A suction cup end effector with adjustable span

Abstract

The application discloses a suction disc end picker with adjustable end picking span, which comprises a mechanical arm connecting platform, a transmission assembly, a directional guide rail assembly and a suction disc end picker assembly. Two groups of quick release structures are arranged on the end picking suction disc rod to realize the adjustment of the relative position of the end picking suction disc rod and the main rod connecting piece and the working angle of the end picking suction disc, and further adapt to the picking of the out-of-plane plate material. Two groups of guide rails are arranged in an orthogonal form, so that the expansion process of the working size of the suction disc end picker is changed from the traditional single direction expansion to the two direction expansion form. The mutual locking of the brushless motor, the first speed reducer and the second speed reducer in the structure ensures the stability of the end picking span adjustment process of the suction disc end picker. Overall, the suction disc end picker can realize the accurate picking of different specifications of plate materials by adjusting the end picking span, and has the advantages of wide adjustment range of working size, large end picking span and good stability.

Description

Technical Field

[0001] This invention relates to the field of sheet metal stamping equipment, specifically to a suction cup end-feeder with adjustable end-feed span. Background Technology

[0002] End effectors, typically connected to the end effector of a robotic arm, are products primarily designed to assist robotic arms in picking up and handling workpieces. They are widely used in various industrial sectors, such as electronics, automotive, injection molding, and packaging. In sheet metal stamping production workshops, end effectors are extensively used to move stamped sheet metal, such as semi-finished automotive body panels. In automated stamping production lines, sheet metal specifications are diverse, requiring different end effectors for different sheet metal sizes, thus necessitating a certain degree of adjustability in the end effector's working dimensions. Traditionally, adjusting the position of the end effector's suction cup or gripper is necessary for sheet metal of different sizes and shapes, which is time-consuming and inefficient.

[0003] To address this, Chinese Patent 202221335187.7 discloses an end-effector device that uses an electric cylinder and slide rails to move a suction cup rod assembly, thereby adjusting the distribution of the suction cups and picking up sheet metal of different specifications. The disadvantages of this end-effector device are: 1. The moving distance of the suction cup rod assembly is limited by the length of the cable chain, resulting in a limited adjustable range for the end-effector span. 2. The working dimension adjustment direction of this end-effector is singular, limited to the cable chain direction, and thus applicable to a limited range of sheet metal specifications. 3. The fixing method between the suction cups and the rod assembly is not conducive to secondary adjustment, limiting the range of sheet metal specifications it can handle; it is only suitable for picking up flat sheet metal, with limited ability to pick up curved sheet metal.

[0004] Chinese Patent 201921888304.0 discloses a six-axis robot end effector expansion and contraction device. It utilizes a cylinder to push a suction cup rod assembly in conjunction with a linear guide rail to adjust the end effector's suction cup mechanism's end effector span. This allows for adjustment of the end effector span according to the workpiece size, further adapting to different sheet metal specifications. The disadvantages of this six-axis robot end effector expansion and contraction device are: 1. The cylinder push rod has a limited length, resulting in a small adjustable range for the end effector span and limiting the applicable sheet metal specifications. 2. The cylinder push rod direction is fixed, and the suction cup rod assembly can only expand in the direction of the cylinder push rod. 3. To achieve the adjustment of the working size, the end effector is equipped with two sets of cylinders, resulting in a relatively complex structure.

[0005] Chinese Patent 202221718396.X discloses a flexible robot end effector expander device. It utilizes a servo motor to drive gears, which in turn drive a transmission belt, causing a strip plate to rotate. This rotation of the strip plate supports two irregularly shaped plates, causing them to move outwards. Simultaneously, the irregularly shaped plates drive an L-shaped connecting rod and the end effector's suction cup rod assembly to expand outwards, thereby adjusting the end effector's working size and picking up plates of different specifications. The disadvantages of this flexible robot end effector expander device are: 1. The expansion direction of the end effector's suction cup rod assembly is unidirectional, limiting the types of plates it can handle. 2. The expansion method, which uses the rotation of the strip plate to support the two irregularly shaped plates and the outward movement of the plates, places high demands on the strength of the strip plate. 3. During the adjustment of the end effector's span, the working size cannot be locked, resulting in poor stability.

[0006] In summary, for picking up sheet metal of different specifications, it is necessary to effectively adjust the working size of the end effector. However, existing end effector equipment has shortcomings in terms of the adjustment range of the end effector span, with a small adjustable span, which limits the sheet metal sizes that can be adapted. The adjustment direction of the working size of existing end effector equipment is singular and the adjustment range is small, which seriously limits the sheet metal specifications that can be adapted. In addition, existing end effector equipment cannot accurately adjust the working angle of the end effector suction cup, making it difficult to accurately pick up sheet metal of different specifications. Summary of the Invention

[0007] To address the problems of low adjustability in end-grab span, single adjustment direction of working size, and insufficient working stability of existing suction cup end-grab devices, this invention develops a suction cup end-grab device with adjustable working size, large end-grab span, strong stability, and the ability to expand in two directions, thus adapting to various sheet material specifications.

[0008] The technical solution adopted in this invention is as follows: an adjustable end-effector suction cup, comprising a robotic arm connection platform, a transmission assembly, a directional guide rail assembly, and an end-effector suction cup assembly; the robotic arm connection platform is a flange structure for connecting to the robotic arm, and is equipped with several holes, slots, and sliding platforms. The holes include slots for snap-in guide rail connectors and valve island fixing holes. The slots include a first reducer slot, a second reducer slot, and a valve island fixing slot. The sliding platform is a guide rail sliding platform. The transmission assembly includes a brushless motor, a reducer, and two sets of meshing gear racks. The reducer includes a first reducer and a second reducer. The two sets of gear racks include an upper gear, a lower gear, and a rack assembly. The assembly includes an orthogonally arranged upper and lower racks; the directional guide rail assembly includes two sets of guide rails and several snap-fit ​​guide rail connectors. The guide rails include an upper guide rail and a lower guide rail, each equipped with a groove, a groove platform, and several holes. The groove is a guide rail groove, the groove platform is a snap-fit ​​groove platform, and the holes are fixing holes for the main rod connector. The snap-fit ​​guide rail connector is provided with a lubricating oil hole; the end effector suction cup assembly includes a main rod connector that can mate with the guide rails, a valve island, and an end effector suction cup rod. The main rod connector is provided with a main rod connector groove platform and a main rod connector fixing hole. The valve island is provided with a valve island fixing hole. The end effector suction cup rod includes a first quick-release structure, a second quick-release structure, a rod body, an air valve, and an end effector suction cup.

[0009] The robotic arm connection platform is characterized by the following features: the robotic arm connection platform is divided into upper and lower layers. The upper layer is provided with a flange that matches the robotic arm, a first reducer slot, and several holes for the snap-in guide rail connector. The lower layer is provided with a guide rail slide table for fixing and guiding the upper layer guide rail, a second reducer slot, and several holes for the snap-in guide rail connector. Valve island fixing holes and valve island fixing slots are provided on both sides of the robotic arm connection platform.

[0010] The transmission assembly is characterized in that: the upper rack meshes with the upper gear, and the lower rack meshes with the lower gear; the brushless motor is connected to the upper gear through a first reducer, transmitting power to the upper rack meshing with the upper gear, thereby driving the upper rack to move; the upper gear is simultaneously connected to a second reducer, and the second reducer is simultaneously connected to the lower gear, further transmitting the power of the brushless motor to the lower rack meshing with the lower gear, thereby driving the lower rack to move.

[0011] The directional guide rail assembly is characterized in that: the middle section of both the upper and lower guide rails is provided with a snap-in sliding groove platform that cooperates with the snap-in sliding groove to achieve a sliding connection between the guide rail and the snap-in guide rail connector; the inner planes of both the upper and lower guide rails are used to fix and install racks; the lubrication hole on the snap-in guide rail connector is used for oil passage to achieve lubrication at the contact surface between the snap-in guide rail connector and the snap-in sliding groove platform.

[0012] The end effector suction cup assembly is characterized in that: the end effector suction cup rod is installed on the main rod connector through a first quick-release structure, the air valve and the end effector suction cup are installed on the rod body through a second quick-release structure, the first end effector suction cup rod is provided with a first quick-release structure for adjusting the relative position of the suction cup rod and the main rod connector, and the end effector is provided with a second quick-release structure for adjusting the working angle of the end effector suction cup, and the first quick-release structure is connected to the second quick-release structure through the rod body.

[0013] The first reducer of the transmission assembly is fixed to the first reducer slot of the robotic arm connection platform via its base, and is thus installed on the upper layer of the robotic arm connection platform. The second reducer of the transmission assembly is fixed to the second reducer slot of the robotic arm connection platform via its base, and is thus installed on the lower layer of the robotic arm connection platform. This achieves the connection between the robotic arm connection platform and the transmission assembly. The brushless motor of the transmission assembly is connected to the upper gear via the first reducer, and to the lower gear via the second reducer, further transmitting the power of the brushless motor to the upper and lower gears. The meshing between the gears and racks then drives the upper and lower racks to move. The upper and lower guide rails are fixedly installed to the upper and lower racks respectively, thus connecting the transmission assembly and the directional guide rail assembly. The snap-in guide rail connector of the directional guide rail assembly is inserted between the robotic arm connection platform and the upper and lower guide rails. The snap-in guide rail connector is fixedly connected to the robotic arm connection platform through the fixing holes of the snap-in guide rail connector. The upper guide rail of the directional guide rail assembly engages with the guide rail slide table via a guide rail groove on its outer side, and also engages with the snap-in slide groove via a snap-in slide table in the middle section of the upper guide rail, thus achieving a sliding connection between the upper guide rail and the snap-in guide rail connector. The lower guide rail of the directional guide rail assembly engages with the snap-in slide groove via a snap-in slide table in its middle section, thus achieving a sliding connection between the lower guide rail and the snap-in guide rail connector, thereby achieving the connection between the directional guide rail assembly and the robotic arm connection platform. The valve island is fixedly installed on both sides of the robotic arm connection platform via valve island fixing holes and valve island fixing slots, and the end effector suction cup rod of the end effector suction cup assembly is installed on the main rod connector via a first quick-release structure. The main rod connector has a main rod connector slide groove platform that cooperates with the guide rail slide groove to achieve a sliding connection between the main rod connector and the guide rail. The fixed position can be adjusted by the guide rail slide groove on the outside of the guide rail, and the installation position can be locked by the fixing hole of the main rod connector to realize the connection between the end effector suction cup assembly and the directional guide rail assembly.

[0014] When the suction cup end-grabbing device with adjustable end-grabbing span described in this invention picks up sheet materials of different specifications, the high-speed power of the brushless motor of the transmission component is reduced by the first reducer and then transmitted to the upper gear. After being further reduced by the second reducer, the power is transmitted to the lower gear. The rotation of the upper gear and the lower gear respectively drives the upper rack and the lower rack that mesh with them to produce corresponding movements. Considering that the upper and lower racks are orthogonally arranged and fixedly installed on the inner planes of the upper and lower guide rails respectively, the corresponding movements of the upper and lower racks will drive the upper and lower guide rails to move in two mutually orthogonal directions. Furthermore, the two-way movement of the upper and lower guide rails drives the end effector suction cup assembly to move accordingly, realizing the adjustment of the working size of the suction cup end effector. Simultaneously, due to the mutually orthogonal bidirectional expansion of the upper and lower guide rails, the suction cup end effector can further achieve large-span picking up of sheet metal. Furthermore, considering that the power transmission process during the conversion of small torque to large torque by the reducer is irreversible, the brushless motor, the first reducer, and the second reducer can be structurally designed... Mutual locking is achieved, thereby ensuring the stability of the suction cup end effector's movement during end-grab span adjustment. Furthermore, considering that the installation position of the end effector suction cup assembly on the outer side of the upper and lower guide rails can be adjusted by the main rod connector through the slide table and the fixing holes of the main rod connector, the end-grab position and working angle of the end effector suction cup can be adjusted through the first and second quick-release structures of the end effector suction cup rod. The end effector suction cup can pick up materials of different panel sizes. Based on the above working process, the entire end effector can approach the panel material via the robotic arm, thereby transmitting the negative pressure generated by the valve island through the air valve to the end effector suction cup, enabling the end effector suction cup to accurately pick up panels of different specifications.

[0015] The suction cup end effector of this invention features two quick-release structures for the suction cup rod, enabling adjustment of the relative position between the suction cup rod and the main rod connector, as well as the working angle of the suction cup, further adapting to the picking up of different panel materials. Two sets of orthogonally placed guide rails expand the working dimension of the suction cup end effector from a traditional unidirectional expansion to a bidirectional expansion. The interlocking structure of the brushless motor, the first reducer, and the second reducer ensures the stability of the end-grabbing span adjustment process. Overall, the suction cup end effector can accurately pick up panels of different specifications by adjusting the end-grabbing span, offering a wide range of working dimension adjustment, a large end-grabbing span, and good stability. Attached Figure Description

[0016] Figure 1 A schematic diagram of the overall structure of the suction cup end-capture device with adjustable end-capture span provided by the present invention;

[0017] Figure 2 This is a schematic diagram of the robotic arm connection platform structure described in this invention;

[0018] Figure 3 This is a schematic diagram of the transmission component structure described in this invention;

[0019] Figure 4 This is a schematic diagram of the end effector suction cup rod 2 described in this invention;

[0020] Figure 5 This is a schematic diagram of the end effector main rod connector 1 according to the present invention;

[0021] Figure 6 This is a schematic diagram of the end effector main rod connector 2 according to the present invention;

[0022] Figure 7 This is a schematic diagram of the upper guide rail structure described in this invention;

[0023] Figure 8 This is a schematic diagram of the lower guide rail structure described in this invention;

[0024] Figure 9 This is a schematic diagram of the snap-in guide rail connector 1 according to the present invention;

[0025] Figure 10 Exploded view showing the robotic arm connection platform, lower guide rail, snap-in guide rail connector, and main rod connector of the present invention.

[0026] Figure 11 This is a schematic diagram of the valve island structure described in this invention.

[0027] Figure 12 This is a schematic diagram of the operation of the suction cup end effector with adjustable end-pickup span described in this invention.

[0028] In the diagram, 1-robotic arm connection platform, 11-flange, 12-first reducer slot, 13-guide rail slide table, 14-snap-in guide rail connector hole 1, 15-second reducer slot, 16-snap-in guide rail connector hole 2, 17-valve island fixing hole 1, 18-valve island fixing slot; 2-transmission assembly, 21-brushless motor, 22-first reducer, 23-upper gear, 24-upper rack assembly, 25-second reducer, 26-lower gear, 27-lower rack assembly; 3-directional guide rail assembly, 31-snap-in guide rail connector, 311-snap-in slide, 312-lubricating oil hole, 313-snap-in guide rail connector fixing hole, 32-upper guide rail, 321-snap-in slide table 1, 322-guide rail slide 1, 323-main rod connector fixing hole 1, 33-lower... Layer guide rail, 331- snap-in sliding table 2, 332-guide rail sliding table 2, 333-main rod connector fixing hole 2; 4-end pick suction cup assembly, 41-main rod connector 1, 411-main rod connector sliding table 1, 412-main rod connector fixing hole 3, 42-end pick suction cup rod 1, 421-first quick release structure 1, 422-second quick release structure 1, 423-air valve 1, 42 4-End-effector suction cup 1, 425-Rod 1, 43-Main rod connector 2, 431-Main rod connector slide table 2, 432-Main rod connector fixing hole 4, 44-End-effector suction cup rod 2, 441-First quick-release structure 2, 442-Second quick-release structure 2, 443-Air valve 2, 444-End-effector suction cup 2, 445-Rod 2, 45-Valve island, 451-Valve island fixing hole 2. Detailed Implementation

[0029] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0030] like Figure 1 and combined Figures 2 to 12 As shown, the adjustable end-capacity suction cup end-capacitor of the present invention consists of a robotic arm connecting platform 1, a transmission assembly 2, a directional guide rail assembly 3, and an end-capacitor suction cup assembly 4.

[0031] The robotic arm connection platform 1 is a flange structure used for connecting to the robotic arm. It is equipped with several holes, slots, and guide rail slides. The holes include snap-fit ​​guide rail connector holes 14 and 16, and valve island fixing holes 17. The slots include a first reducer slot 12, a second reducer slot 15, and a valve island fixing slot 18. The slides are guide rail slides 13. The transmission assembly 2 includes a brushless motor 21, a reducer, and two sets of meshing gear racks. The reducer includes... The first reducer 22 and the second reducer 25, the two sets of gear racks include an upper gear 23, a lower gear 26 and a rack assembly, the rack assembly includes an orthogonally arranged upper rack 24 and a lower rack 27; the directional guide rail assembly 3 includes two sets of guide rails and several snap-fit ​​guide rail connectors 31, the guide rails include an upper guide rail 32 and a lower guide rail 33, each equipped with a slide groove, a slide groove platform and several holes, the slide groove is a guide rail slide groove 322 and a guide rail slide groove 332, the slide groove platform is a snap-fit ​​slide groove platform 321 and a snap-fit ​​slide groove platform 331. The holes are main rod connector fixing holes 323 and 333. The snap-in guide rail connector 31 is provided with a lubrication oil hole 312. The end effector suction cup assembly 4 includes a main rod connector that can cooperate with the guide rail, a valve island 45, and an end effector suction cup rod. The main rod connector includes main rod connector 41 and main rod connector 43, both of which are provided with a sliding platform and main rod connector fixing holes. The sliding platform includes sliding platform 411 and sliding platform 431. The main rod connector fixing holes include main rod connector fixing holes 411 and 433. 12. The main rod connector fixing hole 432, the valve island 45 is provided with valve island fixing hole 451, the end effector suction cup rod includes end effector suction cup rod 42 and end effector suction cup rod 44, and each is provided with quick release structure, air valve and end effector suction cup and other components. The quick release structure includes first quick release structure 421, second quick release structure 422, first quick release structure 441 and second quick release structure 442. The air valve includes air valve 423 and air valve 443. The end effector suction cup includes end effector suction cup 424 and end effector suction cup 444.

[0032] The robotic arm connection platform 1 is characterized in that: the robotic arm connection platform is divided into upper and lower layers. The upper layer is provided with a flange 11 that matches the robotic arm, a first reducer slot 12, and several holes 14 for the snap-in guide rail connector. The lower layer is provided with a guide rail slide table 13 for fixing and guiding the upper guide rail 32, a second reducer slot 15, and several holes 16 for the snap-in guide rail connector. Valve island fixing holes 17 and valve island fixing slots 18 are provided on both sides of the robotic arm connection platform.

[0033] The transmission assembly 2 is characterized in that: the upper rack 24 meshes with the upper gear 23, and the lower rack 27 meshes with the lower gear 26; the brushless motor 21 is connected to the upper gear 23 through the first reducer 22, transmitting power to the upper rack 24 meshing with the upper gear 23, thereby driving the upper rack 24 to move; the upper gear 23 is simultaneously connected to the second reducer 25, and the second reducer 25 is simultaneously connected to the lower gear 26, further transmitting the power of the brushless motor 21 to the lower rack 27 meshing with the lower gear 26, thereby driving the lower rack 27 to move.

[0034] The directional guide rail assembly 3 is characterized in that: the upper guide rail 32 is provided with a snap-in sliding platform 321 in the middle section, which cooperates with the snap-in sliding groove 311 to realize the sliding connection between the upper guide rail 32 and the snap-in guide rail connector 31; the lower guide rail 33 is provided with a snap-in sliding platform 331 in the middle section, which cooperates with the snap-in sliding groove 311 to realize the sliding connection between the lower guide rail 33 and the snap-in guide rail connector 31; the inner plane of the upper guide rail 32 is used to fix the upper rack assembly 24, and the inner plane of the lower guide rail 33 is used to fix the lower rack assembly 27; the lubrication hole 312 on the snap-in guide rail connector 31 is used for oil passage to realize lubrication at the contact surface between the snap-in guide rail connector 31 and the snap-in sliding platform 331 and the snap-in sliding platform 321.

[0035] The end effector suction cup assembly 4 is characterized in that: the end effector suction cup rod 42 is mounted on the main rod connector 41 via a first quick-release structure 421; the air valve 423 and the end effector suction cup 424 are mounted on the rod body 425 via a second quick-release structure 422; the end effector suction cup rod 42 has a first quick-release structure 421 at its head end for adjusting its relative position with the main rod connector 41, and a second quick-release structure 422 at its tail end for adjusting the working angle of the end effector suction cup 424; the first quick-release structure 421 is connected to the second quick-release structure 422 via the rod body 425. Structure 422 connection; the end effector suction cup rod 44 is installed on the main rod connector 43 through the first quick-release structure 441, the air valve 443 and the end effector suction cup 444 are installed on the rod body 445 through the second quick-release structure 442, the end effector suction cup rod 44 has a first quick-release structure 441 at the front end for adjusting its relative position with the main rod connector 43, and a second quick-release structure 442 at the rear end for adjusting the working angle of the end effector suction cup 444, the first quick-release structure 441 is connected to the second quick-release structure 442 through the rod body 445.

[0036] The first reducer 22 of the transmission assembly 2 is fixed to the first reducer slot 12 of the robotic arm connection platform 1 via its base, and is thus installed on the upper layer of the robotic arm connection platform. The second reducer 25 of the transmission assembly 2 is fixed to the second reducer slot 15 of the robotic arm connection platform 1 via its base, and is thus installed on the lower layer of the robotic arm connection platform. This achieves the connection between the robotic arm connection platform 1 and the transmission assembly 2. The brushless motor 21 of the transmission assembly 2 is connected to the upper gear 23 via the first reducer 22, and the second reducer 25 is connected to the lower gear 26, further transmitting the power of the brushless motor 21 to the upper gear 23 and the lower gear 26. The meshing between the gears and racks then drives the upper rack 24 and the lower rack 27 to move. The upper guide rail 32 and the lower guide rail 33 are fixedly installed to the upper rack 24 and the lower rack 27 respectively, thus achieving the connection between the transmission assembly 2 and the directional guide rail assembly 3. The snap-in guide rail connector 31 of the directional guide rail assembly 3 is inserted between the robotic arm connection platform 1 and the upper guide rail 32 and the lower guide rail 33. The snap-in guide rail connector 31 and the robotic arm connection platform 1 are fixedly connected through the snap-in guide rail connector fixing holes 313, 1, and 2. The upper guide rail 32 of the directional guide rail assembly 3 cooperates with the guide rail slide table 13 through the guide rail slide groove 322 provided on its outer side, and cooperates with the snap-in slide groove 311 through the snap-in slide table 321 provided in the middle section of the upper guide rail 32, thereby realizing the sliding connection between the upper guide rail 32 and the snap-in guide rail connector 31. The lower guide rail 33 of the directional guide rail assembly 3 is connected to the snap-in slide groove 311 via a snap-in slide groove platform 331 in its middle section, thereby achieving a sliding connection between the lower guide rail 33 and the snap-in guide rail connector 31, and thus connecting the directional guide rail assembly 3 to the robotic arm connection platform 1. The valve island 45 is fixedly installed on both sides of the robotic arm connection platform 1 via valve island fixing holes 451, valve island fixing holes 17 and valve island fixing slots 18. The end effector suction cup rod 42 of the end effector suction cup assembly 4 is installed on the main rod connector 41 via the first quick-release structure 421. The main rod connector slide groove platform 411 of the main rod connector 41 is connected to the guide rail slide groove 322, thereby achieving a sliding connection between it and the upper guide rail 32. The fixed position can be adjusted by the guide rail slide groove 322 on the outer side of the upper guide rail 32, and the installation position can be locked by the main rod connector fixing hole 412. The end effector suction cup rod 42 of the end effector suction cup assembly 4 is mounted on the main rod connector 41 via the first quick-release structure 421. The main rod connector 41 has a main rod connector slide groove 441 that cooperates with the guide rail slide groove 332 to achieve a sliding connection between it and the lower guide rail 33. The fixed position can be adjusted by the guide rail slide groove 332 on the outside of the lower guide rail 33, and then the installation position can be locked by the main rod connector fixing hole 432 to realize the connection between the end effector suction cup assembly 4 and the directional guide rail assembly 3.

[0037] The adjustable-span suction cup end effector of this invention, when picking up sheet metal of different specifications, transmits high-speed power from the brushless motor 21 of the transmission assembly 2 to the upper gear 23 after being reduced by the first reducer 22, and further reduced by the second reducer 25 before being transmitted to the lower gear 26. This causes the upper gear 23 and lower gear 26 to rotate, respectively driving the upper rack 24 and lower rack 27 meshing with them to produce corresponding movements. Considering that the upper rack 24 and lower rack 27 are orthogonally arranged and fixedly installed on the inner plane of the upper guide rail 32 and lower guide rail 33, the upper rack... The corresponding movements generated by rack 24 and lower rack 27 will drive the upper guide rail 32 and lower guide rail 33 to move in two mutually orthogonal directions; further, the two-way movement of the upper guide rail 32 and lower guide rail 33 will drive the end effector suction cup assembly 4 to move accordingly, realizing the adjustment of the working size of the suction cup end effector; at the same time, since the upper guide rail 32 and lower guide rail 33 expand in two mutually orthogonal directions, the suction cup end effector can further realize large-span picking of sheet metal; furthermore, considering that the power transmission process in the process of converting small torque into large torque through the reducer is irreversible, the brushless motor 2 1. The first reducer 22 and the second reducer 25 are structurally interlocked, thereby ensuring the stability of the suction cup end effector's movement during end-effector span adjustment. Furthermore, considering that the installation position of the end effector suction cup assembly 4 on the outside of the upper guide rail 32 and lower guide rail 33 can be adjusted by the main rod connector 41 and 43 through the slide table 411, slide table 431, and main rod connector fixing holes 412 and 432, the end-effector position and working angle of the end effector suction cups 424 and 444 can be adjusted by... The first quick-release structure 421, the first quick-release structure 431, the second quick-release structure 422, and the second quick-release structure 442 of the end effector suction cup rod 42 and the end effector suction cup rod 43 are adjusted so that the end effector suction cup can pick up different panel materials. Based on the above working process, the end effector can be brought close to the panel material by the robotic arm, and then the negative pressure generated by the valve island 45 is transmitted to the end effector suction cup 424 and the end effector suction cup 444 through the air valve 423 and the air valve 443. The end effector suction cup 424 and the end effector suction cup 444 can accurately pick up panels of different specifications.

[0038] The suction cup end effector of this invention features two quick-release structures for the end-pickup suction cup rod 42, including a first quick-release structure 421 and a second quick-release structure 422, which adjust the relative position of the end-pickup suction cup rod 42 and the main rod connector 41, as well as the working angle of the end-pickup suction cup 424. Similarly, two quick-release structures are provided for the end-pickup suction cup rod 44, including a first quick-release structure 441 and a second quick-release structure 442, which adjust the relative position of the end-pickup suction cup rod 44 and the main rod connector 43, as well as the working angle of the end-pickup suction cup 444, further adapting to the pickup of materials with different panel shapes. The two sets of orthogonally placed guide rails allow the expansion of the suction cup end effector's working dimension to change from a traditional unidirectional expansion to a bidirectional expansion. The structural interlocking of the brushless motor 21, the first reducer 22, and the second reducer 25 ensures the stability of the suction cup end effector during the end-pickup span adjustment process.

[0039] Overall, the suction cup end-feeder can accurately pick up sheet metal of different specifications by adjusting the end-feed span. It has a wide range of adjustable working dimensions, a large end-feed span, and good stability.

[0040] Based on the above embodiments, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification but must be determined according to the scope of the claims.

Claims

1. A suction cup end effector with adjustable end-effector span, comprising a robotic arm connecting platform, a transmission assembly, a directional guide rail assembly, and an end effector suction cup assembly; characterized in that: The robotic arm connection platform is a flange structure used for connecting to the robotic arm. It is equipped with several holes, slots, and sliding platforms. The holes include slots for snap-fit ​​guide rail connectors and valve island fixing holes. The slots include a first reducer slot, a second reducer slot, and a valve island fixing slot. The sliding platform is a guide rail sliding platform. The transmission assembly includes a brushless motor, a reducer, and two sets of meshing gears and racks. The reducer includes a first reducer and a second reducer. The two sets of gears and racks include an upper gear, a lower gear, and a rack assembly. The rack assembly includes an orthogonally arranged upper rack and lower rack. The directional guide rail assembly includes two sets of guide rails. The system includes several snap-fit ​​guide rail connectors. The guide rails include an upper guide rail and a lower guide rail, each equipped with a groove, a groove platform, and several holes. The groove is a guide rail groove, the groove platform is a snap-fit ​​groove platform, and the holes are fixing holes for the main rod connector. The snap-fit ​​guide rail connector is provided with a lubricating oil hole. The end effector suction cup assembly includes a main rod connector that can cooperate with the guide rail, a valve island, and an end effector suction cup rod. The main rod connector is provided with a main rod connector groove platform and a main rod connector fixing hole. The valve island is provided with a valve island fixing hole. The end effector suction cup rod includes a first quick-release structure, a second quick-release structure, a rod body, an air valve, and an end effector suction cup.

2. The suction cup end effector with adjustable end-grab span according to claim 1, characterized in that: The robotic arm connection platform is divided into upper and lower layers. The upper layer is provided with a flange that matches the robotic arm, a first reducer slot, and several holes for the snap-in guide rail connector. The lower layer is provided with a guide rail slide table for fixing and guiding the upper guide rail, a second reducer slot, and several holes for the snap-in guide rail connector. Valve island fixing holes and valve island fixing slots are provided on both sides of the robotic arm connection platform.

3. The suction cup end effector with adjustable end-grab span according to claim 1, characterized in that: The transmission assembly has an upper rack meshing with an upper gear and a lower rack meshing with a lower gear. The brushless motor is connected to the upper gear through a first reducer, transmitting power to the upper rack meshing with the upper gear, thereby driving the upper rack to move. The upper gear is also connected to a second reducer, which is simultaneously connected to the lower gear, further transmitting the power of the brushless motor to the lower rack meshing with the lower gear, thereby driving the lower rack to move.

4. The suction cup end effector with adjustable end-grab span according to claim 1, characterized in that: The upper and lower guide rails of the directional guide rail assembly are each provided with a snap-fit ​​sliding groove platform in the middle section to cooperate with the snap-fit ​​sliding groove, so as to realize the sliding connection between the guide rail and the snap-fit ​​guide rail connector. The inner side planes of the upper and lower guide rails are used to fix and install racks. The lubrication hole on the snap-fit ​​guide rail connector is used for oil passage to realize lubrication at the contact surface between the snap-fit ​​guide rail connector and the snap-fit ​​sliding groove platform.

5. A suction cup end effector with adjustable end-grab span according to claim 1, characterized in that: The end effector suction cup assembly has its end effector suction cup rod mounted on the main rod connector via a first quick-release structure. The air valve and the end effector suction cup are mounted on the rod body via a second quick-release structure. The end effector suction cup rod has a first quick-release structure at its head for adjusting the relative position of the suction cup rod and the main rod connector, and a second quick-release structure at its tail for adjusting the working angle of the end effector suction cup. The first quick-release structure is connected to the second quick-release structure via the rod body.

6. A suction cup end effector with adjustable end-grab span according to claim 2 or 3, characterized in that: The first reducer of the transmission assembly is fixed to the first reducer slot of the robotic arm connection platform via its base, and is then installed on the upper layer of the robotic arm connection platform. The second reducer of the transmission assembly is fixed to the second reducer slot of the robotic arm connection platform via its base, and is then installed on the lower layer of the robotic arm connection platform. Based on this, the connection between the robotic arm connection platform and the transmission assembly is realized.

7. A suction cup end effector with adjustable end-grab span according to claim 3 or 4, characterized in that: The brushless motor of the transmission assembly is connected to the upper gear through the first reducer and the lower gear through the second reducer, which further transmits the power of the brushless motor to the upper and lower gears. The meshing between the gears and racks drives the upper and lower racks to move. The upper and lower guide rails are fixedly installed with the upper and lower racks respectively, thereby realizing the connection between the transmission assembly and the directional guide rail assembly.

8. A suction cup end effector with adjustable end-grab span according to claim 2 or 4, characterized in that: The snap-in guide rail connector of the directional guide rail assembly is inserted between the robotic arm connection platform and the upper and lower guide rails. The snap-in guide rail connector and the robotic arm connection platform are fixedly connected through the snap-in guide rail connector fixing holes. The upper guide rail of the directional guide rail assembly cooperates with the guide rail slide table through the guide rail slide groove provided on its outer side, and cooperates with the snap-in slide groove through the snap-in slide table provided in the middle section of the upper guide rail, so as to realize the sliding connection between the upper guide rail and the snap-in guide rail connector. The lower guide rail of the directional guide rail assembly cooperates with the snap-in slide groove through the snap-in slide table provided in its middle section, so as to realize the sliding connection between the lower guide rail and the snap-in guide rail connector, thereby realizing the connection between the directional guide rail assembly and the robotic arm connection platform.

9. A suction cup end effector with adjustable end-grab span according to claim 4 or 5, characterized in that: The valve island is fixedly installed on both sides of the robotic arm connection platform through valve island fixing holes and valve island fixing slots. The end effector suction cup rod of the end effector suction cup assembly is installed on the main rod connector through the first quick-release structure. The main rod connector has a main rod connector slide groove platform that cooperates with the guide rail slide groove to achieve a sliding connection between it and the guide rail. The fixed position can be adjusted by the guide rail slide groove on the outside of the guide rail, and then the installation position can be locked by the fixing holes of the main rod connector to realize the connection between the end effector suction cup assembly and the directional guide rail assembly.

10. A suction cup end effector with adjustable end-grab span according to claim 1, characterized in that: When picking up sheets of different specifications, the high-speed power of the brushless motor in the transmission component is reduced by the first reducer and then transmitted to the upper gear. The power is further reduced by the second reducer and then transmitted to the lower gear. The rotation of the upper and lower gears respectively drives the upper and lower racks meshing with them to produce corresponding movements. Considering that the upper and lower racks are orthogonally arranged and fixedly installed on the inner planes of the upper and lower guide rails, the corresponding movements of the upper and lower racks will cause the upper and lower guide rails to move in two mutually orthogonal directions. Furthermore, the two-way movement of the upper and lower guide rails drives the end-effector suction cup assembly to move accordingly, realizing the adjustment of the working size of the suction cup end-effector. Simultaneously, due to the mutually orthogonal bidirectional expansion of the upper and lower guide rails, the suction cup end-effector can further achieve large-span picking of the sheet material. Furthermore, considering... Considering the irreversible power transmission process during the conversion of small torque to large torque by the reducer, the brushless motor, the first reducer, and the second reducer are structurally interlocked to ensure the stability of the suction cup end effector's operation during end-effector span adjustment. Furthermore, considering that the installation position of the end effector suction cup assembly on the outer side of the upper and lower guide rails can be adjusted by the main rod connector through the slide table and the fixing holes of the main rod connector, the end-effector suction cup's position and working angle can be adjusted through the first and second quick-release structures of the end effector suction cup rod. The end effector suction cup can pick up materials of different panel sizes. Based on the above working process, the entire end effector can approach the panel material via the robotic arm, thereby transmitting the negative pressure generated by the valve island through the air valve to the end effector suction cup, enabling accurate picking up of panels of different specifications.

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