Universal robot angle adjustable end effector

Abstract

The utility model relates to industrial robot technical field, concretely, it relates to general robot adjustable angle end effector, including multi -freedom degree mechanical arm main part and the output shaft of setting in multi -freedom degree mechanical arm main part output end, the bottom end detachably installed with assembly panel of output shaft, the rotatable joint has the pivot that presents vertical setting on assembly panel, the bottom surface of assembly panel is fixed with first servo motor, and the output shaft end of first servo motor and pivot all are fixed with gear, and the mutual meshing between two gears, the bottom end detachably installed with support frame of pivot, and the support frame is connected through standard parts between pivot, and the support frame is used for clamping the clamping plate of operation and is set, and clamping plate completes clamping operation through the drive of second servo motor. The utility model is convenient for angle adjustment and clamping operation, and promotes the flexibility of operation.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot technology, and more specifically, to a general-purpose robot adjustable angle end effector. Background Technology

[0002] In the fields of industrial automation, intelligent manufacturing, and precision operation, general-purpose robots, with their flexible operating capabilities, have become core equipment for replacing manual labor and improving production efficiency. As a key component that directly interacts with the work object, the end effector's angle adjustment accuracy, gripping stability, and adaptability directly determine the robot's operating range and operational quality. With industrial production developing towards multi-variety, small-batch, and high-precision manufacturing, the functional requirements for end effectors are becoming increasingly stringent. They not only need reliable gripping capabilities but also flexible multi-angle adjustment to adapt to the operational needs of different workstations and postures, such as parts assembly, material sorting, and precision machining assistance.

[0003] Traditional end effectors are mostly designed with a fixed angle, such as gripping robotic arms mounted at the output shaft end of multi-degree-of-freedom (DOF) robotic arms. These gripping robotic arms are generally fixed and lack angle adjustment. When angle adjustment is required, such as horizontal adjustment, it relies on a motor at the base of the multi-DOF robotic arm to rotate the entire arm. However, due to the large wheelbase between the base and the workpiece, the rotation of the base requires the synchronous rotation of other robotic arms to align with the workpiece and complete the adjustment. This complex process negatively impacts usability. Therefore, we propose a general-purpose adjustable-angle end effector for robots. Utility Model Content

[0004] The purpose of this invention is to provide a universal robot adjustable-angle end effector to address the deficiencies mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: A general-purpose adjustable-angle end effector for robots includes a multi-degree-of-freedom robotic arm body and an output shaft located at the output end of the multi-degree-of-freedom robotic arm body. A mounting plate is detachably mounted on the bottom end of the output shaft. A vertically arranged rotating shaft is rotatably connected to the mounting plate. A first servo motor is fixedly mounted on the bottom surface of the mounting plate. Gears are fixedly mounted on both the output shaft end of the first servo motor and the rotating shaft, and the two gears mesh with each other. A support frame is detachably mounted on the bottom end of the rotating shaft. The support frame is connected to the rotating shaft via a standard component. A clamping plate for clamping operations is provided inside the support frame. The clamping plate is driven by a second servo motor to complete the clamping operation.

[0006] Preferably, a fixing plate is fixedly installed at the bottom end of the output shaft, and the mounting plate and the fixing plate are fixed together by a plurality of studs and nuts; This setting facilitates the loading and unloading of assembly panels.

[0007] Preferably, the stud is fixedly installed on the upper surface of the mounting plate, the stud extends out of the mounting plate, and the nut abuts against the upper surface of the mounting plate.

[0008] Preferably, the stud is fitted with an anti-loosening washer, and a plurality of guide rods are fixedly installed on the upper surface of the assembly plate. The guide rods pass through the fixing plate and are inserted into the fixing plate. This setting facilitates the positioning and installation of the assembly plate.

[0009] Preferably, a universal rectangular support block is fixedly installed at the bottom end of the rotating shaft, and a universal rectangular sleeve is fixedly installed on the top surface of the support frame. The universal rectangular sleeve is fitted onto the universal rectangular support block and is fixedly connected to the universal rectangular support block by a plurality of fastening bolts. This feature facilitates the assembly of the support frame.

[0010] Preferably, a connecting rod is fixedly installed at the top of the clamping plate, and the connection between the clamping plate and the connecting rod is rotatably connected to the front and rear side plates of the support frame via a rotating shaft. A hinge rod is rotatably connected at the top of the connecting rod via a rotating shaft. The second servo motor is fixedly installed on the top wall of the support frame, and a vertically arranged lead screw is fixedly installed at the end of the output shaft of the second servo motor. A threaded sleeve is threadedly connected to the lead screw. The top of the hinge rod is hinged to the threaded sleeve via a hinge. The threaded sleeve is guided to the support frame via a guide post and a guide sleeve. This feature allows the second servo motor to open or close the clamping plate.

[0011] Preferably, two symmetrical side plates are fixedly installed on the side of the threaded sleeve, the bottom end of the guide post is fixedly installed on the corresponding side plate, the top end of the guide sleeve is fixedly installed on the top wall of the support frame, and the guide post is located inside the guide sleeve and slidably connected to the guide sleeve. This feature makes the threaded sleeve more stable when moving up and down.

[0012] Preferably, both the left and right sides of the support frame are connected to the outside, and the top plate of the support frame is provided with wiring holes.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model achieves horizontal angle adjustment of the end clamping mechanism by setting a first servo motor to drive gear meshing transmission, combined with the rotational connection between the vertical rotating shaft and the assembly plate. This eliminates the need to rely on the overall rotation of the robotic arm, simplifying the angle adaptation process and improving operational flexibility and adjustment efficiency.

[0014] 2. This utility model achieves quick replacement of clamping components and flexible adaptation to different working scenarios through the detachable connection structure of the output shaft and the assembly plate, and the rotating shaft and the support frame, combined with the adaptable design of standard parts and universal rectangular support blocks. At the same time, the setting of guide rod and anti-loosening washer ensures connection stability, thereby reducing maintenance costs and expanding the scope of equipment application.

[0015] 3. This utility model uses a second servo motor to drive the lead screw and threaded sleeve, which in turn drive the linkage rod and connecting rod to move the clamping plate. Combined with the guiding effect of the guide post and guide sleeve, it achieves precise control and stable reliability of the clamping action. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is one of the partial structural schematic diagrams of this utility model; Figure 3 This is a second schematic diagram of a partial structure of this utility model; Figure 4 This is a cross-sectional view of the support frame of this utility model; The meanings of the labels in the diagram are as follows: 1. Multi-degree-of-freedom robotic arm body; 10. Output shaft; 11. Fixing plate; 12. Assembly plate; 121. Guide rod; 122. Stud; 123. Nut; 13. Rotating shaft; 14. First servo motor; 15. Gear; 16. General rectangular support block; 2. Support frame; 20. General rectangular sleeve; 21. Clamping plate; 22. Connecting rod; 23. Hinge rod; 24. Second servo motor; 241. Lead screw; 25. Threaded sleeve; 251. Side plate; 26. Guide post; 27. Guide sleeve. Detailed Implementation

[0017] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings. 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.

[0018] Please see Figures 1-4This utility model provides a technical solution: a universal robot adjustable angle end effector, including a multi-degree-of-freedom robotic arm body 1 and an output shaft 10 disposed at the output end of the multi-degree-of-freedom robotic arm body 1. An assembly plate 12 is detachably mounted on the bottom end of the output shaft 10. A vertically arranged rotating shaft 13 is rotatably connected to the assembly plate 12. A first servo motor 14 is fixedly mounted on the bottom surface of the assembly plate 12. Gears 15 are fixedly mounted on both the output shaft end of the first servo motor 14 and the rotating shaft 13. The two gears 15 mesh with each other, realizing the operation of the first servo motor 14 to perform angle adjustment in the horizontal direction. It is convenient to use, does not rely on the overall rotation of the multi-degree-of-freedom robotic arm body 1, simplifies the angle adjustment process, and improves the flexibility of operation.

[0019] Specifically, a support frame 2 is detachably installed at the bottom of the rotating shaft 13. The support frame 2 is connected to the rotating shaft 13 through a standard part. A clamping plate 21 for clamping operation is provided inside the support frame 2. The clamping plate 21 is driven by the second servo motor 24 to complete the clamping operation, so that the workpiece can be clamped and released using the clamping plate 21.

[0020] like Figures 1-3 As shown, a fixing plate 11 is fixedly installed at the bottom end of the output shaft 10. The assembly plate 12 is fixed to the fixing plate 11 by multiple studs 122 and nuts 123. The studs 122 are fixedly installed on the upper surface of the assembly plate 12 and protrude from the fixing plate 11. The nuts 123 abut against the upper surface of the fixing plate 11. Anti-loosening washers are fitted on the studs 122. Multiple guide rods 121 are fixedly installed on the upper surface of the assembly plate 12. The guide rods 121 pass through the fixing plate 11 and are inserted into the fixing plate 11 to make the assembly plate 12 and the fixing plate 11 firmly fixed. At the same time, the insertion and engagement of the guide rods 121 on the assembly plate 12 with the fixing plate 11 not only realizes the quick positioning and installation of the assembly plate 12, but also ensures the stability of the connection and the anti-loosening effect, which facilitates the subsequent assembly plate 12 and subsequent components for installation, removal and maintenance.

[0021] It is worth noting that the fixing plate 11 is provided with through holes for the stud 122 and guide rod 121 to pass through, so that the stud 122 and guide rod 121 can pass through the fixing plate 11 normally.

[0022] like Figure 3 As shown, a universal rectangular support block 16 is fixedly installed at the bottom end of the rotating shaft 13, and a universal rectangular sleeve 20 is fixedly installed on the top surface of the support frame 2. The universal rectangular sleeve 20 is fitted onto the universal rectangular support block 16 and is fixedly connected to the universal rectangular support block 16 by multiple fastening bolts, so that the support frame 2 can be quickly fitted onto the universal rectangular support block 16 and firmly fixed, realizing convenient assembly and disassembly of the support frame 2, facilitating the replacement of suitable clamping components according to different operation requirements, and broadening the application range of the equipment.

[0023] like Figure 3 and Figure 4 As shown, a connecting rod 22 is fixedly installed on the top of the clamping plate 21. The connection between the clamping plate 21 and the connecting rod 22 is rotatably connected to the front and rear side plates of the support frame 2 via a rotating shaft. The top of the connecting rod 22 is rotatably connected to a hinge rod 23 via a rotating shaft. The second servo motor 24 is fixedly installed on the top wall of the support frame 2. A vertically arranged lead screw 241 is fixedly installed at the end of the output shaft of the second servo motor 24. A threaded sleeve 25 is threadedly connected to the lead screw 241. The top of the hinge rod 23 is hinged to the threaded sleeve 25 via a hinge. The threaded sleeve 25 is guided to the support frame 2 via a guide post 26 and a guide sleeve 27. When the second servo motor 24 is working, it can drive the lead screw 241 to rotate, driving the threaded sleeve 25 to move up and down along the guide direction of the guide post 26 and the guide sleeve 27. Then, through the linkage between the hinge rod 23 and the connecting rod 22, the clamping plate 21 is opened or closed, realizing the controllability and stability of the clamping action and avoiding material damage or falling off.

[0024] Furthermore, two symmetrical side plates 251 are fixedly installed on the side of the threaded sleeve 25. The bottom end of the guide post 26 is fixedly installed on the corresponding side plate 251. The top end of the guide sleeve 27 is fixedly installed on the top wall of the support frame 2. The guide post 26 is located inside the guide sleeve 27 and is slidably connected to the guide sleeve 27, making the threaded sleeve 25 more stable when moving up and down.

[0025] In addition, both the left and right sides of the support frame 2 are connected to the outside, which facilitates the rapid dissipation of heat when the second servo motor 24 is working; the top plate of the support frame 2 is provided with wiring holes for wiring operations, which enable normal wiring and other operations.

[0026] Finally, it should be noted that the first servo motor 14, the second servo motor 24, the corresponding servo control system, and the external power supply involved in this utility model are all general standard parts or parts known to those skilled in the art. Their structure and principle can be known to those skilled in the art through technical manuals or conventional experimental methods. In the idle space of this device, all the above-mentioned electrical components, which refer to power elements, electrical components, and the adapted controller and power supply, are connected by wires. The specific connection method should refer to the working principle in this utility model. The electrical connections between each electrical component are completed in the order of operation. The detailed connection methods are all technologies known in the art.

[0027] When using the universal robot adjustable angle end effector of this utility model, first, the stud 122 on the assembly plate 12 passes through the through hole on the bottom fixing plate 11 of the output shaft 10, the anti-loosening washer is put on, and then the nut 123 is tightened. At the same time, the guide rod 121 is inserted into the fixing plate 11 to complete the positioning, and the assembly plate 12 is firmly fixed on the output shaft 10. Then, the universal rectangular sleeve 20 of the support frame 2 is put on the universal rectangular support block 16 at the bottom of the rotating shaft 13 and fixed with fastening bolts to complete the overall assembly. According to the operation requirements, the first servo motor 14 is started, and its output shaft drives the gear 15 to mesh and drive the rotating shaft 13 to rotate on the assembly plate 12. The horizontal angle of the support frame 2 and the clamping plate 21 is precisely adjusted without moving the main body 1 of the multi-degree-of-freedom robotic arm. After the angle is determined, the second servo motor 24 is started, which drives the lead screw 241 to rotate, so that the threaded sleeve 25 moves up and down along the guide post 26 and the guide sleeve 27. Through the linkage of the hinge rod 23 and the connecting rod 22, the clamping plate 21 is driven to open. After clamping the workpiece, the reverse drive makes the clamping plate 21 close and fix. After the operation is completed, the second servo motor 24 works in reverse to release the workpiece.

[0028] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A universal robot adjustable-angle end effector, comprising a multi-degree-of-freedom robotic arm body (1) and an output shaft (10) disposed at the output end of the multi-degree-of-freedom robotic arm body (1), characterized in that: The bottom end of the output shaft (10) is detachably mounted with an assembly plate (12). A vertically arranged rotating shaft (13) is rotatably connected to the assembly plate (12). A first servo motor (14) is fixedly mounted on the bottom surface of the assembly plate (12). Gears (15) are fixedly mounted on the end of the output shaft of the first servo motor (14) and on the rotating shaft (13). The two gears (15) mesh with each other. A support frame (2) is detachably mounted on the bottom end of the rotating shaft (13). The support frame (2) is connected to the rotating shaft (13) through a standard part. A clamping plate (21) for clamping operation is provided inside the support frame (2). The clamping plate (21) is driven by a second servo motor (24) to complete the clamping operation.

2. The universal robot adjustable angle end effector according to claim 1, characterized in that: A fixing plate (11) is fixedly installed at the bottom end of the output shaft (10), and the mounting plate (12) is fixed to the fixing plate (11) by a plurality of studs (122) and nuts (123).

3. The universal robot adjustable-angle end effector according to claim 2, characterized in that: The stud (122) is fixedly installed on the upper surface of the assembly plate (12), the stud (122) extends through the fixing plate (11), and the nut (123) abuts against the upper surface of the fixing plate (11).

4. The universal robot adjustable-angle end effector according to claim 3, characterized in that: The stud (122) is fitted with an anti-loosening washer, and a plurality of guide rods (121) are fixedly installed on the upper surface of the assembly plate (12). The guide rods (121) pass through the fixing plate (11) and are inserted into the fixing plate (11).

5. The universal robot adjustable-angle end effector according to claim 1, characterized in that: A universal rectangular support block (16) is fixedly installed at the bottom end of the rotating shaft (13), and a universal rectangular sleeve (20) is fixedly installed on the top surface of the support frame (2). The universal rectangular sleeve (20) is fitted onto the universal rectangular support block (16) and is fixedly connected to the universal rectangular support block (16) by a plurality of fastening bolts.

6. The universal robot adjustable-angle end effector according to claim 1, characterized in that: A connecting rod (22) is fixedly installed at the top of the clamping plate (21). The connection between the clamping plate (21) and the connecting rod (22) is rotatably connected to the front and rear side plates of the support frame (2) through a rotating shaft. A hinge rod (23) is rotatably connected at the top of the connecting rod (22) through a rotating shaft. The second servo motor (24) is fixedly installed on the top wall of the support frame (2). A vertically arranged lead screw (241) is fixedly installed at the end of the output shaft of the second servo motor (24). A threaded sleeve (25) is threadedly connected to the lead screw (241). The top of the hinge rod (23) is hinged to the threaded sleeve (25) through a hinge. The threaded sleeve (25) is guided to the support frame (2) through a guide post (26) and a guide sleeve (27).

7. The universal robot adjustable-angle end effector according to claim 6, characterized in that: The threaded sleeve (25) has two symmetrical side plates (251) fixedly installed on its side. The bottom end of the guide post (26) is fixedly installed on the corresponding side plate (251). The top end of the guide sleeve (27) is fixedly installed on the top wall of the support frame (2). The guide post (26) is located inside the guide sleeve (27) and is slidably connected to the guide sleeve (27).

8. The universal robot adjustable angle end effector according to claim 1, characterized in that: The left and right sides of the support frame (2) are connected to the outside world, and wiring holes are provided on the top plate of the support frame (2).

Images