Automatic end executing device of robot and assembly robot

Abstract

The invention discloses an automatic end executing device of a robot and the robot. The automatic end executing device of the robot comprises a base, a calibrator arranged on the first side face of the base, a camera unit arranged on the second side face of the base, a first assembly unit arranged on the third side face of the base and a second assembly unit arranged on the fourth side face of thebase. The calibrator is used for calibrating the tool coordinate system of the automatic end executing device to improve the track precision of the automatic end executing device. The camera unit isused for acquiring images of assembling assemblies. The first assembly unit is used for executing first assembly operation. The second assembly unit is used for executing second assembly operation. The assembling assemblies comprise first-kind assembling assemblies and second-kind assembling assemblies. By responding to the images, acquired by the camera unit, of the first-kind assembling assemblies, the first assembly unit executes the first assembly operation. By responding to the images, acquired by the camera unit, of the second-kind assembling assemblies, the second assembly unit executesthe second assembly operation. According to the automatic end executing device of the robot and the robot, full-automatic assembly of complex and various product accessories can be achieved without using a magic chuck.

Description

technical field

[0001] The invention belongs to the field of automation equipment, in particular to an automatic end effector of a robot and an assembly robot. Background technique

[0002] With the advancement of technology and industrial upgrading, robots are gradually used in the field of product assembly. The assembly device of the robot is particularly important for the performance of the entire robot. Transportation and assembly of accessories at the location.

[0003] In the assembly of traditional robots, due to the wide variety of accessories in the product, there are differences in the shape and size of the accessories. An assembly device with a single assembly function cannot meet the assembly requirements of various accessories, and an assembly device using a switchable fixture requires switching fixtures, which requires manual or automatic switching of fixtures, but it is often only To achieve semi-automation, it is necessary to carry out product production an...

Examples

Embodiment 1

[0048] see figure 1 , the present embodiment provides an automatic end effector of a robot, comprising: a base 2; a calibration device 3 disposed on the first side of the base 2, used for calibrating the tool coordinate system of the automatic end effector, so as to improve the automatic end effector The trajectory accuracy of the device; the camera unit 6 located on the second side of the base 2 for acquiring images of the assembled components; the first assembly unit located on the third side of the base 2 for performing the first assembly operation; and The second assembly unit on the fourth side of the base 2 is used to perform a second assembly operation; wherein the assembly components include a first type assembly component and a second type assembly component; in response to the camera unit 6 acquiring the first type assembly component , the first assembly unit performs the first assembly operation; in response to the camera unit 6 capturing the image of the second typ...

Embodiment 2

[0053] This embodiment provides an automatic end effector based on the robot of Embodiment 1. The side of the base 2 is a plane or a curved surface, and the plane is inclined relative to the bottom surface of the base. see figure 2 , what this embodiment adopts is the plane side, and the first side 21, the second side 22, the third side 23, the fourth side 24 are all inclined at a certain angle with the bottom surface 25 of the base, and the inclination of each side and the bottom surface 25 The angles are adjusted according to the actual functional units attached to each side. If the side surface of this embodiment is a curved surface, each functional unit can be adjusted on the side surface of the curved surface according to the use angle, so as to realize inclined setting. In this embodiment, through the inclined design of the side, when the robot uses the automatic end effector of this embodiment to assemble the product, due to the inclination according to the units with...

Embodiment 3

[0062] This embodiment provides an assembly robot based on Embodiment 2, which adopts the automatic end effector as required by any one of Embodiment 2.

[0063] The assembly robot of this embodiment uses the automatic end effector to realize flexible assembly of accessories in various directions through flexible rotation of the robot. The automatic end effector of the assembly robot identifies the information of the assembly parts, coordinates the end effector, and transmits the identified information to the control unit of the robot. The control unit determines the matching of the automatic end effector for the robot. Fixtures perform assembly tasks, thereby realizing the automation of product assembly. The robot uses the automatic end effector to determine the parts to be assembled according to the control unit, the robot identifies all the parts, and selects the required parts for assembly.

[0064] The assembly robot of this embodiment adopts the automatic end effector t...

technical field

[0001] The invention belongs to the field of automation equipment, in particular to an automatic end effector of a robot and an assembly robot. Background technique

[0002] With the advancement of technology and industrial upgrading, robots are gradually used in the field of product assembly. The assembly device of the robot is particularly important for the performance of the entire robot. Transportation and assembly of accessories at the location.

[0003] In the assembly of traditional robots, due to the wide variety of accessories in the product, there are differences in the shape and size of the accessories. An assembly device with a single assembly function cannot meet the assembly requirements of various accessories, and an assembly device using a switchable fixture requires switching fixtures, which requires manual or automatic switching of fixtures, but it is often only To achieve semi-automation, it is necessary to carry out product production an...

Examples

Embodiment 1

[0048] see figure 1 , the present embodiment provides an automatic end effector of a robot, comprising: a base 2; a calibration device 3 disposed on the first side of the base 2, used for calibrating the tool coordinate system of the automatic end effector, so as to improve the automatic end effector The trajectory accuracy of the device; the camera unit 6 located on the second side of the base 2 for acquiring images of the assembled components; the first assembly unit located on the third side of the base 2 for performing the first assembly operation; and The second assembly unit on the fourth side of the base 2 is used to perform a second assembly operation; wherein the assembly components include a first type assembly component and a second type assembly component; in response to the camera unit 6 acquiring the first type assembly component , the first assembly unit performs the first assembly operation; in response to the camera unit 6 capturing the image of the second typ...

Embodiment 2

[0053] This embodiment provides an automatic end effector based on the robot of Embodiment 1. The side of the base 2 is a plane or a curved surface, and the plane is inclined relative to the bottom surface of the base. see figure 2 , what this embodiment adopts is the plane side, and the first side 21, the second side 22, the third side 23, the fourth side 24 are all inclined at a certain angle with the bottom surface 25 of the base, and the inclination of each side and the bottom surface 25 The angles are adjusted according to the actual functional units attached to each side. If the side surface of this embodiment is a curved surface, each functional unit can be adjusted on the side surface of the curved surface according to the use angle, so as to realize inclined setting. In this embodiment, through the inclined design of the side, when the robot uses the automatic end effector of this embodiment to assemble the product, due to the inclination according to the units with...

Embodiment 3

[0062] This embodiment provides an assembly robot based on Embodiment 2, which adopts the automatic end effector as required by any one of Embodiment 2.

[0063] The assembly robot of this embodiment uses the automatic end effector to realize flexible assembly of accessories in various directions through flexible rotation of the robot. The automatic end effector of the assembly robot identifies the information of the assembly parts, coordinates the end effector, and transmits the identified information to the control unit of the robot. The control unit determines the matching of the automatic end effector for the robot. Fixtures perform assembly tasks, thereby realizing the automation of product assembly. The robot uses the automatic end effector to determine the parts to be assembled according to the control unit, the robot identifies all the parts, and selects the required parts for assembly.

[0064] The assembly robot of this embodiment adopts the automatic end effector t...

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