CN208132989U - It is a kind of can flexible modulation pose robot end executing agency - Google Patents

Abstract

The utility model belongs to the field of robots, and discloses a robot terminal actuator that can flexibly adjust the position and posture, including a frame, a guide rail group, a slider group, a hydraulic cylinder group, a grabbing assembly, a connecting flange, a reducer, and a motor And the attitude adjustment frame, the guide rail group includes a first guide rail, a second guide rail and a third guide rail, all of which are horizontally arranged, and the first guide rail is parallel to the third guide rail, and the second guide rail is perpendicular to the first guide rail; the slide The block group includes a first slide block, a second slide block and a third slide block, and the connection flange is fixedly installed on the second slide block; the hydraulic cylinder set includes a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder; There are two groups of grabbing components arranged side by side, and each group of grabbing components includes two grabbing units, and each grabbing unit includes a grabbing hydraulic cylinder and a gripper; There are multiple pin holes. The utility model can realize flexible and reliable grasping of grasped objects of different poses and sizes.

Description

A robot end effector with flexible posture adjustment

technical field

The utility model belongs to the field of robots, and more specifically relates to a robot terminal actuator.

Background technique

The end effector is a device for the robot to directly contact with the object and perform operations. It plays an important role in improving the working efficiency of the robot and expanding the scope of application. For robots, in the face of objects of different poses and sizes, how to improve the adaptability of the end effector to the outline size of the object, improve the grasping accuracy and clamping force, and realize the flexible grasping of the object is the key to evaluating the robot's end effector. An important indicator of the working ability of the actuator is also a difficult point in the design of the robot's end actuator.

Generally speaking, the pose and size of the grasped objects are different. However, the traditional robot end effector cannot flexibly adjust the pose and the position of the gripper, and it is difficult to adapt to a variety of objects, which makes the existing robot end effector applicable. The range is small, the grasping accuracy is low, and the work efficiency is low.

Utility model content

In view of the above defects or improvement needs of the prior art, the utility model provides a robot end actuator that can flexibly adjust the pose and the position of the gripper, so as to realize the flexible and reliable grasping of objects of different poses and sizes. , High grabbing accuracy.

In order to achieve the above purpose, according to the utility model, a robot end effector that can flexibly adjust the position and posture is provided, which is characterized in that it includes a frame and a guide rail group, a slider group, a hydraulic Cylinder group, grabbing assembly, connecting flange, reducer, motor and attitude adjustment frame, wherein,

The guide rail group includes a first guide rail, a second guide rail and a third guide rail, all of which are arranged horizontally, and the first guide rail is parallel to the third guide rail, and the second guide rail is perpendicular to the first guide rail;

The slider group includes a first slider, a second slider and a third slider, and the first slider, the second slider and the third slider are installed on the first guide rail and the second guide rail respectively and on the third guide rail, the connecting flange is fixedly installed on the second slider;

The input shaft of the reducer is connected to the motor, and the output shaft of the reducer is connected to the connecting flange;

Both the motor and the reducer are fixedly mounted on the mounting base;

The attitude adjustment frame is installed on the mounting seat;

The hydraulic cylinder group includes a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, and the cylinder body of the first hydraulic cylinder, the cylinder body of the second hydraulic cylinder and the cylinder body of the third hydraulic cylinder are installed on the On the frame, the hydraulic rod of the first hydraulic cylinder, the hydraulic rod of the second hydraulic cylinder and the hydraulic rod of the third hydraulic cylinder are respectively connected to the first slider, the second slider and the third slider;

There are two groups of grabbing assemblies arranged side by side, each group of grabbing assemblies includes two grabbing units, and the two grabbing units are symmetrically arranged left and right, and each grabbing unit includes a grabbing hydraulic cylinder and the gripper, wherein the cylinder body of the grabbing hydraulic cylinder is installed on the frame, the hydraulic rod of the grabbing hydraulic cylinder is hinged to one end of the gripper through a first hinge shaft, and the gripper The other end is hinged on the frame through a second hinge axis, and the first hinge axis and the second hinge axis are parallel;

The attitude adjustment frame is provided with a plurality of pin holes parallel to each other for connecting with the end of the robot, and the center line of the pin holes is perpendicular to the center line of the output shaft of the reducer.

Preferably, the hydraulic rod of the grab hydraulic cylinder is parallel to the second guide rail.

Preferably, a force sensor is installed on each of the grippers.

Preferably, a buzzer and an indicator light are also installed on the frame, and when the force produced by the object at any position of each claw exceeds a set safety threshold, the grasping task is stopped, and the indicator light communicates with the Buzzer alarm.

Preferably, the centerline of the pin hole is parallel to the first guide rail.

Generally speaking, compared with the prior art, the above technical solutions conceived by the utility model can achieve the following beneficial effects:

The utility model can flexibly adjust the hand claw to move along the plane parallel to the guide rail and rotate in the plane parallel to the guide rail through the cooperation between the components, and can also realize the rotation of the hand claw around the center line of the pin hole through the movement of the robot , and the position of the gripper can be adjusted by adjusting the extension length of the hydraulic rod of the grabbing hydraulic cylinder, so as to realize flexible and reliable grabbing of objects of different poses and sizes.

Description of drawings

Fig. 1 is the top view of the utility model;

Fig. 2 is the bottom view of the utility model;

Fig. 3 is a left view of the utility model;

Fig. 4 is the back view of the utility model;

Figures 5 to 7 are schematic diagrams of the three-dimensional structure of the utility model under different viewing angles;

Fig. 8 is an exploded schematic diagram of the utility model.

Detailed ways

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute conflicts with each other.

Referring to Figures 1 to 8, a robot end effector that can flexibly adjust the posture and posture includes a frame 7 and a guide rail group, a slider group, a hydraulic cylinder group, a grabbing assembly, Connect flange 24, speed reducer 23, motor and attitude adjustment frame 22, wherein,

The guide rail group includes a first guide rail 1, a second guide rail 2 and a third guide rail 3, all of which are arranged horizontally, and the first guide rail 1 is parallel to the third guide rail 3, and the second guide rail 2 is perpendicular to the first rail 1;

The slider group includes a first slider 4, a second slider 5 and a third slider 6, and the first slider 4, the second slider 5 and the third slider 6 are installed on the first slider 4, respectively. On the first guide rail 1, the second guide rail 2 and the third guide rail 3, the connecting flange 24 is fixedly installed on the second slider 5;

The input shaft of the reducer 23 is connected to the motor, and the output shaft of the reducer 23 is connected to the connecting flange 24 for driving the connecting flange 24 to rotate;

Both the motor and the reducer 23 are fixedly mounted on the mounting base;

The attitude adjustment frame 22 is installed on the mounting seat;

The hydraulic cylinder group includes a first hydraulic cylinder 16, a second hydraulic cylinder 17 and a third hydraulic cylinder 18, the cylinder body of the first hydraulic cylinder 16, the cylinder body of the second hydraulic cylinder 17 and the third hydraulic cylinder 18 The cylinder blocks are all installed on the frame 7, and the hydraulic rod of the first hydraulic cylinder 16, the hydraulic rod of the second hydraulic cylinder 17 and the hydraulic rod of the third hydraulic cylinder 18 are respectively connected to the first slider 4, The second slider 5 and the third slider 6 to drive the first slider 4, the second slider 5 and the third slider 6 to slide respectively;

There are two groups of grabbing components arranged side by side, and each group of grabbing components includes two grabbing units, and the two grabbing units are arranged symmetrically on the left and right, so as to cooperate with grabbing objects, and each of the grabbing units The grabbing units all include grabbing hydraulic cylinders and grippers, wherein the cylinder body of the grabbing hydraulic cylinder is installed on the frame 7, and the hydraulic rod of the grabbing hydraulic cylinder is hinged to the One end of the claw, the other end of the claw is hinged on the frame 7 through a second hinge shaft, and the first hinge shaft is parallel to the second hinge shaft;

The attitude adjustment frame 22 is provided with a plurality of parallel pin holes for connecting with the end of the robot, and the center line of the pin holes is perpendicular to the center line of the output shaft of the reducer 23 .

Further, the hydraulic rod of the grabbing hydraulic cylinder is parallel to the second guide rail 2 .

Further, a force sensor is installed on each of the claws.

Further, a buzzer and an indicator light are also installed on the frame 7. When the force produced by the object at any position of each claw exceeds the set safety threshold, the grabbing task will be stopped and the indicator light will be activated. Alarm with buzzer.

Further, the center line of the pin hole is parallel to the first guide rail 1 .

Further, it also includes a fourth hydraulic cylinder arranged side by side with the second hydraulic cylinder, the cylinder body of the fourth hydraulic cylinder is installed on the frame 7, and its hydraulic rod is connected to the second slide block 5 to use To push the second slider 5 to move together with the second hydraulic cylinder.

The attitude adjustment frame 22 of the utility model is connected with the shell of the mounting seat by bolts, and the speed reducer 23 is connected with the second slider 5 through the connecting flange 24. When the motor drives the speed reducer 23 to rotate, the speed reducer 23 drives the second slider 5 to rotate, and then drive the entire end effector to rotate in a plane parallel to the guide rail.

When there is a deviation between the captured object and the target pose, using the end effector of the utility model, through the first guide rail 1, the second guide rail 2, the third guide rail 3, the first slider 4, the second slider 5, the first guide rail The work of the three sliders 6 and the first hydraulic cylinder 16, the second hydraulic cylinder 17, the third hydraulic cylinder 19, and the fourth hydraulic cylinder 18 rotates through the reducer motor assembly 23 and the connecting flange 24 on the second slider 5 The pose of the end effector, so that the end effector coincides with the target pose. Then adjust the first grabbing hydraulic cylinder 12, the second grabbing hydraulic cylinder 13, the third grabbing hydraulic cylinder 14, and the fourth grabbing hydraulic cylinder 15 to the required stretching amount according to the contour size of the object, so that the first hand The claw 8 , the second claw 9 , the third claw 10 and the fourth claw 11 adapt to the object, and then clamp and grab it.

The first pin hole 20 and the second pin hole 21 set on the posture adjustment frame are connected to the end of the robot to form a complete robot operating system, so that the robot body can adjust the center of the entire end effector around the pin hole through the change of pose. In this way, the space pose of the end effector can be flexibly adjusted so as to facilitate the grasping of objects.

Due to the diversification of objects, in order to ensure the safety of the end effector, force sensors are respectively installed at the first gripper 8, the second gripper 9, the third gripper 10 and the fourth gripper 11. When grasping When the force produced by the object at any position of the first gripper 8, the second gripper 9, the third gripper 10 and the fourth gripper 11 exceeds the set safety threshold, the grasping task will be stopped, and the indicator light and The buzzer generates an alarm signal.

The utility model has ingenious and reasonable structure, reduces the labor intensity of workers, improves the safety factor, has accurate positioning, flexible pose adjustment, can stably and safely clamp objects with different poses and different outline sizes, and has a wide range of applications.

Those skilled in the art can easily understand that the above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and modifications made within the spirit and principles of the present utility model Improvements and the like should all be included within the protection scope of the present utility model.

Claims (5)

1. A robot end effector that can flexibly adjust the pose, characterized in that it includes a frame and a guide rail group, a slider group, a hydraulic cylinder group, a grabbing assembly, and a connecting flange that are jointly installed on the frame , reducer, motor and attitude adjustment frame, among them, The guide rail group includes a first guide rail, a second guide rail and a third guide rail, all of which are arranged horizontally, and the first guide rail is parallel to the third guide rail, and the second guide rail is perpendicular to the first guide rail; The slider group includes a first slider, a second slider and a third slider, and the first slider, the second slider and the third slider are installed on the first guide rail and the second guide rail respectively and on the third guide rail, the connecting flange is fixedly installed on the second slider; The input shaft of the reducer is connected to the motor, and the output shaft of the reducer is connected to the connecting flange; Both the motor and the reducer are fixedly mounted on the mounting base; The attitude adjustment frame is installed on the mounting seat; The hydraulic cylinder group includes a first hydraulic cylinder, a second hydraulic cylinder and a third hydraulic cylinder, and the cylinder body of the first hydraulic cylinder, the cylinder body of the second hydraulic cylinder and the cylinder body of the third hydraulic cylinder are installed on the On the frame, the hydraulic rod of the first hydraulic cylinder, the hydraulic rod of the second hydraulic cylinder and the hydraulic rod of the third hydraulic cylinder are respectively connected to the first slider, the second slider and the third slider; There are two groups of grabbing assemblies arranged side by side, each group of grabbing assemblies includes two grabbing units, and the two grabbing units are symmetrically arranged left and right, and each grabbing unit includes a grabbing hydraulic cylinder and the gripper, wherein the cylinder body of the grabbing hydraulic cylinder is installed on the frame, the hydraulic rod of the grabbing hydraulic cylinder is hinged to one end of the gripper through a first hinge shaft, and the gripper The other end is hinged on the frame through a second hinge axis, and the first hinge axis and the second hinge axis are parallel; The attitude adjustment frame is provided with a plurality of pin holes parallel to each other for connecting with the end of the robot, and the center line of the pin holes is perpendicular to the center line of the output shaft of the reducer. 2 . The robot end effector capable of flexibly adjusting pose according to claim 1 , wherein the hydraulic rod of the grasping hydraulic cylinder is parallel to the second guide rail. 3 . 3 . The end effector of a robot capable of flexibly adjusting posture and posture according to claim 1 , wherein a force sensor is installed on each of the grippers. 4 . 4. A robot end effector that can flexibly adjust posture and posture according to claim 3, characterized in that a buzzer and an indicator light are also installed on the frame, when the object is on any of the claws When the force produced by the position exceeds the set safety threshold, the grabbing task will be stopped, and an alarm will be given through the indicator light and the buzzer. 5 . The robot end effector that can flexibly adjust the pose according to claim 1 , wherein the center line of the pin hole is parallel to the first guide rail. 6 .