CN208392055U - A kind of modular end effector of robot - Google Patents
A kind of modular end effector of robot Download PDFInfo
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- CN208392055U CN208392055U CN201820384295.0U CN201820384295U CN208392055U CN 208392055 U CN208392055 U CN 208392055U CN 201820384295 U CN201820384295 U CN 201820384295U CN 208392055 U CN208392055 U CN 208392055U
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Abstract
A kind of end effector of robot, including the modularization finger that can adaptively adjust and interchangeable base platform.The modularization finger that wherein can adaptively adjust includes: customizable finger tip, parallel rod, the first adjustable connecting-rod, the second adjustable connecting-rod, bottom linkage rod.Can be according to user demand, from main modulation or custom machine hand, and only need a mechanical hand to achieve that the function of a variety of hands and replace simply, finger tip modular reconfigurable is able to achieve the extension of crawl functionally.
Description
Technical field
The utility model relates to technical field of automation in industry, especially a kind of modular end effector of robot and
Its reconstructing method and grasping means.
Background technique
Industrial robot is essential process equipment in automatic production line.Wherein mechanical hand is industrial robot again
Critical component, be responsible for workpiece carry out clipping operation.In actual production process, by a variety of different shapes on a production line
Workpiece need to cooperate the mechanical hand of different model to adapt to workpiece of different shapes, also will be to machine when replacing product
Hand is replaced, and not only spare parts cost is high, but also replaces every time time-consuming and laborious.
It needs to find a kind of modular end effector of robot and its reconstructing method and grasping means newly as a result,
To overcome the above problem.
Utility model content
The technical problem to be solved by the present invention is to provide a kind of modular end effector of robot structures, can
The deficiencies in the prior art are solved, mechanical hand is subjected to modularized design, keeps its finger end replaceable, it is only necessary to which a mechanical hand can
It realizes the function of a variety of hands and replacement is simple, improve mechanical hand for the adaptability of different shape workpiece, save economically
Spending.
This specification embodiment provides a kind of modular end effector of robot, the end effector of robot packet
Include more than two modularization fingers and more than two interchangeable base platforms, it is characterised in that: the modularization finger is located at described
In interchangeable base platform, the modularization finger is identical with the interchangeable base platform quantity and corresponds, the robot
More than two modularization fingers of end effector and more than two interchangeable base platforms are circle distribution.
Further, described two above interchangeable base platforms after connection are centrosymmetric or axial symmetry, the module
Change finger to be movably set in the interchangeable base platform；It is described it is moveable setting be specially the modularization finger it
Between engaged and connect by gear, enable the modularization finger by gear drive in the interchangeable base platform in one
Determine angular turn；Or the moveable setting is specially to pass through between the modularization finger and the interchangeable base platform
Sliding slot and sliding block grafting or rack pinion, enable the modularization finger to pass through sliding block and sliding slot or rack-and-pinion phase
Displacement is moved in the interchangeable base platform.
Further, modularization finger includes: customization finger tip, parallel rod, the first adjustable connecting-rod, the second adjustable connecting-rod,
Bottom linkage rod；The customization finger tip is connect with the parallel rod, the parallel rod respectively with first adjustable connecting-rod, institute
State the connection of the second adjustable connecting-rod, the bottom linkage rod is separately connected first adjustable connecting-rod and the second adjustable connecting-rod, and with institute
State interchangeable base platform connection.
Further, the first parallel rod axis hole and the second parallel rod axis hole, bottom are provided on the parallel rod
Be provided with axis hole on connecting rod, be provided with motor axis hole on motor control module, parallel rod by parallel rod first shaft hole with
One end of second adjustable connecting-rod connects, and the other end of second adjustable connecting-rod is connected by bottom linkage rod axis hole and bottom linkage rod
It connects, the parallel rod is connect by the second parallel rod axis hole with one end of the first adjustable connecting-rod, first adjustable connecting-rod
The other end connect with drive and control of electric machine module by motor axis hole, parallel rod first
Axis hole, the second axis hole of parallel rod, bottom linkage rod axis hole, motor axis hole center be successively linked to be line and will form one
Parallelogram.
Further, the interchangeable base platform and the quantity of the modularization finger are variable, the interchangeable pedestals
Fast Installation can be carried out between platform and the modularization finger by way of quick grafting, the interchangeable base platform is mutual
Between can quickly splice, enable the end effector that the modularization finger of different number is reconfigured quickly out.
Further, the connection between the customization finger tip and the parallel rod is dismountable connection.
Further, the customization finger tip includes replaceable shim, the connection between the replaceable shim and the customization finger tip
Removably to connect.
The grasping means of the modular end effector of robot of the utility model, when crawl, drive and control of electric machine mould
The motor of block rotates in the forward direction generation torque, and the first adjustable connecting-rod is driven to swing, parallel rod with the first adjustable connecting-rod swing
The displacement of horizontal direction and/or vertical direction is generated, while parallel rod does horizontal direction and/or vertical direction displacement, band
Dynamic second adjustable connecting-rod is swung, in whole process, parallel rod first shaft hole, the second axis hole of parallel rod, bottom linkage rod axis hole,
The center of motor axis hole is successively linked to be line and consistently forms a parallelogram.
Further, the motor synchronous rotary of the drive and control of electric machine module of described two above modularization fingers.
Further, at least one modularization finger in described two above modularization fingers is in other modularization fingers
When static, the movement of vertical direction is done.
This specification embodiment use at least one above-mentioned technical solution can reach it is following the utility model has the advantages that
Through the above technical solutions, can be according to user demand, from main modulation or custom machine hand；Only need a mechanical hand just
The function of a variety of hands can be achieved and replacement is simple；More (two or more) refer to that modular reconfigurable is able to achieve the extension of crawl functionally.
Customization finger tip is made of replaceable shim and quick change finger tip, can according to parameters such as crawl dimension of object, shape, weight
With the shape of designed, designed or customization replaceable shim.According to crawl functional requirement, (if inside grabs, outside crawl is adaptively grabbed
It takes, the crawl function of mechanical hand can be enhanced in quick change finger tip.It is connected by screw between replaceable shim and quick change finger tip.Quick change
It is connected between finger tip and parallel rod by bolt and nut, guarantees connection precision, centre can add axle sleeve.Bottom linkage rod axis hole and electricity
Machine axial connecting line contacted with two axle center of parallel rod it is parallel, the length dimension of adjustable connecting-rod 1 and 2 keep it is equal.To guarantee such as Fig. 1
Shown parallelogram line.This parallelogram relationship can make two customization finger tips do parallel crawl movement.1 He of adjustable connecting-rod
It is connected between 2 and parallel rod by pin shaft, outside is fastened with screw.Pass through between bottom linkage rod and drive and control of electric machine module
Screw connection.The shape of adjustable connecting-rod 1 and 2 is different, but pitch-row is identical.The both ends fillet of adjustable connecting-rod 1 is identical.Adjustable connecting-rod 2
One end connect by the hole of circumference with drive and control of electric machine module with screw.The other side of drive and control of electric machine module has
Space separating board is used to limit two modular spacing distances, fits closely.Lead between interchangeable base platform and drive and control of electric machine module
Cross screw connection.
Detailed description of the invention
In order to illustrate more clearly of this specification embodiment or technical solution in the prior art, below will to embodiment or
Attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
The some embodiments recorded in this specification embodiment are not paying creative labor for those of ordinary skill in the art
Under the premise of dynamic property, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the overall assembling schematic diagram of the utility model.
Fig. 2 is the maximum open configuration schematic diagram of the utility model
Fig. 3 is the replaceable shim scheme exemplary diagram of the utility model
Fig. 4 is the quick change finger tip application scheme exemplary diagram of the utility model
Fig. 5 a-5c is the process example figure of the mechanical hand motor pattern of the utility model
Fig. 6 is the control flow scheme exemplary diagram of the utility model
Fig. 7 is the electric connecting relation exemplary diagram of the utility model
Fig. 8 a is that the interchangeable base platform of the utility model is the three topology example figures referred to
Fig. 8 b is that the interchangeable base platform of the utility model is the two topology example figures referred to
Fig. 9 a is the appearance exemplary diagram of the three finger structures of the utility model
Fig. 9 b is the appearance exemplary diagram of the two finger structures of the utility model
In figure: 1, modularization finger；2, finger tip is customized；3, parallel rod；4, the first adjustable connecting-rod；5, the second adjustable company
Bar；6, bottom linkage rod；7, drive and control of electric machine module；8, interchangeable base platform；9, replaceable shim；10, quick change finger tip；11, bottom
Portion's connecting rod first shaft hole；12, the second axis hole of bottom linkage rod；13, parallel rod first shaft hole；14, the second axis hole of parallel rod；
21, unilateral finger tip；22, bilateral finger tip；81, mechanical arm interface holes；82, be located by connecting hole；83, side location hole.
Specific embodiment
To keep the purposes, technical schemes and advantages of this specification embodiment clearer, have below in conjunction with this specification
The technical solution of this specification embodiment is clearly and completely described in body embodiment and corresponding attached drawing.Obviously, described
Embodiment be only this specification a part of the embodiment, instead of all the embodiments.The embodiment of base in this manual, this
Field those of ordinary skill every other embodiment obtained without making creative work, belongs to this explanation
The range of book embodiment protection.
Below in conjunction with attached drawing, the technical solution that each embodiment of this specification provides is described in detail.Referring to Fig.1, this is practical new
One specific embodiment of type includes modularization finger 1 and interchangeable base platform 8.The modularization finger 1 is arranged interchangeable
8 top of base platform, wherein modularization finger includes: customization finger tip 2, parallel rod 3, the first adjustable connecting-rod 4, the second adjustable company
Bar 5, bottom linkage rod 6, drive and control of electric machine module 7；
Customization finger tip 2 is connect with parallel rod 3, and parallel rod 3 connects with the first adjustable connecting-rod 4, the second adjustable connecting-rod 5 respectively
It connects, bottom linkage rod 6 is separately connected the first adjustable connecting-rod 4 and the second adjustable connecting-rod 5, and connect with interchangeable base platform 8.
Wherein, the first parallel rod axis hole 13 and the second parallel rod axis hole 14, bottom are provided on the parallel rod 3
It is provided with axis hole 11 on connecting rod, motor axis hole 12 is provided in drive and control of electric machine module 7.
Parallel rod 3 is connect by parallel rod first shaft hole 13 with one end of the second adjustable connecting-rod 5, and described second is adjustable
The other end of connecting rod 5 is connect by bottom linkage rod axis hole 11 with bottom linkage rod 6, and the parallel rod 3 passes through the second parallel rod
Axis hole 14 is connect with one end of the first adjustable connecting-rod 4, and the other end of first adjustable connecting-rod 4 passes through motor axis hole 12 and electricity
Machine drive control module 7 connects；First adjustable connecting-rod 4 is different with the shape of the second adjustable connecting-rod 5, but length is identical with pitch-row.
Parallel rod first shaft hole 13, the second axis hole of parallel rod 14, bottom linkage rod axis hole 11, motor axis hole 12 center be successively linked to be
Line will form a parallelogram, and the relationship of this parallelogram can make multiple customization finger tips do parallel crawl movement.
It is connected between first adjustable connecting-rod 4, the second adjustable connecting-rod 5 and parallel rod 3 by pin shaft, outside screw
Fastening；It is connected between second adjustable connecting-rod 5 and bottom linkage rod 6 by pin shaft, outside is fastened with screw；
The other end of first adjustable connecting-rod 4 is provided with the hole of circle distribution, passes through the Kong Yu electricity of the circle distribution
The shell of machine drive control module 7 is fixed, and specially screw is connected and fixed.Bottom linkage rod 6 and drive and control of electric machine module 7
Side is connected by screw to, and the other side of the drive and control of electric machine module 7 has space separating board to be used to limit and other intermodules
Gauge from.
The customization finger tip 2 further includes replaceable shim 9 and quick change finger tip 10.It can be with designed, designed according to crawl body form
Or the shape (Fig. 3) of the customization replaceable shim 9.According to crawl functional requirement, (if inside grabs, outside crawl is adaptively grabbed
Take, Fig. 4), the crawl function of mechanical hand can be enhanced in the quick change finger tip 10.Lead between replaceable shim 9 and quick change finger tip 10
It crosses screw or other quick change modes connects.
The adjustable in length of first adjustable connecting-rod 4 and the second adjustable connecting-rod 5, according to crawl range requirement, by changing
Become the length of the first adjustable connecting-rod 4 and the second adjustable connecting-rod 5, realizes the adjustment of mechanical hand maximum folding range.
The drive and control of electric machine module 7 drives realization two to refer to two modules while grabbing in parallel simultaneously by control program
Object is taken, can also realize object in the flexible operating of finger tip two control module asynchronous controllings.
Wherein, the modularization finger 1 that can adaptively adjust is connected with interchangeable base platform by screw.
Wherein, the bottom of the customization finger tip 2 is connect with the top of the parallel rod 3 by bolt and nut, and centre can
Add axle sleeve.
Grabbing implementation process are as follows: the machine shaft of one of modularization finger 1 is connect with 4 one end of the first adjustable connecting-rod,
Motor rotates in the forward direction generation torque, and the first adjustable connecting-rod 4 is driven to swing,
Parallel rod 3 generates the displacement of horizontal direction and/or vertical direction with the swing of the first adjustable connecting-rod 4, in parallel
While connecting rod 3 does horizontal direction and/or vertical direction displacement, the second adjustable connecting-rod 5 is driven to swing, in whole process, in parallel
Connecting rod first shaft hole 13, the second axis hole of parallel rod 14, bottom linkage rod axis hole 11, motor axis hole 12 center be successively linked to be line beginning
End form is at a parallelogram.
Similarly, other modularization fingers of end effector of robot use identical mechanical control method.
The drive and control of electric machine module 7 makes two motor synchronous backward movements, revolving speed equal direction by driver
On the contrary, realizing parallel crawl.
Referring to Fig. 5, when control process control two refers to that connecting rod and finger tip do synchronous backward parallel motion, until customization gasket connects
It contacts and issues stop motion instruction after object, the retard motion of rod piece, control panel receive current of electric variable signal, finger tip will be protected
Hold contact position.Torque range needed for not damaging crawl object can be determined according to weight of object (or payload size), when finger tip position
Setting, which is maintained at output torque after fixing by adjusting current of electric size, realizes that stablizing for object grabs within the scope of torque, without
Sliding.
Control program first does parallel grasping movement and realizes that object stablizes crawl, and then control process control two finger does asynchronous dynamic
Make, realizes object in the translational motion or rotation of finger tip.
Specific control flow please refers to Fig. 6
To keep the succinct of mechanical hand ontology, drive control device is placed on other than the ontology of mechanical hand and is connected by signal wire,
Electric connecting relation refers to Fig. 7.
Interchangeable base platform 8 can be replaced according to specific tasks demand, there is two fingers, and three refer to, the multiple choices such as four fingers.
Referring to Fig. 8, there are three types of external connection interface sections in the interchangeable base platform 8, and bottom intermediate circumference hole is and machinery
Arm connector；Two sides of the bottom or symmetrical more sides have modularization finger to be located by connecting hole；The two sides for referring to slot are positioned with finger
Hole.
Each connecting portion is connected by screw to, and can first be connected interchangeable base platform 8 and mechanical arm with screw, then again will
Modularization finger 1 is assembled in interchangeable base platform 8.
Two refer to that/tri- refer to/refer to that interchangeable platform can be overlapped determining module with the location hole for singly referring to pedestal by bottom location hole more
Change 1 position of finger.
Fig. 9 shows the structure chart of two fingers and three fingers, is not limited to two fingers or three fingers, can refer to more and be uniformly distributed or unevenly divide
Cloth layout.
It should also be noted that, the terms "include", "comprise" or its any other variant are intended to nonexcludability
It include so that the process, method, commodity or the equipment that include a series of elements not only include those elements, but also to wrap
Include other elements that are not explicitly listed, or further include for this process, method, commodity or equipment intrinsic want
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including described want
There is also other identical elements in the process, method of element, commodity or equipment.
Various embodiments are described in a progressive manner in this specification embodiment, identical phase between each embodiment
As partially may refer to each other, each embodiment focuses on the differences from other embodiments.Especially for
For system embodiment, since it is substantially similar to the method embodiment, so being described relatively simple, related place is referring to method
The part of embodiment illustrates.
Claims (7)
1. a kind of modular end effector of robot, it is characterised in that: the end effector of robot include two with
Upper module finger and more than two interchangeable base platforms, the modularization finger it is identical with the interchangeable base platform quantity and
It corresponds, each modularization finger is set in the interchangeable base platform, the end effector of robot
Each side of described two above interchangeable base platforms, which has, is used for connection structure interconnected, is tied by the connection
Structure, described two above interchangeable base platforms are sequentially connected together.
2. end effector according to claim 1, wherein during described two above interchangeable base platforms after connection are in
The heart is symmetrical or axial symmetry, the modularization finger are movably set in the interchangeable base platform；It is described movably to set
It sets to engage between the specially described modularization finger by gear and connect, the modularization finger is enabled to pass through gear drive
It is rotated at an angle in the interchangeable base platform；Or it is described it is moveable setting be specially the modularization finger with
By sliding slot and sliding block grafting or rack pinion between the interchangeable base platform, the modularization finger is led to
Sliding block is crossed to move in the interchangeable base platform with sliding slot or rack-and-pinion relative displacement.
3. end effector according to claim 1, wherein modularization finger includes: customization finger tip, parallel rod, and
One adjustable connecting-rod, the second adjustable connecting-rod, bottom linkage rod；The customization finger tip is connect with the parallel rod, the parallel rod
It is connect respectively with first adjustable connecting-rod, second adjustable connecting-rod, it is adjustable that the bottom linkage rod is separately connected described first
Connecting rod and the second adjustable connecting-rod, and connect with the interchangeable base platform.
4. end effector according to claim 3, wherein be provided with the first parallel rod axis hole on the parallel rod
With the second parallel rod axis hole, axis hole is provided on bottom linkage rod, motor axis hole is provided in drive and control of electric machine module, in parallel
Connecting rod is connect by parallel rod first shaft hole with one end of the second adjustable connecting-rod, and the other end of second adjustable connecting-rod passes through
Bottom linkage rod axis hole is connect with bottom linkage rod, and the parallel rod passes through the one of the second parallel rod axis hole and the first adjustable connecting-rod
End connection, the other end of first adjustable connecting-rod are connect by motor axis hole with drive and control of electric machine module, parallel rod the
One axis hole, the second axis hole of parallel rod, bottom linkage rod axis hole, motor axis hole center be successively linked to be line and will form one parallel four
Side shape.
5. end effector according to claim 1, wherein the number of the interchangeable base platform and the modularization finger
Amount be it is variable, can quickly be pacified by way of quick grafting between the interchangeable base platform and the modularization finger
Dress, the interchangeable base platform can quickly splice between each other, enable the end effector that difference is reconfigured quickly out
The modularization finger of distributed number mode.
6. end effector according to claim 3, wherein the connection between the customization finger tip and the parallel rod
Removably to connect.
7. end effector according to claim 3, wherein the customization finger tip includes replaceable shim, the replaceable pad
Connection between piece and the customization finger tip is dismountable connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820384295.0U CN208392055U (en) | 2018-03-21 | 2018-03-21 | A kind of modular end effector of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820384295.0U CN208392055U (en) | 2018-03-21 | 2018-03-21 | A kind of modular end effector of robot |
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| Publication Number | Publication Date |
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| CN208392055U true CN208392055U (en) | 2019-01-18 |
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| CN201820384295.0U Active CN208392055U (en) | 2018-03-21 | 2018-03-21 | A kind of modular end effector of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055270A (en) * | 2019-12-06 | 2020-04-24 | 广东工业大学 | Small-size modularization robot end holder model |
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2018
- 2018-03-21 CN CN201820384295.0U patent/CN208392055U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111055270A (en) * | 2019-12-06 | 2020-04-24 | 广东工业大学 | Small-size modularization robot end holder model |
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