An end effector selection device and a method for using the same

Abstract

The present invention discloses an end effector selection device and a method for using the same, which includes a moving body and an end effector bracket. The moving body is provided with a girder, a stepper motor, a slide bar, a lead screw, a slider and an electromagnet. One end of the stepper motor is connected to the lead screw through a coupling, and the other end is fixed under the girder by screws. The lead screw is fixed under the girder and perpendicular to the lower plane of the girder. The slider passes through the lead screw and the slide bar and can move up and down under the drive of the stepper motor. The end effector bracket is provided with a rotary servo, a structural member, a linear guide, a limit servo, a connecting member and a clamping member. The present invention adjusts the angle through the rotary servo to switch different linear guides to the connection position, and the connecting members fixed with different processing tools can be attracted by the electromagnet on the slider and achieve synchronous movement. The limit servo can limit the movement of the connecting members, so as to realize the switching and reset of the end effector.

Description

Technical Field

[0001] The present invention relates to the technical field of numerical control equipment, and more particularly to an end effector selection device and a method of using the same. Background Art

[0002] In the prior art, in the manufacturing process, we often need to use a variety of manufacturing tools to cooperate to complete the production process, such as engraving machines, water mills, CNC lathes, and so on. Although the current numerical control equipment has been miniaturized, due to cost and space limitations, ordinary laboratories and individual users cannot have multiple numerical control equipment at the same time to meet diverse processing needs. Therefore, it is very necessary to design a small desktop multi-purpose numerical control processing equipment. The key to designing such a multi-purpose numerical control processing equipment lies in the switching of processing tools. Therefore, an end effector selection device needs to be designed to realize the selection and switching of processing tools.

[0003] Using this multi-purpose numerical control system with an end effector selection device can undertake tasks such as text writing, image drawing, 3D printing, copper plate engraving, wood cutting, etc. It has rich functions, strong practicability, can meet personal design and production, and has broad application prospects. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an end effector selection device and a method of using the same in view of the above-mentioned deficiencies of the prior art. By rotating the servo motor to adjust the angle, different linear guides are switched to the connection position, and the connectors fixed with different processing tools can be attracted by the electromagnets on the slider and move synchronously. The limit servo motor can limit the movement of the connector, so as to realize the switching and reset of the end effector.

[0005] To achieve the above object, the specific technical solutions of the end effector selection device and the method of using the same of the present invention are as follows:

[0006] An end effector selection device includes a girder, the girder is horizontally arranged, a stepping motor is connected to the lower surface of one side thereof, and a rotary servo motor is connected to the upper surface of the other side thereof; two mutually parallel sliding rods are vertically fixed at positions on both sides of the stepping motor on the lower surface of the girder, and a lead screw is connected to the lower end of the stepping motor; the lower ends of the sliding rod and the lead screw are connected to a slider, a threaded hole adapted to the lead screw is provided at the middle position of the slider, the lower end of the lead screw passes through the threaded hole, smooth holes are provided on both sides of the slider, and the lower ends of the sliding rods pass through the smooth holes. An electromagnet is fixedly connected to the upper surface of the slider;

[0007] A structural member is fixedly connected below the rotary servo. Openings are provided at the central positions of the four side surfaces of the structural member, and linear guides are fixedly connected to the openings of the structural member; a moving platform is slidably nested on the linear guides, a connecting member is fixedly connected to the outside of the moving platform, a clamping member is fixedly connected to the side surface of the connecting member, and a limiting servo is fixedly connected to the inner side wall of the linear guide;

[0008] Linear guides are fixedly connected to the four side surfaces of the structural member. Different processing tools can be fixed through the clamping members on each linear guide. Each time the rotary servo rotates 90°, the position of the selected end effector can be adjusted so that the corresponding connecting member is directly above the electromagnet.

[0009] Furthermore, mounting holes are provided on both sides of the girder, and the stepper motor and the rotary servo are fixedly connected to the girder through the mounting holes.

[0010] Furthermore, the stepper motor adopts a 42 stepper motor.

[0011] Furthermore, the stepper motor is connected to the lead screw through a coupling.

[0012] Furthermore, the connecting member is an L-shaped iron connecting member with a horizontal extension length of 30 mm for fitting with the surface of the electromagnet.

[0013] Furthermore, the clamping member includes a mounting seat. The mounting seat of the clamping member is fixedly connected to the side surface of the connecting member. The two side walls adjacent to the mounting seat of the clamping member are respectively a clamping wall and an abutting wall. A through hole is provided at the middle position of the clamping wall. A screw is threadedly connected to the through hole. A processing tool is clamped between the screw and the abutting wall. By screwing the screw inward, the processing tool in the clamping member can be pressed against the abutting wall, thereby realizing the clamping of the processing tool.

[0014] Furthermore, the rotary servo is a 270° servo, and the rotation angles of the rotary servo are set to 0°, 90°, 180°, and 270°.

[0015] Furthermore, the working voltage of the electromagnet is 12V. A blind hole is provided at the bottom of the electromagnet. A positioning pin is fixed on the upper surface of the slider. The electromagnet is fixed on the upper surface of the slider through the cooperation of the blind hole and the positioning pin.

[0016] Furthermore, the linear guide is perpendicular to the horizontal plane, and the length of the linear guide is 100 mm.

[0017] Furthermore, the limiting servo adopts a 9-gram digital servo.

[0018] The present invention also provides a method for using an end effector selection device, including the following steps:

[0019] S1. Installation device: Install a stepper motor, a slide bar, a lead screw, a slider, and an electromagnet on one side of the girder, and install a rotary servo, a structural member, a linear guide, a limit servo, a connecting member, and a clamping member on the other side of the girder. In the initial state, the connecting member is located above the limit servo, and the swing arm of the limit servo is in a horizontal state. At this time, the swing arm of the limit servo is perpendicular to the linear guide and can block the linear guide to prevent the connecting member from sliding down. At this time, the rotation angle of the rotary servo is 0°;

[0020] S2. Switching operation: Adjust the position of the selected end effector by the rotation angle so that the corresponding connecting member is directly above the electromagnet. At the same time, the stepper motor rotates to drive the slider to move upward. The electromagnet follows the slider to move upward and touches the lower plane of the connecting member. Then the stepper motor stops rotating. The swing arm of the limit servo swings downward to a vertical state. At this time, the linear guide is in an unobstructed state. The electromagnet attracts the connecting member, and the stepper motor starts to rotate to drive the slider to move downward. After the connecting member is attracted by the electromagnet, it moves synchronously with the slider, so that the processing tool fixed on the clamping member moves to the processing plane. At this time, the switching process is completed;

[0021] S3. Reset operation: The stepper motor starts to rotate to drive the slider to move upward. At this time, the connecting member also moves upward until the connecting member is located above the limit servo. The swing arm of the limit servo swings upward to a horizontal state to block the linear guide to prevent the connecting member from sliding down. At this time, the electromagnet is powered off to disconnect it from the connecting member. Finally, the stepper motor starts to rotate to drive the slider to move downward, and the rotary servo returns to 0°. At this time, the reset process is completed.

[0022] Compared with the prior art, the beneficial effects of the present invention are:

[0023] The device rotates 0°, 90°, 180°, and 270° respectively through the rotary servo to select the end effector that needs to work. The slider and the connecting member are fixed by the electromagnet, so that the same machine can be used to select multiple end effectors to process the devices to be processed, realizing "one machine with multiple functions", and reducing the required space and cost of multiple devices. Description of the Drawings

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0025] Figure 1 It is a three-dimensional structural schematic diagram of the present invention;

[0026] Figure 2Schematic left view structure of the present invention;

[0027] Figure 3 Schematic top view structure of the present invention;

[0028] Explanation of the markings in the figure: 101, main beam; 102, stepper motor; 103, slide bar; 104, lead screw; 105, slider; 106, electromagnet; 107, rotary servo; 108, structural member; 109, linear guide; 110, limit servo; 111, connecting member; 112, clamping member. Detailed implementation manners

[0029] In order to better understand the purpose, structure and function of the present invention, the following further describes in detail an end effector selection device and its usage method of the present invention in combination with the attached drawings and specific preferred implementation manners.

[0030] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "left side", "right side", "upper part", "lower part", etc. is based on the orientation or positional relationship shown in the attached drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. The specific dimensions adopted in this embodiment are only for illustrating the technical solution by way of example and do not limit the protection scope of the present invention.

[0031] Embodiment 1:

[0032] Please refer to Figures 1-3 , the present invention provides a technical solution: an end effector selection device, including a main beam 101, the main beam 101 is horizontally arranged, a stepper motor 102 is connected to the lower surface of one side thereof, and a rotary servo 107 is connected to the upper surface of the other side thereof; two mutually parallel slide bars 103 are vertically fixed at positions on the lower surface of the main beam 101 on both sides of the stepper motor 102, and the output shaft at the lower end of the stepper motor 102 is connected to a lead screw 104; the lower ends of the slide bar 103 and the lead screw 104 are connected to a slider 105, a threaded hole adapted to the lead screw 104 is provided at the middle position of the slider 105, the lower end of the lead screw 104 passes through the threaded hole, smooth holes are provided on both sides of the slider 105, the lower ends of the slide bar 103 pass through the smooth holes, and an electromagnet 106 is fixedly connected to the upper surface of the slider 105; the slider 105 can move up and down under the rotation of the lead screw 104;

[0033] A structural member 108 is fixedly connected below the rotary servo 107. Openings are provided at the central positions of the four side faces of the structural member 108. Linear rails 109 are fixedly connected at the openings of the structural member 108, and the linear rails 109 are perpendicular to the girder 101; A moving platform is slidably nested on the linear rail 109. A connecting member 111 is fixedly connected to the outside of the moving platform. A clamping member 112 is fixedly connected to the side face of the connecting member 111. A limiting servo 110 is fixedly connected to the inner side wall of the linear rail 109;

[0034] Linear rails 109 are fixedly connected to the four side faces of the structural member 108. Different processing tools can be fixed on each linear rail 109 through the clamping member 112. Each time the rotary servo 107 rotates 90°, the position of the selected end effector can be adjusted so that the corresponding connecting member 111 is directly above the electromagnet 106.

[0035] Furthermore, mounting holes are provided on both sides of the girder 101. The stepper motor 102 and the rotary servo 107 are fixedly connected to the girder 101 through the mounting holes.

[0036] Furthermore, the stepper motor 102 is a 42 stepper motor.

[0037] Furthermore, the stepper motor 102 is connected to the lead screw 104 through a coupling.

[0038] Furthermore, the connecting member 111 is an L-shaped iron connecting member, so that its surface can fit the electromagnet 106. Its horizontal extension length is 30 mm and is used to fit the surface of the electromagnet 106.

[0039] Furthermore, the clamping member 112 includes a mounting seat. The mounting seat of the clamping member 112 is fixedly connected to the side face of the connecting member 111. The two side walls adjacent to the mounting seat of the clamping member 112 are respectively a clamping wall and an abutting wall. A through hole is provided at the middle position of the clamping wall. A screw is threadedly connected to the through hole. A processing tool is clamped between the screw and the abutting wall. By screwing the screw inward, the processing tool in the clamping member 112 can be made to tightly fit the abutting wall, thereby realizing the clamping of the processing tool.

[0040] Furthermore, the rotary servo 107 is a 270° servo. The rotation angles of the rotary servo 107 are set to 0°, 90°, 180° and 270°, corresponding to the first actuator, the second actuator, the third actuator and the fourth actuator respectively. For example, when undertaking the task of writing, the clamping members 112 of the first actuator, the second actuator, the third actuator and the fourth actuator can select pen clips, and different colored pens can be clamped in each pen clip.

[0041] Further, the working voltage of the electromagnet 106 is 12V, and it can completely fit the connecting piece 111. A blind hole is provided at the bottom of the electromagnet 106, and a positioning pin is fixed on the upper surface of the slider 105. The electromagnet 106 is fixed on the upper surface of the slider 105 through the cooperation of the blind hole and the positioning pin.

[0042] Further, the linear guide 109 is perpendicular to the horizontal plane, and the length of the linear guide 109 is 100 mm.

[0043] Further, the limiting servo 110 uses a 9-gram digital servo, and the limiting height can be set by itself.

[0044] The present invention also provides a usage method of an end effector selection device, including the following steps:

[0045] S1. Install the device: Install the stepper motor 102, the slide rod 103, the lead screw 104, the slider 105, and the electromagnet 106 on one side of the girder, and install the rotary servo 107, the structural member 108, the linear guide 109, the limiting servo 110, the connecting piece 111, and the clamping member 112 on the other side of the girder. In the initial state, the connecting piece 111 is located above the limiting servo 110, and the swing arm of the limiting servo 110 is in a horizontal state. At this time, the swing arm of the limiting servo 110 is perpendicular to the linear guide 109 and can block the linear guide 109 to prevent the connecting piece 111 from sliding down. At this time, the rotation angle of the rotary servo 107 is 0°.

[0046] S2. Switching operation: Adjust the position of the selected end effector by the rotation angle so that the corresponding connecting piece 111 is located directly above the electromagnet 106. At the same time, the stepper motor 102 rotates to drive the slider 105 to move upward. When the electromagnet 106 follows the slider 105 to move upward and touches the lower plane of the connecting piece 111, the stepper motor 102 stops rotating. The swing arm of the limiting servo 110 swings downward to a vertical state. At this time, the linear guide 109 is in an unobstructed state. The electromagnet 106 attracts the connecting piece 111, and the stepper motor 102 starts to rotate to drive the slider 105 to move downward. After the connecting piece 111 is attracted by the electromagnet 106, it moves synchronously with the slider 105, so that the processing tool fixed on the clamping member 112 moves to the processing plane. At this time, the switching process is completed.

[0047] S3. Reset operation: The stepper motor 102 starts to rotate to drive the slider 105 to move upward. At this time, the connecting piece 111 also moves upward until the connecting piece 111 is located above the limiting servo 110. The swing arm of the limiting servo 110 swings upward to a horizontal state to block the linear guide 109 to prevent the connecting piece 111 from sliding down. At this time, the electromagnet 106 is powered off to disconnect it from the connecting piece 111. Finally, the stepper motor 102 starts to rotate to drive the slider 105 to move downward, and the rotary servo 107 returns to 0°. At this time, the reset process is completed.

[0048] It is understood that the present invention is described by way of some embodiments. Those skilled in the art will know that, without departing from the spirit and scope of the present invention, various changes or equivalent replacements can be made to these features and embodiments. Additionally, under the teaching of the present invention, these features and embodiments can be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application belong to the scope protected by the present invention.

Claims

1. An end effector selection device, characterized in that: It includes a girder (101) which is horizontally arranged. A stepper motor (102) is connected to the lower surface of one side of the girder (101), and a rotary servo (107) is connected to the upper surface of the other side of the girder (101); two mutually parallel slide bars (103) are vertically fixed at positions on the lower surface of the girder (101) on both sides of the stepper motor (102), and a lead screw (104) is connected to the lower end of the stepper motor (102); the lower ends of the slide bars (103) and the lead screw (104) are connected to a slider (105). A threaded hole adapted to the lead screw (104) is provided at the middle position of the slider (105). The lower end of the lead screw (104) passes through the threaded hole. Smooth holes are provided on both sides of the slider (105), and the lower ends of the slide bars (103) pass through the smooth holes. An electromagnet (106) is fixedly connected to the upper surface of the slider (105); A structural member (108) is fixedly connected below the rotary servo (107). Openings are provided at the central positions of the four side surfaces of the structural member (108), and linear guides (109) are fixedly connected at the openings of the structural member (108); A moving platform is slidably nested on the linear guides (109). A connecting member (111) is fixedly connected to the outside of the moving platform. A clamping member (112) is fixedly connected to the side surface of the connecting member (111), and a limit servo (110) is fixedly connected to the inner side wall of the linear guide (109).

2. The end effector selection device according to claim 1, characterized in that Mounting holes are provided on both sides of the girder (101), and the stepper motor (102) and the rotary servo (107) are fixedly connected to the girder (101) through the mounting holes.

3. The end effector selection device according to claim 1, wherein The stepper motor (102) is a 42 stepper motor, and the stepper motor (102) is connected to the lead screw (104) through a coupling.

4. The end effector selection device according to claim 1, characterized in that, The connecting member (111) is an L-shaped iron connecting member, and its horizontal extension length is 30 mm, which is used to fit the surface of the electromagnet (106).

5. The end effector selection device according to claim 1, characterized in that The clamping member (112) includes a mounting seat. The mounting seat of the clamping member (112) is fixedly connected to the side surface of the connecting member (111). The two side walls adjacent to the mounting seat of the clamping member (112) are respectively a clamping wall and an abutting wall. A through hole is provided at the middle position of the clamping wall, and a screw is threadedly connected to the through hole. A processing tool is clamped between the screw and the abutting wall.

6. The end effector selection device according to claim 1, characterized in that, The rotary servo (107) is a 270° servo, and the rotation angle of the rotary servo (107) is set to 0°, 90°, 180° and 270°.

7. The end effector selection device according to claim 1, characterized in that, The working voltage of the electromagnet (106) is 12V. A blind hole is provided at the bottom of the electromagnet (106), and a positioning pin is fixed on the upper surface of the slider (105). The electromagnet (106) is fixed on the upper surface of the slider (105) through the cooperation of the blind hole and the positioning pin.

8. The end effector selection device according to claim 1, wherein The linear guide (109) is perpendicular to the horizontal plane, and the length of the linear guide (109) is 100 mm.

9. The end effector selection device according to claim 1, characterized in that, The limit servo (110) uses a 9-gram digital servo.

10. A method for using the end effector selection device according to any one of claims 1-9, characterized in that, The steps are as follows: S1. Installation device: Install a stepper motor (102), a slide bar (103), a lead screw (104), a slider (105), and an electromagnet (106) on one side of the girder, and install a rotary servo (107), a structural member (108), a linear guide (109), a limit servo (110), a connecting member (111), and a clamping member (112) on the other side of the girder. In the initial state, the connecting member (111) is located above the limit servo (110), and the swing arm of the limit servo (110) is in a horizontal state. At this time, the swing arm of the limit servo (110) is perpendicular to the linear guide (109) and can block the linear guide (109) to prevent the connecting member (111) from sliding down. At this time, the rotation angle of the rotary servo (107) is 0°; S2. Switching operation: Adjust the position of the selected end effector by the rotation angle so that the corresponding connecting member (111) is directly above the electromagnet (106). At the same time, the stepper motor (102) rotates to drive the slider (105) to move upward. When the electromagnet (106) follows the slider (105) to move upward and touches the lower plane of the connecting member (111), the stepper motor (102) stops rotating. The swing arm of the limit servo (110) swings downward to a vertical state. At this time, the linear guide (109) is in an unobstructed state. The electromagnet (106) attracts the connecting member (111), and the stepper motor (102) starts to rotate to drive the slider (105) to move downward. After the connecting member (111) is attracted by the electromagnet (106), it moves synchronously with the slider (105), so that the processing tool fixed on the clamping member (112) moves to the processing plane. At this time, the switching process is completed; S3. Reset operation: The stepper motor (102) starts to rotate to drive the slider (105) to move upward. At this time, the connecting member (111) also moves upward until the connecting member (111) is located above the limit servo (110). The swing arm of the limit servo (110) swings upward to a horizontal state, blocking the linear guide (109) to prevent the connecting member (111) from sliding down. At this time, the electromagnet (106) is powered off to disconnect it from the connecting member (111). Finally, the stepper motor (102) starts to rotate to drive the slider (105) to move downward, and the rotary servo (107) returns to 0°. At this time, the reset process is completed.

Images