A robot end effector

Abstract

The utility model discloses a kind of robot end execution mechanism, it is related to robot end execution mechanism technical field, comprising: mechanical arm, the output end of the mechanical arm is equipped with mounting box, the inside of the mounting box is equipped with cavity, the inside of the cavity is provided with sliding frame.The utility model is by pressing pressing block, sliding frame slides in the cavity in mechanical arm, moves installation groove to the position of T type connecting column, removes T type connecting column and is limited on mounting box, can be taken off from mounting box to maintenance with gripper;When reinstallation is completed after maintenance, pressing pressing block, installation groove is aligned with mounting hole, T type connecting column is inserted into mounting hole again, pass through installation groove simultaneously, loosen pressing block, the reaction force of spring will sliding frame be pushed up, installation groove is misaligned with mounting hole, can install gripper, this structure is simple, convenient to operate, can be quickly maintained and replaced to gripper, improve the convenience when equipment replacement and maintenance.

Description

Technical Field

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

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Its core capabilities include perception, decision-making, and execution, and it can assist or even replace humans in completing dangerous, heavy, and complex tasks. Robots include industrial robots, service robots, and humanoid robots. A robot is mainly composed of a robotic arm and an end effector. When a robot is working, the end effector performs the operation. Therefore, the end effector is installed at the output end of the robot's robotic arm. End effectors include grippers, vacuum suction cups, welding tools, etc.

[0003] Currently, the grippers at the end effector of most industrial robots are usually secured by multiple bolts. However, the grippers of industrial robots require routine maintenance or replacement. Disassembling the grippers requires the use of tools to remove the bolts, which is a cumbersome, time-consuming, and labor-intensive process that affects the efficiency of maintenance or replacement, thus making them inconvenient to use. Utility Model Content

[0004] In view of the above-mentioned shortcomings of the existing technology, the present invention provides a robot end effector that can effectively solve the problems mentioned in the background technology.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robot end effector, comprising: a robotic arm, an output end of which is fitted with a mounting box, the mounting box having an internal cavity, a sliding frame being provided inside the cavity, a pressing block being fixedly connected to the upper center of the sliding frame, one end of the pressing block extending out of the mounting box, mounting grooves being provided on both sides of the inner wall of the sliding frame, sliding blocks being fixedly connected to both sides of the sliding frame, and springs being fixedly connected to the lower ends of both sliding blocks, a limiting groove being provided at one end of the mounting box, a mounting hole being provided through the middle of one side of the inner wall of the limiting groove, a docking frame being provided on one side of the mounting box, a gripper being installed at one end of the docking frame, and a T-shaped connecting post being fixedly connected to the middle of the other end of the docking frame, the T-shaped connecting post passing through the mounting hole and located inside the sliding frame.

[0006] As a further preferred embodiment of this technical solution, guide grooves are provided on both sides of the cavity, and the two sliding blocks are slidably connected on the inner walls of the two guide grooves respectively.

[0007] As a further preferred embodiment of this technical solution, threaded holes are provided on both sides of the lower end of the mounting box. The inner walls of the two threaded holes are threaded with extension screws, and the two extension screws extend into the cavity. An adjusting ring is fixedly connected to one side of the outer surface of each of the two extension screws. The other side of the outer surface of each of the two extension screws is slidably connected in the two sliding blocks respectively. The two springs are respectively sleeved on the two extension screws, and one end of the spring abuts against the adjusting ring.

[0008] As a further preferred embodiment of this technical solution, a U-shaped locking block is rotatably connected to one side of the outer surface of the docking frame, and a collar is fixedly connected to the outer surface of the mounting box near the edge, with the U-shaped locking block engaging with the collar.

[0009] As a further preferred embodiment of this technical solution, a limiting strip is fixedly connected to the other side of the outer surface of the docking frame, and a fixing groove is provided on the inner wall of the limiting groove, and the limiting strip is slidably connected in the fixing groove.

[0010] As a further preferred embodiment of this technical solution, a base is installed at the lower end of the robotic arm, and support feet are fixedly connected to the four corners of the lower end of the base.

[0011] The technical solution provided by this utility model has the following advantages compared with the known prior art:

[0012] 1. This utility model allows the sliding frame to slide within the robotic arm's inner cavity by pressing the pressing block, moving the mounting slot to the position of the T-shaped connecting column. This releases the T-shaped connecting column from the mounting box, allowing the gripper to be removed for maintenance. When reinstalling the gripper after maintenance, first press the pressing block to align the mounting slot with the mounting hole. Then, insert the T-shaped connecting column into the mounting hole, passing it through the mounting slot. Loosen the pressing block, and the spring's reaction force will push the sliding frame upwards, misaligning the mounting slot with the mounting hole, allowing the gripper to be installed. This structure is simple, easy to operate, and allows for quick maintenance and replacement of the gripper, improving the convenience of equipment replacement and maintenance.

[0013] 2. This utility model, through the structural design of an extended screw, an adjusting ring, and a guide groove, allows the extended screw to move along the threaded hole in the mounting box when rotated. One side of the outer surface of the extended screw slides on the sliding block, while the adjusting ring and the extended screw move together. Since the upper end of the sliding block abuts against the guide groove, the movement of the sliding block is restricted, which shortens the deformation of the spring, increases the spring force, and prevents the spring's own stiffness coefficient from deteriorating after long-term use, thus affecting the reset of the sliding frame. Attached Figure Description

[0014] 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, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0016] Figure 2 This is an exploded view of the connection relationship between the robotic arm and the gripper in this utility model;

[0017] Figure 3 This is a cross-sectional structural diagram of the mounting box in this utility model;

[0018] Figure 4 for Figure 3 A magnified view of a portion of region A in the middle;

[0019] Figure 5 for Figure 3 A magnified view of a portion of region B in the middle;

[0020] Figure 6 This is an exploded view of the connection relationship between the sliding frame, the spring, and the extension screw in this utility model;

[0021] 1. Robotic arm; 11. Base; 12. Gripper; 13. Support foot; 2. Mounting box; 21. Connecting frame; 22. T-shaped connecting column; 23. Sliding frame; 24. Pressing block; 25. Guide groove; 26. Mounting groove; 27. Spring; 28. Sliding block; 3. Limiting groove; 31. Limiting strip; 32. Mounting hole; 4. Extending screw; 41. Adjusting ring; 5. U-shaped locking block; 51. Collar. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. All other embodiments obtained by those skilled in the art based on the embodiments of this utility model without creative effort are within the scope of protection of this utility model.

[0023] The present invention will be further described below with reference to the embodiments.

[0024] This utility model provides a technical solution: such as Figure 1 - Figure 6As shown, in this embodiment, a robot end effector includes: a robotic arm 1, an installation box 2 installed at the output end of the robotic arm 1, a cavity inside the installation box 2, a sliding frame 23 inside the cavity, a pressing block 24 fixedly connected to the upper middle part of the sliding frame 23, one end of the pressing block 24 extending out of the installation box 2, installation grooves 26 on both sides of the inner wall of the sliding frame 23, sliding blocks 28 fixedly connected to both sides of the sliding frame 23, and springs 27 fixedly connected to the lower ends of both sliding blocks 28, a limiting groove 3 at one end of the installation box 2, an installation hole 32 penetrating through the middle of one side of the inner wall of the limiting groove 3, a docking frame 21 on one side of the installation box 2, a gripper 12 installed at one end of the docking frame 21, and a T-shaped connecting post 22 fixedly connected to the middle of the other end of the docking frame 21, the T-shaped connecting post 22 passing through the installation hole 32 and located inside the sliding frame 23.

[0025] By pressing the pressing block 24, the sliding frame 23 slides within the inner cavity of the robotic arm 1, moving the mounting slot 26 to the position of the T-shaped connecting post 22, thus releasing the T-shaped connecting post 22 from the mounting box 2. This allows the gripper 12 to be removed from the mounting box 2 for maintenance. When reinstalling the gripper 12 after maintenance, first press the pressing block 24 to align the mounting slot 26 with the mounting hole 32. Then insert the T-shaped connecting post 22 into the mounting hole 32, passing it through the mounting slot 26. Loosening the pressing block 24 causes the reaction force of the spring 27 to push the sliding frame 23 upwards, aligning the mounting slot 26 with the mounting box 22. By misaligning the mounting holes 32, the gripper 12 can be installed. This structure is simple and easy to operate, allowing for quick maintenance and replacement of the gripper 12, thus improving the convenience of equipment replacement and maintenance. Furthermore, the docking frame 21 and T-shaped connecting column 22 designed in this structure can be installed on other end effectors, enabling quick replacement of other end effectors. It also maximizes the utilization of the robot body's working time by sharing one robot body and multiple end effectors, while significantly reducing hardware procurement costs and saving factory floor space, allowing a single robot workstation to handle different product types.

[0026] like Figure 3 and Figure 4 As shown, guide grooves 25 are provided on both sides of the cavity, and two sliding blocks 28 are slidably connected to the inner walls of the two guide grooves 25 respectively. The structural design of the guide grooves 25 and the sliding blocks 28 restricts the sliding direction of the sliding frame 23, ensuring that the sliding frame 23 can only slide up and down, and can also limit the sliding length of the sliding frame 23.

[0027] like Figure 2 , Figure 3 , Figure 4 and Figure 6As shown, threaded holes are provided on both sides of the lower end of the mounting box 2. The inner walls of the two threaded holes are threaded with extension screws 4, and the two extension screws 4 extend into the cavity. One side of the outer surface of the two extension screws 4 is fixedly connected with an adjusting ring 41. The other side of the outer surface of the two extension screws 4 is slidably connected in the two sliding blocks 28 respectively. Two springs 27 are respectively sleeved on the two extension screws 4, and one end of the spring 27 abuts against the adjusting ring 41.

[0028] Through the structural design of the extended screw 4, adjusting ring 41 and guide groove 25, when the extended screw 4 is rotated, it moves along the threaded hole opened in the mounting box 2. One side of the outer surface of the extended screw 4 slides on the sliding block 28. At the same time, the adjusting ring 41 and the extended screw 4 move together. Since the upper end of the sliding block 28 abuts in the guide groove 25, the movement of the sliding block 28 is restricted, which shortens the deformation of the spring 27, increases the elastic force of the spring 27, and prevents the spring 27's own stiffness coefficient from deteriorating after long-term use, thus affecting the reset of the sliding frame 23.

[0029] It should be noted that the elastic force formula of spring 27 is F=k·x, where F is the elastic force, k is the spring constant, and x is the deformation. When adjusting the elastic force of the two springs 27, the elastic force of the two springs 27 is the same by rotating the two extension screws 4 a certain number of times.

[0030] like Figure 2 , Figure 3 and Figure 5 As shown, a plurality of U-shaped locking blocks 5 are rotatably connected to one side of the outer surface of the docking frame 21, and a collar 51 is fixedly connected to the outer surface of the mounting box 2 near the edge. The plurality of U-shaped locking blocks 5 are locked onto the collar 51. The U-shaped locking blocks 5 are locked onto the collar 51 to ensure that the gripper 12 will not easily come loose when it is installed and in operation.

[0031] like Figure 2 , Figure 3 and Figure 5 As shown, multiple limiting strips 31 are fixedly connected to the other side of the outer surface of the docking frame 21. Multiple fixing grooves are opened on the inner wall of the limiting groove 3, and the multiple limiting strips 31 are slidably connected in the multiple fixing grooves respectively. The structural design of the limiting strips 31 and the fixing grooves prevents the docking frame 21 from rotating in the limiting groove 3, ensuring stable operation of the equipment.

[0032] like Figure 1 As shown, a base 11 is installed at the lower end of the robotic arm 1, and support feet 13 are fixedly connected to the four corners of the lower end of the base 11. The structural design of the support feet 13 and the base 11 ensures the stability of the robotic arm 1 and the gripper 12 when they are working. The robotic arm 1, the base 11 and the support feet 13 form an industrial robot.

[0033] This utility model provides a robot end effector, the specific working principle of which is as follows:

[0034] When repairing the gripper 12 on the robotic arm 1, first, move the U-shaped locking block 5 to disengage it from the collar 51. Then, press the pressing block 24, and the sliding frame 23 will slide within the inner cavity of the robotic arm 1, moving the mounting groove 26 to the position of the T-shaped connecting post 22. This will release the T-shaped connecting post 22 from the mounting box 2, allowing the gripper 12 to be removed from the mounting box 2 for repair. When reinstalling the gripper 12 after repair, first, press the pressing block 24 to align the mounting groove 26 with the mounting hole 32. Then, insert the T-shaped connecting post 22 into the mounting hole 32, passing it through the mounting groove 26. Loosen the pressing block 24, and the reaction force of the spring 27 will push the sliding frame 23 upward, misaligning the mounting groove 26 with the mounting hole 32. Finally, re-lock the U-shaped locking block 5 onto the collar 51, allowing the gripper 12 to be installed.

[0035] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of this utility model.

Claims

1. A robot end effector, characterized in that, include: A robotic arm (1) has an output end equipped with a mounting box (2). The mounting box (2) has an internal cavity, and a sliding frame (23) is provided inside the cavity. A pressing block (24) is fixedly connected to the upper middle part of the sliding frame (23). One end of the pressing block (24) extends out of the mounting box (2). Mounting grooves (26) are provided on both sides of the inner wall of the sliding frame (23). Sliding blocks (28) are fixedly connected to both sides of the sliding frame (23). The lower ends of the two sliding blocks (28) are fixedly connected to... A spring (27) is connected to the mounting box (2). A limiting groove (3) is opened at one end of the mounting box (2). A mounting hole (32) is opened through the middle of one side of the inner wall of the limiting groove (3). A docking frame (21) is provided on one side of the mounting box (2). A clamp (12) is installed at one end of the docking frame (21). A T-shaped connecting column (22) is fixedly connected to the middle of the other end of the docking frame (21). The T-shaped connecting column (22) passes through the mounting hole (32) and is located inside the sliding frame (23).

2. The robot end effector according to claim 1, characterized in that: Guide grooves (25) are provided on both sides of the cavity, and the two sliding blocks (28) are slidably connected to the inner walls of the two guide grooves (25).

3. The robot end effector according to claim 1, characterized in that: The mounting box (2) has threaded holes on both sides of its lower end. The inner walls of the two threaded holes are threaded with extension screws (4), and the two extension screws (4) extend into the cavity. One side of the outer surface of the two extension screws (4) is fixedly connected with an adjusting ring (41). The other side of the outer surface of the two extension screws (4) is slidably connected in the two sliding blocks (28). The two springs (27) are respectively sleeved on the two extension screws (4), and one end of the spring (27) abuts against the adjusting ring (41).

4. The robot end effector according to claim 1, characterized in that: A U-shaped locking block (5) is rotatably connected to one side of the outer surface of the docking frame (21), and a collar (51) is fixedly connected to the outer surface of the mounting box (2) near the edge, and the U-shaped locking block (5) is engaged with the collar (51).

5. The robot end effector according to claim 1, characterized in that: A limiting strip (31) is fixedly connected to the other side of the outer surface of the docking frame (21). A fixing groove is provided on the inner wall of the limiting groove (3), and the limiting strip (31) is slidably connected in the fixing groove.

6. The robot end effector according to claim 1, characterized in that: The lower end of the robotic arm (1) is equipped with a base (11), and support feet (13) are fixedly connected to the four corners of the lower end of the base (11).

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