CN214643706U - Robot end effector mechanism - Google Patents
Robot end effector mechanism Download PDFInfo
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- CN214643706U CN214643706U CN202022851169.1U CN202022851169U CN214643706U CN 214643706 U CN214643706 U CN 214643706U CN 202022851169 U CN202022851169 U CN 202022851169U CN 214643706 U CN214643706 U CN 214643706U
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- 230000007246 mechanism Effects 0.000 title claims abstract description 42
- 239000012636 effector Substances 0.000 title claims abstract description 28
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 230000000694 effects Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model relates to an end effector mechanism of robot, the utility model belongs to the technical field of industrial robot. The bottom surface of the outer shell of the utility model is provided with symmetrical annular through grooves, and square grooves matched with the annular through grooves are arranged around the annular through grooves at the inner side of the bottom surface of the outer shell; a rack is arranged in the square groove, and a clamping tail end is arranged on the other end face, opposite to the tooth surface, of the rack; a plurality of rod holes are formed in the side wall, perpendicular to the end face, of the outer shell, a plurality of rod bodies are arranged in the rod holes, the rod bodies are perpendicular to the annular through groove, and gear transmission mechanisms are coaxially arranged on the rod bodies; the gear transmission mechanism is meshed with the rack, and the rod body drives the gear transmission mechanism to control the rack to slide along the square groove. The utility model discloses install the centre gripping end in the rack bottom, make the rack along fixed cell type orbit motion through rotating the polished rod end, and then drive the terminal syntropy motion of centre gripping, accomplish snatching and loosening of square workpiece.
Description
Technical Field
The invention relates to a robot end effector mechanism, and belongs to the technical field of industrial robots.
Background
Aiming at different fields, the robot end effectors used in different industries are basically special, and most of the robot end effectors are evolved from non-special end effectors. The mechanical gripper is usually represented by: parallel clamping jaws, self-adaptive two-finger clamping jaws, an electric self-adaptive three-finger robot hand and the like. With the rapid start-up of industrial robots, the end effectors have gained a lot of room for growth.
Under the general condition of the end effector related to the project, a novel robot end effector is designed, the grabbing of square parts within a certain size range can be completed under the condition that the end effector is not replaced, and the length of an end structure can be adjusted according to the grabbing position, so that the efficiency is improved, and the auxiliary time for replacing the end effector is saved.
Disclosure of Invention
The robot end effector mechanism provided by the invention has stronger universality. The tail end of the polished rod of the end effector can be connected with a motor, so that the operation is more labor-saving.
The invention adopts the following technical scheme:
the robot end effector mechanism comprises an outer shell, wherein an annular through groove is formed in the bottom surface of the outer shell, and square grooves matched with the annular through groove are formed in the periphery of the annular through groove on the inner side of the bottom surface of the outer shell; a rack is arranged in the square groove, and the other end face of the rack opposite to the tooth surface is provided with a clamping tail end; the clamping tail end extends outwards from the annular through groove; a plurality of rod holes are formed in the side wall, perpendicular to the end face, of the outer shell, a plurality of rod bodies are arranged in the rod holes and perpendicular to the annular through groove, and gear transmission mechanisms are coaxially arranged on the rod bodies; the gear transmission mechanism is meshed with the rack, and the rod body drives the gear transmission mechanism to control the rack to slide along the square groove.
The robot end effector mechanism is characterized in that at least two annular through grooves are formed in the outer shell, the two annular through grooves are symmetrical and arranged in a straight line, and the number of racks and clamping tail ends is matched with that of the annular through grooves.
According to the robot end effector mechanism, the gear transmission mechanism drives the rack to slide so as to control the clamping tail end to relatively expand or contract.
The robot end effector mechanism comprises a gear transmission mechanism, a gear shifting mechanism, a driving gear shifting mechanism and a driving gear shifting mechanism, wherein the gear transmission mechanism comprises a driving gear I, a transmission gear II, a transmission gear III and a transmission gear IV; the driving gear I, the transmission gear II, the transmission gear III and the transmission gear IV are respectively arranged on a single rod body in the plurality of rod bodies; the driving gear I is meshed with the transmission gear II, the transmission gear II is mutually meshed with the transmission gear III, and the driving gear I is mutually meshed with the transmission gear IV; and the third transmission gear and the fourth transmission gear are meshed with the rack respectively.
According to the robot end effector mechanism, the tail end of the rod body provided with the first driving gear is a polished rod, and the polished rod is connected with an external driving motor.
Advantageous effects
The clamping tail end of the robot end effector mechanism provided by the invention is arranged at the bottom of the rack, and the rack moves along the fixed groove type track by rotating the tail end of the polished rod, so that the clamping tail end is driven to move in the same direction, and the grabbing and releasing of square workpieces are completed. The tail end of the polished rod can be connected with the output end of the motor through the coupler, so that the operation is more labor-saving.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the drive configuration of the present invention;
FIG. 3 is a schematic view of the outer housing structure of the present invention;
FIG. 4 is a schematic view of a rack;
fig. 5 is a schematic view of the back end of the rack.
Detailed Description
In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.
As shown in fig. 1 or fig. 3: a robot end effector mechanism comprises an outer shell 100, wherein an annular through groove 102 is formed in the bottom surface of the outer shell 100, and a connecting hole 101 for connecting a flange plate at the tail end of a robot is formed in the bottom surface of the outer shell 100; square grooves 107 with certain depth matched with the annular through grooves are formed around the annular through grooves on the inner side of the bottom surface of the outer shell 100; a rack 204 is arranged in the square groove 107, and the other end face of the rack 204 opposite to the tooth surface is provided with a clamping tail end 400; the clamping tip 400 extends outwardly from the annular channel 102; the two annular through grooves 102 are symmetrical and arranged in a straight line, and the number of the racks 204 and the clamping tail ends 400 is matched with that of the annular through grooves 102.
A plurality of rod holes are formed in the side wall, perpendicular to the end face, of the outer shell 100, a plurality of rod bodies 206 are installed in the rod holes, the rod bodies 206 are perpendicular to the annular through groove 102, and gear transmission mechanisms are coaxially installed on the rod bodies 206; the gear transmission mechanism is engaged with the rack 204, and the gear transmission mechanism drives the rack 204 to slide so as to control the clamping tail end to relatively expand or relatively contract.
As shown in fig. 2: the robot end effector mechanism comprises a gear transmission mechanism, a robot end effector mechanism and a robot control mechanism, wherein the gear transmission mechanism comprises a first driving gear 200, a second transmission gear 201, a third transmission gear 202 and a fourth transmission gear 203; the driving gear I200, the transmission gear II 201, the transmission gear III 202 and the transmission gear IV 203 are respectively arranged on a single rod body in the plurality of rod bodies 206; the driving gear I200 is meshed with the transmission gear II 201, the transmission gear II 201 is meshed with the transmission gear III 202, and the driving gear I200 is meshed with the transmission gear IV 203; the third transmission gear 202 and the fourth transmission gear 203 are respectively meshed with the rack 204. The end of the rod body 206 provided with the first driving gear 200 is a polished rod 209, and the polished rod 209 is connected with an external driving motor.
According to the invention, during grabbing and releasing, the motor drives the polished rod 209 to rotate to drive the connected gears, the first driving gear 200, the second driving gear 201, the third driving gear 202 and the fourth driving gear 203 are meshed with each other to enable the racks 204 to move along the same direction, and when the racks move along the square groove 107, the 2 clamping tail ends 400 can be simultaneously expanded or reduced along the annular through groove 102, so that workpieces are grabbed or released. The design can realize stepless regulation of the clamping part, is suitable for square workpieces in a certain size range, and is convenient to regulate, time-saving and labor-saving.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (5)
1. A robotic end effector mechanism, characterized by: the device comprises an outer shell, wherein an annular through groove is formed in the bottom surface of the outer shell, and square grooves matched with the annular through groove are formed in the periphery of the annular through groove on the inner side of the bottom surface of the outer shell; a rack is arranged in the square groove, and the other end face of the rack opposite to the tooth surface is provided with a clamping tail end; the clamping tail end extends outwards from the annular through groove; a plurality of rod holes are formed in the side wall, perpendicular to the end face, of the outer shell, a plurality of rod bodies are arranged in the rod holes, the rod bodies are perpendicular to the annular through groove, and gear transmission mechanisms are coaxially arranged on the rod bodies; the gear transmission mechanism is meshed with the rack, and the rod body drives the gear transmission mechanism to control the rack to slide along the square groove.
2. The robotic end effector mechanism of claim 1, wherein: the annular through grooves on the outer shell are at least two, the two annular through grooves are symmetrical and are arranged in a straight line, and the number of the racks and the clamping tail ends is matched with that of the annular through grooves.
3. The robotic end effector mechanism of claim 2, wherein: the gear transmission mechanism drives the rack to slide so as to control the clamping tail end to relatively expand or relatively contract.
4. The robotic end effector mechanism of claim 1, wherein: the gear transmission mechanism comprises a first driving gear, a second transmission gear, a third transmission gear and a fourth transmission gear; the driving gear I, the transmission gear II, the transmission gear III and the transmission gear IV are respectively arranged on a single rod body in the plurality of rod bodies; the driving gear I is meshed with the transmission gear II, the transmission gear II is mutually meshed with the transmission gear III, and the driving gear I is mutually meshed with the transmission gear IV; and the third transmission gear and the fourth transmission gear are meshed with the rack respectively.
5. The robotic end effector mechanism of claim 1, wherein: the tail end of the rod body provided with the first driving gear is a polished rod, and the polished rod is connected with an external driving motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022851169.1U CN214643706U (en) | 2020-12-01 | 2020-12-01 | Robot end effector mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022851169.1U CN214643706U (en) | 2020-12-01 | 2020-12-01 | Robot end effector mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214643706U true CN214643706U (en) | 2021-11-09 |
Family
ID=78470425
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022851169.1U Active CN214643706U (en) | 2020-12-01 | 2020-12-01 | Robot end effector mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214643706U (en) |
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2020
- 2020-12-01 CN CN202022851169.1U patent/CN214643706U/en active Active
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