CN208714025U - A kind of end effector of robot and robot - Google Patents
A kind of end effector of robot and robot Download PDFInfo
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- CN208714025U CN208714025U CN201821359328.2U CN201821359328U CN208714025U CN 208714025 U CN208714025 U CN 208714025U CN 201821359328 U CN201821359328 U CN 201821359328U CN 208714025 U CN208714025 U CN 208714025U
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- clamping jaw
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Abstract
The utility model discloses a kind of end effector of robot and robot, end effector of robot includes end effector ontology, at least a pair of of clamping jaw and at least one sucker；Wherein, at least a pair of of clamping jaw is set on the end effector ontology, and for clamping workpiece, and the spacing between each pair of clamping jaw is adjustable, at least one described sucker is fixed on the bottom of the clamping jaw, for drawing workpiece.The utility model reduces operating cost, improves operating efficiency.
Description
Technical field
The utility model embodiment is related to robotic technology field more particularly to a kind of end effector of robot and machine
People.
Background technique
With the development of science and technology, robot is all widely applied in many fields, such as machine-building, electronics skill
It art, agricultural picking and tears quick-fried operation open etc., passes through the control that sensor, camera and control device realize robot motion, realize
It is difficult to the work completed by manpower or need a large amount of manpowers that could complete.
The carrying and stacking of workpiece need the end effector of robot to realize.In general, end effector includes clamping jaw
Actuator and sucker actuator, the crawl type being applicable according to workpiece, select different end effectors.In the carrying of workpiece
In palletization, to realize that the workpiece to different crawl types grabs, the machine with clamping jaw actuator can be used simultaneously
Device people and robot with sucker actuator realize that the workpiece to different crawl types grab, or pass through replacement end
Actuator realizes that the workpiece to different crawl types grabs.But operation is considerably increased using Liang Ge robot grabbing workpiece
Cost, and operating cost is not only increased by replacing end effector grabbing workpiece, also reduce working efficiency.
Utility model content
In view of this, the purpose of this utility model is to propose a kind of end effector of robot and robot, made with reducing
Industry cost improves operating efficiency.
To achieve the above objectives, the present invention adopts the following technical solutions:
On the one hand, the utility model embodiment provides a kind of end effector of robot, including end effector ontology,
At least a pair of of clamping jaw and at least one sucker；
Wherein, at least a pair of of clamping jaw is set on the end effector ontology, for clamping workpiece, and each pair of institute
The spacing stated between clamping jaw is adjustable, at least one described sucker is fixed on the bottom of the clamping jaw, for drawing workpiece.
Further, the end effector of robot includes a pair of clamping jaw and two suckers, described in two
Sucker is individually fixed in the bottom of a pair of clamping jaw.
Further, the end effector of robot includes left and right to clamping jaw, front and back to clamping jaw and four suckers,
The left and right to clamping jaw include a pair of of left and right to the mobile clamping jaw, the front and back include a pair to clamping jaw before and after to mobile
The clamping jaw, four suckers are individually fixed in the left and right to clamping jaw and the front and back to the bottom of clamping jaw.
Further, the left and right is mutually orthogonal to the moving direction of clamping jaw and the moving direction of the front and back to clamping jaw.
Further, the clamping jaw clamps the clamping face paste of the workpiece with cushion.
On the other hand, the utility model embodiment provides a kind of robot, including robot described in one side face
End effector.
The beneficial effects of the utility model are: end effector of robot provided by the utility model and robot, pass through
Sucker is set in the bottom of the clamping jaw of end effector of robot, realizes clamping jaw and the compound end effector of sucker, so that
One end effector of robot is provided simultaneously with the ability of clamping and absorption, reduces using Liang Ge robot or replacement robot end
The operating cost for holding actuator, improves operating efficiency.
Detailed description of the invention
The exemplary embodiment of the utility model will be described in detail by referring to accompanying drawing below, make the ordinary skill of this field
Personnel become apparent from the above-mentioned and other feature and advantage of the utility model, in attached drawing:
Fig. 1 is the structural schematic diagram of end effector of robot provided by the embodiment of the utility model；
Schematic diagram when Fig. 2 is end effector of robot clamping workpiece provided by the embodiment of the utility model；
When Fig. 3 is that end effector of robot provided by the embodiment of the utility model draws workpiece by reducing clamping jaw spacing
Schematic diagram；
When Fig. 4 is that end effector of robot provided by the embodiment of the utility model draws workpiece by increasing clamping jaw spacing
Schematic diagram；
Fig. 5 is the structural schematic diagram of robot provided by the embodiment of the utility model.
Specific embodiment
Further illustrate the technical solution of the utility model below with reference to the accompanying drawings and specific embodiments.It can manage
Solution, specific embodiment described herein are used only for explaining the utility model, rather than the restriction to the utility model.Separately
Outside it should also be noted that, illustrating only part relevant to the utility model for ease of description, in attached drawing and not all knot
Structure.
In the description of the present invention, it should be understood that term " center ", " longitudinal direction ", " transverse direction ", "upper", "lower",
The orientation or positional relationship of the instructions such as "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate
Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand
For limitations of the present invention.
Fig. 1 is the structural schematic diagram of end effector of robot provided by the embodiment of the utility model.The robot end
The case where actuator integrates clamping jaw and sucker, is suitable for clamping or draws workpiece.As shown in Figure 1, the robot end holds
Row device includes end effector ontology 1, at least a pair of of clamping jaw 2 and at least one sucker 3.
Wherein, at least a pair of of clamping jaw 2 is set on end effector ontology 1, for clamping workpiece, and each pair of clamping jaw 2 it
Between spacing d it is adjustable, at least one sucker 3 is fixed on the bottom of clamping jaw 2, for drawing workpiece.
In the utility model embodiment, end effector of robot can only include a sucker 3, which is fixed on it
In a clamping jaw 2 bottom；End effector of robot may also comprise multiple suckers 3, and the bottom of each clamping jaw 2 can be fixedly installed
One or more suckers 3 at this point, can divide equally sucker 3 to the adsorption capacity of workpiece, and then can draw more heavy weight workpiece.This reality
It applies in example, the quantity of the sucker of the bottom setting of each clamping jaw 2 can be true according to the area of 2 bottom of clamping jaw and the size of sucker 3
It is fixed, while ensuring that the position of sucker 3 will not interfere the clamping of clamping jaw 2 to operate, and sucker 3 can draw workpiece up and down.
For the workpiece of different crawl types, the present embodiment can control clamping jaw 2 or sucker 3 to execute corresponding grasping manipulation.
Illustratively, for workpiece (such as box-type workpieces) can be clamped, as shown in Fig. 2, can be by adjusting the spacing between a pair of of clamping jaw 2
And end effector of robot movement is controlled by robot, it is located at the portion of clamping of workpiece 5 between a pair of of clamping jaw 2, is controlling
The centripetal movement of a pair of of clamping jaw 2 is made, the spacing between a pair of of clamping jaw 2 is reduced, make the clamping workpiece 5 of clamping jaw 2 clamps portion, with clamping
Workpiece 5.For workpiece (such as flat-type workpiece and part box-type workpieces) can be drawn, as shown in figure 3, robot control can be passed through
End effector of robot processed is mobile, and make 3 alignment pieces 5 of sucker draws face, is pressed and is inhaled by end effector of robot
Disk 3 draws face to workpiece 5, with vacuum suction workpiece 5.
End effector of robot provided in this embodiment is arranged by the bottom of the clamping jaw in end effector of robot
Sucker realizes clamping jaw and the compound end effector of sucker, so that an end effector of robot is provided simultaneously with clamping and suction
The ability taken reduces using Liang Ge robot or replaces the operating cost of end effector of robot, improves operating efficiency.
Optionally, end effector of robot includes that a pair of of clamping jaw and two suckers, two suckers are individually fixed in a pair
The bottom of clamping jaw.It can refer to Fig. 1, a pair of of clamping jaw 2 is set on end effector ontology 1, and the fixation of the bottom of each clamping jaw 2 is set
Set a sucker 3.Meanwhile the clamping operation to realize clamping jaw 2, end effector of robot should also include guiding mechanism and driving
Mechanism, wherein guiding mechanism can be the slot opened up in 1 bottom of end effector ontology along the clamping direction of clamping jaw 2, clamping jaw 2
Pawl arm be arranged in slot, move clamping jaw along the slot.Driving mechanism may be disposed in end effector ontology 1, the pawl of clamping jaw 2
Arm is connected to driving mechanism through slot, which may include two servo motors, connects respectively with the pawl arm of a clamping jaw 2
It connects, it is mobile respectively to control clamping jaw 2；The driving mechanism also may include a clamping cylinder, the pawl arm of a pair of of clamping jaw 2 respectively with this
Two clamping bars of clamping cylinder connect, and it is mobile to clamping jaw 2 to control this simultaneously by the clamping cylinder, so that this is to the execution of clamping jaw 2
Clamping operation.
In the utility model embodiment, when end effector of robot executes suction operation, for various sizes of work
Part or workpiece is different size of draws face, can securely draw workpiece by adjusting the spacing between clamping jaw to stablize, wherein
The size of workpiece is bigger or workpiece can draw face area it is bigger, the spacing Ying Yue great between clamping jaw.Illustratively, in conjunction with Fig. 3
With Fig. 4 as can be seen that the area that the workpiece in Fig. 3 can draw face, which is less than the workpiece in Fig. 4, can draw area (or the Fig. 3 in face
In workpiece can draw face the length on clamping jaw centripetal direction be less than Fig. 4 in workpiece can draw face on clamping jaw centripetal direction
Length), at this point, the spacing between clamping jaw 2 in Fig. 3 is less than the spacing between the clamping jaw 2 in Fig. 4.
In addition, the end effector of robot of the utility model embodiment may also comprise left and right to clamping jaw, front and back to clamping jaw
With four suckers, left and right to clamping jaw include a pair of of left and right to mobile clamping jaw, front and back include a pair to clamping jaw before and after to mobile
Clamping jaw, four suckers are individually fixed in left and right to clamping jaw and front and back to the bottom of clamping jaw.
Optionally, left and right is mutually orthogonal to the moving direction of clamping jaw and the moving direction of front and back to clamping jaw.It controls to clamping jaw
To clamping jaw on the whole it is in crossing distribution with front and back, at this point, when clamping box-type workpieces, work can be clamped from four faces of workpiece
Part keeps clamping workpiece stronger.
Optionally, it continues to refer to figure 1, the clamping face paste that clamping jaw 2 clamps workpiece has cushion 4 (such as rubber mat), as a result,
When clamping workpiece, cushion 4 plays buffer function to the grip force that workpiece is subject to, and workpiece can be prevented because starting the instantaneous folder being subject to
Power is larger and damages.
End effector of robot provided by the embodiment of the utility model, can be on existing various clamping jaw actuators directly
Sucker is set, realizes the clamping jaw of the utility model and the compound end effector of sucker, thus can substantially reduce robot end
The process costs and technology difficulty of actuator.
On the other hand, the utility model embodiment additionally provides a kind of robot, and Fig. 5 is that the utility model embodiment provides
Robot structural schematic diagram.As shown in figure 5, the robot 100 includes robot end provided by the embodiment of the utility model
Hold actuator 10.
It should be noted that Fig. 5 exemplarily only shows a kind of robot architecture, but the utility model is to robot
Specific structure with no restriction, as long as the end effector of robot be end effector of robot provided by the utility model be
It can.
Robot provided in this embodiment is arranged sucker by the bottom of the clamping jaw in end effector of robot, realizes
Clamping jaw and the compound end effector of sucker, so that an end effector of robot is provided simultaneously with the ability of clamping and absorption,
The operating cost for reducing using Liang Ge robot or replacing end effector of robot, improves operating efficiency.
Note that above are only the preferred embodiment and institute's application technology principle of the utility model.Those skilled in the art's meeting
Understand, the utility model is not limited to specific embodiment described here, is able to carry out for a person skilled in the art various bright
Aobvious variation is readjusted, be combined with each other and is substituted without departing from the protection scope of the utility model.Therefore, although passing through
Above embodiments are described in further detail the utility model, but the utility model is not limited only to the above implementation
Example can also include more other equivalent embodiments in the case where not departing from the utility model design, and the utility model
Range is determined by the scope of the appended claims.
Claims (6)
1. a kind of end effector of robot, which is characterized in that including end effector ontology, at least a pair of of clamping jaw and at least one
A sucker；
Wherein, at least a pair of of clamping jaw is set on the end effector ontology, for clamping workpiece, and each pair of folder
Spacing between pawl is adjustable, at least one described sucker is fixed on the bottom of the clamping jaw, for drawing workpiece.
2. end effector of robot according to claim 1, which is characterized in that the end effector of robot includes
A pair of clamping jaw and two suckers, two suckers are individually fixed in the bottom of a pair of clamping jaw.
3. end effector of robot according to claim 1, which is characterized in that the end effector of robot includes
It controls to clamping jaw, front and back to clamping jaw and four suckers, the left and right includes that a pair is controlled to the mobile folder to clamping jaw
Pawl, the front and back include a pair of front and back to the mobile clamping jaw to clamping jaw, and four suckers are individually fixed in the left and right
To clamping jaw and the front and back to the bottom of clamping jaw.
4. end effector of robot according to claim 3, which is characterized in that moving direction of the left and right to clamping jaw
It is mutually orthogonal with the moving direction of the front and back to clamping jaw.
5. end effector of robot according to claim 1, which is characterized in that the clamping jaw clamps the folder of the workpiece
Take face paste with cushion.
6. a kind of robot, which is characterized in that including end effector of robot as described in any one in claim 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821359328.2U CN208714025U (en) | 2018-08-22 | 2018-08-22 | A kind of end effector of robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821359328.2U CN208714025U (en) | 2018-08-22 | 2018-08-22 | A kind of end effector of robot and robot |
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| Publication Number | Publication Date |
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| CN208714025U true CN208714025U (en) | 2019-04-09 |
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| CN201821359328.2U Active CN208714025U (en) | 2018-08-22 | 2018-08-22 | A kind of end effector of robot and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927822A (en) * | 2018-08-22 | 2018-12-04 | 中科新松有限公司 | A kind of end effector of robot and robot |
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2018
- 2018-08-22 CN CN201821359328.2U patent/CN208714025U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108927822A (en) * | 2018-08-22 | 2018-12-04 | 中科新松有限公司 | A kind of end effector of robot and robot |
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