bottom of the fixing arm, and a bolt passes through the fixing block, which can drive the fixing plate to adjust and tighten. The pad at the bottom of the fixing plate is used for buffering and force equalization. The moving groove on the connecting plate cooperates with the bolt to adjust the installation position laterally, so as to realize the flexible and stable connection between the fixing arm and the external equipment. Attached Figure Description

[0023] Figure 1 This is a perspective view of the robot end effector buffer mechanism proposed in this utility model;

[0024] Figure 2 This is a front view of the robot end effector buffer mechanism proposed in this utility model;

[0025] Figure 3 This is a structural exploded view of the robot end effector buffer mechanism proposed in this utility model;

[0026] Figure 4 This is a partial structural schematic diagram of the robot end effector buffer mechanism proposed in this utility model;

[0027] Figure 5 This is an exploded view of the connection mechanism of the robot end effector buffer mechanism proposed in this utility model.

[0028] Legend:

[0029] 1. Fixed arm; 2. Connecting mechanism; 201. Fixed block one; 202. Fixed plate; 203. Bolt one; 204. Washer; 205. Connecting plate; 206. Moving groove; 207. Bolt two; 3. Adjusting arm; 4. Electric push rod; 5. Rack; 6. Connecting frame; 7. Adjusting rod one; 8. Adjusting rod two; 9. Clamping claw; 10. Fixed frame; 11. Buffer frame one; 12. Buffer frame two; 13. Fixed column; 14. Spring; 15. Support plate; 16. Tripod; 17. Bolt three; 18. Socket; 19. Socket; 20. Nut; 21. Screw; 22. Fixed block two; 23. Fixed rod; 24. Slide groove; 25. Moving rod; 26. Wear-resistant pad; 27. Fixed hole. Detailed Implementation

[0030] 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.

[0031] Reference Figure 1 , Figure 3 and Figure 4 This utility model provides an embodiment of a robot end effector buffer mechanism, including a fixed arm 1, an adjusting arm 3 slidably connected to the top of the outer wall of the fixed arm 1, an electric push rod 4 fixedly connected to the middle of the inner wall of the adjusting arm 3, a rack 5 fixedly connected to the output end of the electric push rod 4, an adjusting rod 7 rotatably connected to the top of the outer wall of the adjusting arm 3, a connecting frame 6 rotatably connected to the adjacent side of the inner wall of the adjusting rod 7, the connecting frame 6 meshing with the rack 5, a gripping claw 9 rotatably connected to the top of the outer wall of the adjusting rod 7, an adjusting rod 8 rotatably connected to the bottom of the gripping claw 9 on the side furthest away from it, the other end of the adjusting rod 8 rotatably connected to the top left and right sides of the adjusting arm 3, and a fixing frame 10 fixedly connected to the middle of the inner wall of the fixed arm 1. A support plate 15 is fixedly connected to the outer wall of the fixed frame 10 on the side away from the outer wall. A second buffer frame 12 is rotatably connected to the outer wall of the fixed frame 10. A spring 14 is fixedly connected to the bottom of the outer wall of the support plate 15. The other end of the spring 14 is fixedly connected to the top of the outer wall of the second buffer frame 12. A first buffer frame 11 is rotatably connected to the top of the outer wall of the fixed frame 10. A fixed column 13 is rotatably connected to the side of the outer wall of the first buffer frame 11 and the second buffer frame 12. The fixed column 13 is fixedly connected to the middle of the inner wall of the fixed arm 1. A connecting mechanism 2 is fixedly connected to the bottom of the outer wall of the fixed arm 1. The connecting mechanism 2 is used to fix and connect the robot. A tripod 16 is fixedly connected to the top of the outer wall of the support plate 15. A bolt 3 17 is threadedly connected to one side of the outer wall of the support plate 15.

[0032] Specifically, the electric push rod 4 is installed inside the adjusting arm 3. After startup, it pushes the rack 5 to move linearly. The connecting frame 6 meshes with the rack 5, converting the linear motion into rotational motion, which drives the adjusting rod 7 to swing. When the adjusting rod 7 swings, it directly drives the gripping claw 9 to move, and works in conjunction with the adjusting rod 8 to open and close the gripping claw 9 for grasping and releasing objects. By precisely controlling the electric push rod 4, the gripping force and range can be adjusted to adapt to different objects. The fixed frame 10 serves as the core support of the buffer structure. When the end effector contacts an object or is impacted, the buffer frame 11 and the buffer frame 12 swing around the fixed frame 10 as the fulcrum. The spring 14 is compressed or stretched during the swing to absorb the impact force. To protect the end effector and the robot body, buffer frame 11 and buffer frame 2 12 are connected by a fixed column 13. The fixed column 13 is located in the middle of the inner wall of the fixed arm 1 to ensure the stability of the buffering process, guarantee the balance of the buffer frame and the durability of the structure. The fixed arm 1 is connected to the robot or other equipment through the connecting mechanism 2 to achieve multiple docking methods to ensure stable installation. As an extension component for robot task execution, it is responsible for grasping and moving functions. The support plate 15 enhances structural stability through the top tripod 16, distributes load pressure, and maintains structural stability. Bolt 3 17 provides the function of adjusting and fixing the support plate 15, which is convenient for installation, debugging and maintenance, and adapts to different working scenarios.

[0033] Reference Figure 1 , Figure 2 and Figure 5 The connecting mechanism 2 includes a fixing block 201, which is fixedly connected to the bottom of the fixing arm 1. Bolts 203 pass through the middle of the inner wall of the fixing blocks 201. A fixing plate 202 is rotatably connected to the bottom of the outer wall of the bolts 203. A gasket 204 is fixedly connected to the four corners of the bottom of the fixing plate 202. A connecting plate 205 is fixedly connected to the bottom of the outer wall of the gasket 204. A plurality of moving grooves 206 are opened in the middle of the inner wall of the connecting plate 205. Bolts 207 are slidably connected to the middle of the inner wall of the moving grooves 206. A socket 19 is fixedly connected to the bottom of the inner wall of the fixing arm 1. A socket hole 18 is opened on one side of the outer wall of the socket 19. Nuts 20 are threadedly connected to the front and rear sides of the inner wall of the adjusting arm 3. A screw 21 is threadedly connected to one side of the outer wall of the nut 20.

[0034] Specifically, the fixing block 201 is located at the bottom of the fixing arm 1. The height of the fixing plate 202 can be adjusted by the bolt 203 to accommodate different connection surfaces. The gasket 204 protects the fixing plate 202 and ensures uniform pressure. The moving groove 206 of the connecting plate 205 allows the bolt 207 to move laterally to fit different mounting hole positions, enabling the connecting mechanism 2 to achieve a precise and secure connection. The fixing arm 1 and the adjusting arm 3 are connected in combination to ensure structural stability and flexible adjustment. The socket 19 and the insertion hole 18 of the fixing arm 1 form a plug-in interface for electrical connection or mechanical positioning, providing initial connection or functional expansion. The nut 20 and screw 21 of the adjusting arm 3 form a threaded fastening system. During adjustment, the screw 21 is loosened and tightened after adjustment to fix the position, ensuring structural stability, preventing loosening, and enabling flexible adjustment and reliable operation of the device.

[0035] Reference Figure 1 , Figure 2 and Figure 3 A fixing block 22 is fixedly connected to the front side of the outer wall of the adjusting arm 3. A fixing rod 23 passes through the middle of the inner wall of the fixing block 22. A sliding groove 24 is opened on the outer wall of the adjusting rod 1 7 and the adjusting rod 2 8. A moving rod 25 is threadedly connected to the middle of the inner wall of the sliding groove 24. A wear-resistant pad 26 is fixedly connected to the adjacent side of the outer wall of the clamping claw 9. A fixing hole 27 is opened on one side of the outer wall of the wear-resistant pad 26.

[0036] Specifically, the adjusting arm 3 is fixedly connected to the front side by a fixed block 22, with the fixed rod 23 passing through it as a fulcrum or connection reference, providing a stable foundation support point for the overall adjusting structure. The sliding groove 24 on the outer wall of the adjusting rod 7 and the adjusting rod 28, together with the moving rod 25, form an adjustable sliding connection structure. When the moving rod 25 rotates and moves along the thread in the sliding groove 24, it can drive the relative position of the adjusting rod 7 and the adjusting rod 28 to change, thereby realizing the adjustment of angle and length to meet the needs of different working scenarios. The clamping claw 9 is an actuating component, and the wear-resistant pad 26 fixedly connected to its adjacent outer wall can not only enhance the friction during clamping to ensure that the clamped object is not easy to slip, but also reduce the damage to the surface of the object during clamping through its wear-resistant properties. The fixing hole 27 on the wear-resistant pad 26 can be used to install bolts, pins and other connecting parts, so as to securely fix the wear-resistant pad 26 on the clamping claw 9, and also provide convenience for replacing the worn wear-resistant pad 26, thereby ensuring the long-term effective operation of the clamping function.

[0037] Working principle: The electric push rod 4 is fixed to the inner wall of the adjusting arm 3. After starting, its output end pushes the rack 5 to move linearly. Since the connecting frame 6 meshes with the rack 5, the linear motion of the rack 5 is converted into the rotational motion of the connecting frame 6, which drives the adjusting rod 7, which is rotatably connected to it, to swing. When the adjusting rod 7 swings, it directly drives the gripping claw 9, which is rotatably connected to the top, to move. On the other hand, the adjusting rod 8, which is rotatably connected to the bottom of the gripping claw 9, is connected to the left and right sides of the top of the adjusting arm 3, forming a four-bar linkage structure. Under the drive of the adjusting rod 7, the adjusting rod 8 moves in coordination, causing the gripping claw 9 to open and close, realizing the grasping and release of the target object. Through the precise control of the electric push rod 4, the gripping force and range can be flexibly adjusted to adapt to objects of different sizes and weights. The fixing frame 10 in the middle of the inner wall of the fixed arm 1 serves as a buffer structure. The core supporting component, when the end effector contacts an object or is impacted by an external force, the buffer frame 11 and the buffer frame 2 12 swing around the fixed frame 10 as the pivot point. The spring 14 connected between the bottom of the support plate 15 and the top of the buffer frame 2 12 is compressed or stretched during the swing of the buffer frame. The elastic deformation of the spring 14 absorbs the impact force and converts the kinetic energy into elastic potential energy, thereby reducing the impact of the external force on the end effector and the robot body. The buffer frame 11 and the buffer frame 2 12 are rotatably connected by the fixed column 13. The fixed column 13 is fixed in the middle of the inner wall of the fixed arm 1, providing a stable rotation axis for the swing of the buffer frame, ensuring the stability of the structure during the buffering process, so that the buffer frame can maintain balance during the swing, avoid structural damage due to uneven force, and enhance the reliability and durability of the buffer mechanism.

[0038] Fixed block 201 is fixed around the bottom of fixed arm 1, forming a basic connection node. Bolt 203 passing through fixed block 201 is rotatable and adjustable. By rotating bolt 203, the bottom connected fixed plate 202 can be moved up and down, thereby adjusting the fit and fastening force between the fixed plate 202 and the target connection surface. The gasket 204 at the bottom corner of the fixed plate 202 serves to buffer and increase the force-bearing area, preventing the fixed plate 202 from directly contacting the connection surface and causing wear, and ensuring uniform pressure distribution, thus improving connection stability. Connecting plate 205 serves as an intermediate... The connector has multiple sliding grooves 206 on its inner wall to provide sliding space for bolt 207. When it is necessary to adapt to the connection objects of different sizes and mounting hole positions, bolt 207 can slide laterally within the sliding grooves 206 to adjust its position and flexibly match the mounting holes of the target parts. In this way, the connection mechanism 2 can achieve vertical fastening through bolt 1 203, and can also achieve horizontal position fine adjustment by combining the sliding grooves 206 and bolt 207, ultimately achieving a precise and firm connection between the fixed arm 1 and the external equipment, while adapting to diverse installation needs.

[0039] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot end effector buffer mechanism, comprising a fixed arm (1), characterized in that: An adjusting arm (3) is slidably connected to the top of the outer wall of the fixed arm (1). An electric push rod (4) is fixedly connected to the middle of the inner wall of the adjusting arm (3). A rack (5) is fixedly connected to the output end of the electric push rod (4). An adjusting rod (7) is rotatably connected to the top of the outer wall of the adjusting arm (3). A connecting frame (6) is rotatably connected to the adjacent side of the inner wall of the adjusting rod (7). The connecting frame (6) meshes with the rack (5). A clamping claw (9) is rotatably connected to the top of the outer wall of the adjusting rod (7). An adjusting rod (8) is rotatably connected to the side of the bottom of the clamping claw (9) away from the other side. The other end of the adjusting rod (8) is rotatably connected to the top left and right sides of the adjusting arm (3). A fixing frame is fixedly connected to the middle of the inner wall of the fixed arm (1). (10) A support plate (15) is fixedly connected to the outer wall of the fixed frame (10) on the side away from it. A buffer frame two (12) is rotatably connected to the outer wall of the fixed frame (10). A spring (14) is fixedly connected to the bottom of the outer wall of the support plate (15). The other end of the spring (14) is fixedly connected to the top of the outer wall of the buffer frame two (12). A buffer frame one (11) is rotatably connected to the top of the outer wall of the fixed frame (10). A fixed column (13) is rotatably connected to the side of the outer wall of the buffer frame one (11) adjacent to the outer wall of the buffer frame two (12). The fixed column (13) is fixedly connected to the middle of the inner wall of the fixed arm (1). A connecting mechanism (2) is fixedly connected to the bottom of the outer wall of the fixed arm (1). The connecting mechanism (2) is used to fix and connect the robot.

2. The robotic end effector cushioning mechanism of claim 1, wherein: The connecting mechanism (2) includes a fixing block (201), which is fixedly connected to the bottom of the fixing arm (1). Bolts (203) penetrate the middle of the inner wall of the fixing blocks (201). A fixing plate (202) is rotatably connected to the bottom of the outer wall of the bolts (203). Gaskets (204) are fixedly connected to the four corners of the bottom of the fixing plate (202). A connecting plate (205) is fixedly connected to the bottom of the outer wall of the gaskets (204). A plurality of moving grooves (206) are opened in the middle of the inner wall of the connecting plate (205). Bolts (207) are slidably connected to the middle of the inner wall of the moving grooves (206).

3. The robotic end effector cushioning mechanism of claim 1, wherein: A tripod (16) is fixedly connected to the top of the outer wall of the support plate (15), and a bolt (17) is threadedly connected to one side of the outer wall of the support plate (15).

4. The robotic end effector cushioning mechanism of claim 1, wherein: A socket (19) is fixedly connected to the bottom of the inner wall of the fixed arm (1), and a socket hole (18) is provided on one side of the outer wall of the socket (19).

5. The robotic end effector cushioning mechanism of claim 1, wherein: Nuts (20) are threaded to both the front and rear sides of the inner wall of the adjusting arm (3), and screws (21) are threaded to one side of the outer wall of the nut (20).

6. The robotic end effector cushioning mechanism of claim 1, wherein: A fixing block two (22) is fixedly connected to the front side of the outer wall of the adjusting arm (3), and a fixing rod (23) passes through the middle of the inner wall of the fixing block two (22).

7. The robot end effector buffer mechanism according to claim 1, characterized in that: The outer walls of the first adjusting rod (7) and the second adjusting rod (8) are provided with sliding grooves (24), and a moving rod (25) is threadedly connected to the middle of the inner wall of the sliding groove (24).

8. The robotic end effector cushioning mechanism of claim 1, wherein: A wear-resistant pad (26) is fixedly connected to one side of the outer wall of the clamping claw (9), and a fixing hole (27) is provided on one side of the outer wall of the wear-resistant pad (26).

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