End effector assembly

Abstract

This invention discloses an end effector assembly adapted to be connected to a robotic arm, comprising a base, multiple functional modules, and a calibration parameter recording unit. The base is connected to the robotic arm. The functional modules are modularly mounted on the base and adapted to perform different actions. The calibration parameter recording unit is disposed on the base and coupled to the functional modules, and is adapted to store multiple calibration parameters corresponding to the functional modules.

Description

End effector component END EFFECTOR ASSEMBLY Technical Field

[0001] This invention relates to an end effector assembly, and more particularly to an end effector assembly having multiple modular functions. Prior Technology

[0002] In traditional automated production equipment, the end effector components connecting to robotic arms typically have only a single function, generally only capable of one type of function, such as gripping or picking up, and must be mounted on a large gripper bracket using a locking mechanism, resulting in low structural flexibility. If end effectors with different functions are required, multiple robotic arms must be installed simultaneously to connect to end effector components with different functions, thus requiring a large amount of workspace.

[0003] In addition, when installing end effector components, such as nozzle assemblies, in the traditional way, a cylinder needs to be assembled in addition to the nozzle. After assembly, physical measurements must be performed to confirm the position and level after installation. At the same time, an industrial camera is required for calibration, which also leads to time-consuming installation and calibration. Summary of the Invention

[0004] The purpose of this invention is to provide an end effector assembly that, in addition to having multiple modular functions to occupy less space, also eliminates the need for extensive adjustment and calibration.

[0005] To achieve the above objectives, an end effector assembly according to the present invention is adapted to be connected to a robotic arm and includes a base, multiple functional modules, and a calibration parameter recording unit. The base is connected to the robotic arm; the functional modules are modularly mounted on the base and adapted to perform different actions; the calibration parameter recording unit is disposed on the base and coupled to the functional modules, and the calibration parameter recording unit is adapted to store multiple calibration parameters corresponding to the functional modules.

[0006] As described above, in this novel end effector assembly, the structural design of connecting the robotic arm to the base, modularly mounting multiple functional modules on the base and adapting them to perform different actions, and setting a calibration parameter recording unit on the base and coupling it to these functional modules, and adapting it to store multiple calibration parameters corresponding to these functional modules, allows this novel end effector assembly to not only have multiple modular functions to occupy less space, but also eliminates the need to spend a lot of time adjusting and calibrating the functional modules. Simple Explanation of the Diagram

[0007] Figure 1 is a schematic diagram of an end effector assembly according to an embodiment of the present invention. Figure 2 is a functional block diagram of an end effector assembly according to an embodiment of the present invention. Figure 3 is a schematic diagram of the functional module releasing the end effector in the end effector assembly of Figure 1. Figure 4 is a schematic diagram of the end effector assembly in Figure 1 from different perspectives. Figure 5 is a schematic diagram of the clamping module releasing the clamping member in the end effector assembly of Figure 1. Implementation

[0008] The following description, with reference to the accompanying drawings, illustrates an end effector assembly according to an embodiment of the present invention, wherein the same elements are described using the same reference numerals. The elements appearing in the drawings of the following embodiments are only for illustrating their relative relationships and do not represent the actual proportions or dimensions of the elements.

[0009] Figure 1 is a schematic diagram of an end effector assembly according to an embodiment of the present invention. Figure 2 is a functional block diagram of an end effector assembly according to an embodiment of the present invention. Figure 3 is a schematic diagram of the end effector assembly in Figure 1 when the functional module releases the end effector. Figure 4 is a schematic diagram of the end effector assembly in Figure 1 from different perspectives. Figure 5 is a schematic diagram of the end effector assembly in Figure 1 when the clamping module releases the clamping member.

[0010] Please refer to Figures 1 to 5. An end effector assembly 1 of this invention is adapted to be connected to a robotic arm 2 and includes a base 11, multiple functional modules 12a, 12b, 12c and a calibration parameter recording unit 13. In addition, the end effector assembly 1 of this embodiment also includes a function identification unit 14 (Figure 2) and at least one unit gripper module.

[0011] The base 11 is connected to the robotic arm 2. Therefore, the end effector assembly 1 can be moved to the work area by the robotic arm 2 to process the workpiece.

[0012] Functional modules 12a, 12b, and 12c are modularly mounted on the base 11. In this embodiment, the end effector assembly 1 is exemplified by having three functional modules 12a, 12b, and 12c. These functional modules 12a, 12b, and 12c are modularly designed and can be detachably mounted on the base 11. In this embodiment, the functional modules 12a, 12b, and 12c are arranged side-by-side on one side of the base 11 and are suitable for performing different actions on the workpiece.

[0013] In this embodiment, functional modules 12a, 12b, and 12c may include a suction block module (12a), a suction cup module (12b), and a press head module (12c). The suction block module (functional module 12a) is a rigid press head with an air passage and a force sensor, capable of sucking up materials and using its rigidity to assemble the materials onto the workpiece for pressure holding. The suction cup module (functional module 12b) has an air passage to suck up materials and uses its elasticity to absorb materials with larger tolerance margins. The press head module (functional module 12c) has a force sensor and can hold pressure at the product pressing points. Of course, the functional modules are not limited to these three types; the number and type of functional modules may vary in different embodiments.

[0014] Each functional module 12a, 12b, and 12c may include an end effector 121 and a linkage mechanism 122, and each functional module 12a, 12b, and 12c operates the retraction and release of the end effector 121 through the linkage mechanism 122. Therefore, when the end effector 121 is not used, it can be retracted and does not occupy space. Figure 3 only illustrates functional module 12a including the end effector 121 (suction block) and linkage mechanism 122 as an example, and does not show the end effectors and linkage mechanisms of functional modules 12b and 12c. More specifically, the linkage mechanism 122 can cause the end effector 121 to rotate in the direction of the arrow on the left side of Figure 3 for release, or rotate in the opposite direction of the arrow for retraction. Of course, as shown in Figure 4, functional modules 12b and 12c may also include an end effector (suction cup or pressure head) and a linkage mechanism, respectively. In one embodiment, the linkage mechanism may include, for example, a linear actuator.

[0015] Referring again to Figures 2 and 4, the calibration parameter recording unit 13 is disposed on the base 11 and coupled to the functional modules 12a, 12b, and 12c. The calibration parameter recording unit 13 is adapted to store multiple calibration parameters corresponding to the functional modules 12a, 12b, and 12c. The calibration parameter recording unit 13 may include at least one memory for storing the calibration parameters. In this embodiment, the calibration parameter recording unit 13 includes three memories 13a, 13b, and 13c, which respectively store the calibration parameters and are configured in a one-to-one correspondence with the functional modules 12a, 12b, and 12c. In one embodiment, the memories 13a, 13b, and 13c may be, for example, but not limited to, electronically eraseable rewritable read-only memory (EEPROM). In different implementations, the calibration parameter recording unit 13 may also use only one memory to store the calibration parameters; this invention is not limited to this.

[0016] A function identification unit 14 is disposed on the base 11 and coupled to the function modules 12a, 12b, and 12c. The function identification unit 14 is adapted to identify the function modules 12a, 12b, and 12c. Specifically, when one of the function modules 12a, 12b, and 12c (e.g., function module 12a) is installed on the base 11, the function identification unit 14 can identify the installed function module 12a and automatically match the calibration parameters stored in the memory 13a corresponding to function module 12a to function module 12a. In other words, the function modules 12a, 12b, and 12c in this embodiment have undergone physical measurement, adjustment, and calibration before leaving the factory, and the calibration data parameters are recorded in the corresponding memories 13a, 13b, and 13c. When the function identification unit 14 identifies which type of function module is installed on the base 11, it can find the calibration parameters that match the installed function module in the corresponding memory. Therefore, after installing the function module, the user does not need to spend a lot of time adjusting and calibrating. In one embodiment, the function identification unit 14 can implement its function in a software, hardware, and / or firmware manner, which is not limited in this invention.

[0017] At least one clamping module is mounted on the base 11. As shown in FIG5, the end effector assembly 1 of this embodiment includes two clamping modules 15a and 15b disposed on opposite sides of the base 11. It is worth noting that the clamping modules 15a and 15b need to be mounted on different sides of the base 11 from the functional modules 12a, 12b, and 12c to avoid mechanical interference between them during operation. In addition, each clamping module 15a and 15b may include a clamping member 151 and a linkage mechanism, through which the clamping member 151 can be extended and retracted and opened and closed, thereby clamping the workpiece to the working area.

[0018] Continuing on the above, the end effector assembly 1 of this novel invention has the following characteristics:

[0019] First, it occupies less space: This new type of device modularizes the functions of multiple end effectors and installs them on the same base 11 before mounting them onto the robotic arm 2. Therefore, only one robotic arm 2 is needed to complete multiple actions, saving space for setting up additional robotic arms.

[0020] Second, quick installation: The single end effector is modularized, for example, three end effectors can be modularized and quickly installed on the base for quick release / grounding. Physical measurement and calibration are performed before leaving the factory, and the calibration data is recorded in memory. Users do not need to spend a lot of time adjusting and calibrating after installation. At the same time, the linkage mechanism is used to replace the traditional cylinder for retracting and extending the end effector, thereby simplifying the architecture of the end effector component.

[0021] In summary, the novel end effector assembly features a structure that connects to a robotic arm via a base, modularly mounts multiple functional modules on the base to perform different actions, and has a calibration parameter recording unit mounted on the base and coupled to these functional modules, which is also suitable for storing multiple calibration parameters corresponding to these functional modules. This design allows the novel end effector assembly to not only have multiple modular functions that occupy less space, but also eliminates the need to spend a lot of time adjusting and calibrating the functional modules.

[0022] The above description is illustrative only and not restrictive. Any equivalent modifications or alterations made to this invention without departing from its spirit and scope should be included in the appended claims.

[0023] 1: End effector assembly 11: Base 12a, 12b, 12c: Functional modules 121: End effector 122: Linkage Mechanism 13: Calibration Parameter Recording Unit 13a, 13b, 13c: Memory 14: Functional identification unit 15a, 15b: Clamping Module 151: Clamping component 2: Robotic Arm

Claims

1. An end effector assembly adapted to be connected to a robotic arm, and comprising: A base to which the robotic arm is connected; Multiple functional modules are modularly installed on the base, and these functional modules are adapted to perform different actions; A calibration parameter recording unit is disposed on the base and coupled to the functional modules, the calibration parameter recording unit being adapted to store a plurality of calibration parameters corresponding to the functional modules.

2. The end effector assembly as claimed in claim 1, wherein each of the functional modules is detachably mounted on the base.

3. The end effector assembly as claimed in claim 1, wherein the functional modules are arranged side by side on one side of the base.

4. The end effector assembly as claimed in claim 1, wherein each of the functional modules includes an end effector and a linkage mechanism that operates the extension and retraction of the end effector.

5. The end effector assembly as claimed in claim 1, wherein the functional modules include a suction block module, a suction cup module and a pressure head module.

6. The end effector assembly as claimed in claim 1, wherein the calibration parameter recording unit includes at least one memory that stores the calibration parameters.

7. The end effector component as described in claim 6, further comprising: A function identification unit is disposed on the base and coupled to the function modules. The function identification unit is adapted to identify the function modules. When one of the function modules is installed on the base, the function identification unit identifies the installed function module and automatically matches the calibration parameters stored in the at least one memory with the installed function module.

8. The end effector assembly as claimed in claim 6, wherein the number of the memory is three, the memory storing the correction parameters respectively, and configured in correspondence with the functional modules.

9. The end effector assembly as described in claim 1, further comprising: At least one clamping module is mounted on the base.

10. The end effector assembly as claimed in claim 9, wherein the clamping module and the functional modules are mounted on different sides of the base.

Images