Composite end effector and self-adjusting system

Abstract

The application discloses a kind of composite end pickers and self-adjusting systems, including two support beams, and two support beams are fixedly connected with mounting seat between, further include two cross beams, two cross beams are slidably arranged on two support beams, and the interval between two cross beams is adjustable, wherein each cross beam is fixedly connected with two L-shaped inserts, the L-shaped insert is sequentially provided with through slot and through hole from top to bottom, the through slot is hingedly connected with swing bar, and the through hole is slidably provided with elastic extrusion part.The cooperation of the above-mentioned structure realizes the process of picking up plate-shaped material, can blow and clean the upper and lower surfaces of plate-shaped material, avoids the influence of impurities or dust adhered to the surface of plate-shaped material on subsequent processing results of plate-shaped material, and can also limit the left and right and upper and lower sides of plate-shaped material during the process of picking up plate-shaped material, avoids the falling of plate-shaped material, so that the process of picking up plate-shaped material is more stable and smooth.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of end effector, in particular to a composite end effector and self-adjusting system. BACKGROUND

[0002] The end effector is a kind of part grabbing mechanism using suction cup to grab, which can realize the grabbing of complex shape workpiece, material placing and stamping part conveying between molds, and is widely used in automation, automobile manufacturing and related industries. When processing plate-shaped materials, the end effector is needed in the early stage to pick up.

[0003] For example, Chinese patent publication No. CN104338867A discloses an end effector, which comprises a control system and a connection system. The control system comprises a frame, a flange, a controller, a female quick-change connector, a male quick-change connector, a plug and a connecting plate. The connection system comprises a connecting seat, a rough rod, an adapter, a fine rod, a rotating arm, a bracket, a suction cup connecting rod and a vacuum suction cup. The end effector has the characteristics of reasonable structure and convenient disassembly, and can realize the rapid movement of different types of stamping plates.

[0004] In the process of picking up plate-shaped materials, the above-mentioned end effector only relies on the vacuum suction cup to adsorb the plate-shaped materials when picking up the plate-shaped materials, which leads to unstable and single fixing mode. The left and right sides and the upper and lower sides of the plate-shaped materials cannot be limited and fixed, which leads to the falling of the plate-shaped materials during picking up. In addition, the upper and lower surfaces of the plate-shaped materials cannot be blown and cleaned during picking up the plate-shaped materials, which leads to the adhesion of impurities or dust on the surface of the plate-shaped materials, and affects the subsequent processing results of the plate-shaped materials. SUMMARY

[0005] The first object of the present application is to provide a composite end effector, which can blow and clean the upper and lower surfaces of the plate-shaped materials during picking up the plate-shaped materials, avoid the adhesion of impurities or dust on the surface of the plate-shaped materials affecting the subsequent processing results of the plate-shaped materials, and limit the left and right sides and the upper and lower sides of the plate-shaped materials during picking up the plate-shaped materials, so as to avoid the falling of the plate-shaped materials and make the picking up process of the plate-shaped materials more stable and smooth. The problems in the background art can be solved.

[0006] To achieve the above-mentioned object, the present application provides the following technical scheme: a composite end effector, comprising two supporting beams, and a mounting seat fixedly connected between the two supporting beams, two cross beams slidingly arranged on the two supporting beams, and the spacing between the two cross beams being adjustable, wherein two L-shaped plugs are fixedly connected to each cross beam, a through slot and a through hole are sequentially formed in each L-shaped plug from top to bottom, a swing rod is hinged in the through slot, and an elastic extrusion part is slidingly arranged in the through hole.

[0007] A support plate is fixedly connected to the L-shaped insert plate. A through hole is provided on the support plate, and a pressing part is slidably arranged in the through hole. When the two crossbeams drive the L-shaped insert plate to fix the plate-shaped material, the plate-shaped material will squeeze the elastic pressing part. The elastic pressing part will push the swing rod to swing. The swing of the swing rod will push the pressing part to press and fix the plate-shaped material. A negative pressure part is provided on the mounting base. A suction cup part and a blowing part are provided on the negative pressure part.

[0008] In some embodiments, two sliding sleeves are fixedly connected to the crossbeam, and the sliding sleeves are slidably fitted onto the support beam.

[0009] In some implementations, two hydraulic cylinders are fixedly installed between the two crossbeams, and the output ends of the two hydraulic cylinders are respectively connected to different crossbeams.

[0010] In some embodiments, the elastic compression part includes a movable rod slidably disposed in a through hole, one end of the movable rod being fixedly connected to a compression plate, and the other end of the movable rod being hinged to a first transmission rod, the top end of the first transmission rod being hinged to the bottom end of a swing rod, and a spring being sleeved on the movable rod.

[0011] In some embodiments, the pressing part includes a pressing rod slidably disposed in a through hole, a pressing plate fixedly connected to the bottom end of the pressing rod, and a second transmission rod hinged to the top end of the pressing rod, the top end of the second transmission rod being hinged to the top end of the swing rod.

[0012] In some embodiments, the ends of the L-shaped insert are inclined, and multiple grooves are provided on the upper surface of the L-shaped insert and the lower surface of the lower pressure plate. Roller balls for reducing friction with the plate-shaped material are rolled in the grooves.

[0013] In some embodiments, the negative pressure unit includes an electric push rod, a disc, a fan, a Laval nozzle, and a connecting pipe. The electric push rod is fixedly connected to the mounting base, the disc is fixedly connected to the bottom end of the electric push rod, the air inlet of the Laval nozzle is connected to the air outlet of the fan, and the air outlet of the Laval nozzle is connected to the connecting pipe.

[0014] In some embodiments, the suction cup portion includes at least two rigid tubes and a suction cup, the rigid tubes being connected to the air outlet end of the Laval nozzle, and the suction cups being fixedly installed on the bottom end of the rigid tubes.

[0015] In some embodiments, the blowing part includes two telescopic hoses and a square tube, both of the telescopic hoses are in communication with the connecting tube, the square tube is fixedly installed between the two L-shaped plugs, and the square tube and the telescopic hoses are in communication, a plurality of air outlets are formed in the square tube, and the two square tubes are arranged in a staggered manner, one of the square tubes is used for blowing and removing impurities on the lower surface of the plate-shaped material, and the other square tube is used for blowing and removing impurities on the upper surface of the plate-shaped material.

[0016] The second object of the present application is to provide a self-adjusting system applied to a composite end picker, which comprises a self-adjusting unit configured with a self-adjusting strategy, and the self-adjusting strategy is configured with a self-adjusting step, and the self-adjusting step comprises:

[0017] Step one: the lower pressing part presses the plate-shaped material, and the suction cup part adsorbs and fixes the plate-shaped material;

[0018] Step two: the two cross beams drive the L-shaped plugs to move to fix the plate-shaped material, the plate-shaped material presses the elastic extrusion part, the elastic extrusion part pushes the swing lever to swing, and the swing of the swing lever pushes the lower pressing part to press and fix the plate-shaped material.

[0019] Compared with the prior art, the present application has the following advantages:

[0020] 1. By arranging the electric push rod, the disc, the connecting tube, the Laval nozzle, the fan, the hard tube and the suction cup, under the action of the electric push rod, the suction cup is pushed to move downward and contact the plate-shaped material, the airflow speed at the tail end of the Laval nozzle is greater than that at the front end, which leads to a decrease in the air pressure at the tail end, when the speed difference between the two ends reaches a certain degree, the air pressure at the tail end will be lower than the pressure in the hard tube, under the action of the atmospheric pressure, the air in the suction cup and the hard tube will be sucked into the connecting tube, under the action of the electric push rod, the suction cup is pushed to move upward and contact the plate-shaped material, so that the suction cup can adsorb and fix the plate-shaped material, and then under the action of the electric push rod, the plate-shaped material is lifted.

[0021] 2. By arranging the square tube, the air outlet and the telescopic hose, the telescopic hose has the properties of telescoping and extending, which will not hinder the upward and downward movement of the suction cup driven by the electric push rod, the air blown by the fan after being accelerated by the Laval nozzle and the air sucked by the negative pressure from the hard tube and the suction cup will enter the square tube through the connecting tube and the telescopic hose, and then be sprayed through the air outlets, and the two square tubes are arranged in a staggered manner, one of the square tubes is used for blowing and removing impurities on the lower surface of the plate-shaped material, and the other square tube is used for blowing and removing impurities on the upper surface of the plate-shaped material.

[0022] 3. The output ends of the two hydraulic cylinders are connected with the two cross beams respectively, starting the two hydraulic cylinders will make the two cross beams move closer to or farther away from each other, so as to drive the two L-shaped plugs on the cross beams to move, which is convenient for the L-shaped plugs to be inserted into the lower part of the plate-shaped material lifted by the suction cup.

[0023] 4、Through the setting of the L-shaped plug-in plate, the through slot, the moving rod, the extrusion plate, the spring, the first transmission rod, the swing rod, the second transmission rod, the downward pressing rod and the downward pressing plate, when the suction plate adsorbs the hoisting plate-shaped material and moves up to the appropriate position, two hydraulic cylinders are started to drive two cross beams to move close to each other, so that the L-shaped plug-in plate moves close to the plate-shaped material, in the process of moving close to the plate-shaped material, the plate-shaped material will overcome the elastic force of the spring to extrude the extrusion plate, the extrusion plate will push the moving rod to move, under the transmission of the first transmission rod, the swing rod will be pushed to swing, under the action of the second transmission rod, the downward pressing rod and the downward pressing plate will be pushed to move downward to press and fix the plate-shaped material, the left and right and the upper and lower sides of the plate-shaped material are limited, the falling of the plate-shaped material is avoided, and the process of picking up the plate-shaped material is more stable and smooth. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is a structural schematic view of the present application;

[0025] Figure 2 It is a structural schematic view of the cross beam, the support beam and the L-shaped plug-in plate of the present application;

[0026] Figure 3 It is a structural schematic view of the negative pressure part, the suction plate part and the blowing part of the present application;

[0027] Figure 4 It is a structural schematic view of the elastic extrusion part and the downward pressing part of the present application;

[0028] Figure 5 It is a structural schematic view of the L-shaped plug-in plate and the elastic extrusion part of the present application;

[0029] Figure 6 It is a structural schematic view of the downward pressing part of the present application;

[0030] Figure 7 It is an enlarged view of the structure at A of the present application.

[0031] In the figure: 1, support beam; 2, mounting seat; 3, cross beam; 4, L-shaped plug-in plate; 5, through slot; 6, swing rod; 7, elastic extrusion part; 71, moving rod; 72, extrusion plate; 73, first transmission rod; 74, spring; 8, support plate; 9, downward pressing part; 91, downward pressing rod; 92, downward pressing plate; 93, second transmission rod; 10, plate-shaped material; 11, negative pressure part; 1101, electric push rod; 1102, disc; 1103, fan; 1104, Laval nozzle; 1105, connecting pipe; 12, suction plate part; 1201, hard pipe; 1202, suction plate; 13, blowing part; 1301, flexible hose; 1302, square pipe; 14, sliding sleeve; 15, hydraulic cylinder; 16, ball. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0033] Embodiment: please refer to Figures 1 to 7 A composite material end picker comprises two support beams 1, a mounting seat 2 fixedly connected between the two support beams 1, and two cross beams 3 slidingly arranged on the two support beams 1 and adjustable in spacing between the two cross beams 3, wherein two L-shaped plugs 4 are fixedly connected to each cross beam 3, the L-shaped plugs 4 are sequentially provided with a through slot 5 and a through hole from top to bottom, a swing rod 6 is hingedly connected in the through slot, and an elastic extrusion part 7 is slidingly arranged in the through hole.

[0034] The support beams 1 and the cross beams 3 are made of high-performance materials such as glass fiber composite material and carbon fiber composite material, which reduces the overall weight of the end picker and has the advantages of high strength, low thermal conductivity, fatigue resistance, long service life, etc.

[0035] The composite material profile reduces the weight by about 39% compared with the low-weight aluminum profile, increases the bending stiffness by 6% compared with the high-stiffness aluminum profile, and reduces the total weight of the profile by 45%; the overall structural performance of the composite material end picker can be maintained without replacing the aluminum profile.

[0036] The L-shaped plug 4 is fixedly connected with a support plate 8, the support plate 8 is provided with a through hole, and a pressing part 9 is slidingly arranged in the through hole. When the two cross beams 3 drive the L-shaped plug 4 to fix the plate-shaped material 10, the plate-shaped material 10 will extrude the elastic extrusion part 7, the elastic extrusion part 7 will push the swing rod 6 to swing, and the swing of the swing rod 6 will push the pressing part 9 to press and fix the plate-shaped material 10. The mounting seat 2 is provided with a negative pressure part 11, the negative pressure part 11 is provided with a suction cup part 12 and a blowing part 13.

[0037] The negative pressure part 11 generates negative pressure, so that the suction cup 1202 has adsorptivity, and the blowing part 13 can blow and clean the upper and lower surfaces of the plate-shaped material 10 during the process that the suction cup part 12 adsorbs the plate-shaped material 10 and moves upward, so as to avoid that the impurities or dust adhered to the surface of the plate-shaped material 10 affect the subsequent processing result of the plate-shaped material 10. During the process that the two cross beams 3 move close to each other, the L-shaped inserting plate 4 moves close to the plate-shaped material 10. During the process that the L-shaped inserting plate 4 moves close to the plate-shaped material 10, the plate-shaped material 10 will extrude the elastic extrusion part 7, the elastic extrusion part 7 will push the swing lever 6 to swing, the swing of the swing lever 6 will push the pressing part 9 to press and fix the plate-shaped material 10, and the left and right and upper and lower sides of the plate-shaped material 10 are limited, so as to avoid the falling of the plate-shaped material 10, and the process of picking up the plate-shaped material 10 is more stable and smooth.

[0038] The cross beam 3 is fixedly connected with two sliding sleeves 14, the sliding sleeve 14 is slidably arranged on the supporting beam 1, two hydraulic cylinders 15 are fixedly installed between the two cross beams 3, and the output ends of the two hydraulic cylinders 15 are respectively connected with different cross beams 3. Through the output ends of the two hydraulic cylinders 15 connected with the two cross beams 3 respectively, starting the two hydraulic cylinders 15 will make the two cross beams 3 move close to or away from each other, so as to drive the two L-shaped inserting plates 4 on the cross beam 3 to move, and the L-shaped inserting plate 4 is inserted into the lower part of the plate-shaped material 10 sucked and lifted by the suction cup 1202.

[0039] The elastic extrusion part 7 comprises a moving rod 71 slidably arranged in the through hole, one end of the moving rod 71 is fixedly connected with an extrusion plate 72, the other end of the moving rod 71 is hingedly connected with a first transmission rod 73, the top end of the first transmission rod 73 is hingedly connected with the bottom end of the swing lever 6, and a spring 74 is sleeved on the moving rod 71. The pressing part 9 comprises a pressing rod 91 slidably arranged in the through hole, the bottom end of the pressing rod 91 is fixedly connected with a pressing plate 92, and the top end of the pressing rod 91 is hingedly connected with a second transmission rod 93. The top end of the second transmission rod 93 is hingedly connected with the top end of the swing lever 6.

[0040] When the suction cup 1202 adsorbs the plate-shaped material 10 and moves upward to the appropriate position, the two hydraulic cylinders 15 are started to drive the two cross beams 3 to move close to each other, so that the L-shaped inserting plate 4 moves close to the plate-shaped material 10. During the process that the L-shaped inserting plate 4 moves close to the plate-shaped material 10, the plate-shaped material 10 will extrude the extrusion plate 72 against the elastic force of the spring 74, the extrusion plate 72 will push the moving rod 71 to move, under the transmission of the first transmission rod 73, the swing lever 6 will swing, under the transmission of the second transmission rod 93, the swing of the swing lever 6 will push the pressing rod 91 and the pressing plate 92 to move downward to press and fix the plate-shaped material 10, and the left and right and upper and lower sides of the plate-shaped material 10 are limited, so as to avoid the falling of the plate-shaped material 10, and the process of picking up the plate-shaped material 10 is more stable and smooth.

[0041] The end of the L-shaped plug plate 4 is inclined, and a plurality of grooves are formed on the upper surface of the L-shaped plug plate 4 and the lower surface of the lower pressing plate 92, and a plurality of rolling balls 16 for reducing the friction with the plate-shaped material 10 are rolling connected in the grooves. The rolling balls 16 reduce the friction between the L-shaped plug plate 4, the lower pressing plate 92 and the plate-shaped material 10, so that the L-shaped plug plate 4 is more stable and smooth when it is inserted into and removed from below the plate-shaped material 10.

[0042] The negative pressure part 11 comprises an electric push rod 1101, a disc 1102, a fan 1103, a Laval nozzle 1104 and a connecting pipe 1105. The electric push rod 1101 is fixedly connected to the mounting seat 2, and the disc 1102 is fixedly connected to the bottom end of the electric push rod 1101. The air inlet end of the Laval nozzle 1104 is connected to the air outlet end of the fan 1103, and the air outlet end of the Laval nozzle 1104 is connected to the connecting pipe 1105. The Laval nozzle is an important component of the thrust chamber. The front half of the nozzle is contracted to a narrow throat from large to small to the middle. After the narrow throat, it is expanded to the arrow bottom from small to large. The gas in the arrow body flows into the front half of the nozzle under high pressure, and escapes from the rear half after passing through the narrow throat. This structure can change the speed of the gas flow due to the change of the jet cross-sectional area, so that the gas flow changes from subsonic speed to sonic speed, and then accelerates to supersonic speed. Therefore, people call this horn-shaped nozzle a transonic nozzle. The suction cup part 12 comprises at least two hard pipes 1201 and a suction cup 1202. The hard pipes 1201 are connected to the air outlet end of the Laval nozzle 1104, and the suction cup 1202 is fixedly installed at the bottom end of the hard pipes 1201. Under the action of the electric push rod 1101, the suction cup 1202 is pushed downward to contact the plate-shaped material 10. The gas flow speed at the end of the Laval nozzle 1104 is greater than that at the front end, which leads to a decrease in the end gas pressure. When the flow speed difference between the front and rear ends reaches a certain degree, the end gas pressure will be lower than the pressure in the hard pipes. Under the action of atmospheric pressure, the air in the suction cup 1202 and the hard pipes 1201 will be sucked into the connecting pipe 1105. Under the action of the electric push rod 1101, the suction cup 1202 is pushed downward to contact the plate-shaped material 10, so that the suction cup 1202 can adsorb and fix the plate-shaped material 10. Then, under the action of the electric push rod 1101, the plate-shaped material 10 is lifted up.

[0043] The blowing part 13 includes two telescopic hoses 1301 and square tubes 1302, the two telescopic hoses 1301 are communicated with the connecting pipe 1105, the square tubes 1302 are fixedly installed between the two L-shaped plugs 4 and communicated with the telescopic hoses 1301, a plurality of air outlets are formed in the square tubes 1302, and the two square tubes 1302 are arranged in a staggered mode, one is used for blowing and removing impurities on the lower surface of the plate-shaped material 10, and the other is used for blowing and removing impurities on the upper surface of the plate-shaped material 10; the telescopic hose 1301 has telescopic and extension properties and does not hinder the up-down movement of the suction disc 1202 driven by the electric push rod 1101; the air blown by the fan 1103 is accelerated through the Laval nozzle 1104 and then extracted from the hard pipe 1201 and the suction disc 1202 under negative pressure, enters the square tube 1302 through the connecting pipe 1105 and the telescopic hose 1301, and is sprayed through the air outlet, and the two square tubes 1302 are arranged in a staggered mode, one is used for blowing and removing impurities on the lower surface of the plate-shaped material 10, and the other is used for blowing and removing impurities on the upper surface of the plate-shaped material 10.

[0044] A self-adjusting system applied to a composite material end picker, comprising a self-adjusting unit, the self-adjusting unit is configured with a self-adjusting strategy, the self-adjusting strategy is configured with a self-adjusting step, and the self-adjusting step is specifically as follows:

[0045] Under the action of the electric push rod 1101, the suction disc 1202 is pushed to move downward and contact the plate-shaped material 10, the airflow velocity at the tail end of the Laval nozzle 1104 is greater than that at the front end, which leads to a decrease in the air pressure at the tail end; when the flow rate difference between the two ends reaches a certain degree, the air pressure at the tail end will be lower than that in the hard pipe, and under the action of the atmospheric pressure, the air in the suction disc 1202 and the hard pipe 1201 will be sucked into the connecting pipe 1105; under the action of the electric push rod 1101, the suction disc 1202 is pushed to move downward and contact the plate-shaped material 10, so that the suction disc 1202 can adsorb and fix the plate-shaped material 10; then under the action of the electric push rod 1101, the plate-shaped material 10 is lifted to the appropriate position, the two hydraulic cylinders 15 are started, the two cross beams 3 are driven to move close to each other, the L-shaped plug 4 moves close to the plate-shaped material 10, the plate-shaped material 10 overcomes the elastic force of the spring 74 and presses the pressing plate 72, the pressing plate 72 pushes the moving rod 71 to move, under the action of the first transmission rod 73, the swinging rod 6 swings, under the action of the second transmission rod 93, the lower pressing rod 91 and the lower pressing plate 92 move downward and press and fix the plate-shaped material 10, the left and right sides and the upper and lower sides of the plate-shaped material 10 are limited, the falling of the plate-shaped material 10 is avoided, and the process of picking up the plate-shaped material 10 is more stable and smooth.

[0046] While embodiments of the application have been shown and described, it is to be understood that the embodiments described are merely exemplary of the principles and application of the present application. Numerous modifications and adaptions can be effected without departing from the spirit and scope of the present application, which is not limited to the exact construction and arrangement described. It is intended, therefore, to cover all modifications and adaptions that fall within the scope of the claims and their equivalents.

Claims

1. A composite material end picker, comprising two support beams (1), and a mounting seat (2) fixedly connected between the two support beams (1), characterized in that: Two cross beams (3) are slidably arranged on the two support beams (1), and the distance between the two cross beams (3) is adjustable, wherein two L-shaped insertion plates (4) are fixedly connected to each cross beam (3), the L-shaped insertion plate (4) is sequentially provided with a through slot (5) and a through hole from top to bottom, a swing rod (6) is hinged in the through slot (5), and an elastic extrusion part (7) is slidably arranged in the through hole. A support plate (8) is fixedly connected to the L-shaped insertion plate (4), the support plate (8) is provided with a through hole, and a pressing part (9) is slidably arranged in the through hole; when the two cross beams (3) drive the L-shaped insertion plate (4) to move to fix the plate-shaped material (10), the plate-shaped material (10) extrudes the elastic extrusion part (7), the elastic extrusion part (7) drives the swing rod (6) to swing, the swing of the swing rod (6) drives the pressing part (9) to press and fix the plate-shaped material (10), and a negative pressure part (11) is arranged on the mounting seat (2), and a sucking disc part (12) and a blowing part (13) are arranged on the negative pressure part (11).

2. A composite stylus according to claim 1, wherein: Two sliding sleeves (14) are fixedly connected to the cross beam (3) and slidably arranged on the support beam (1).

3. The composite stylus of claim 1, wherein: Two hydraulic cylinders (15) are fixedly arranged between the two cross beams (3), and the output ends of the two hydraulic cylinders (15) are respectively connected with different cross beams (3).

4. The composite stylus of claim 1, wherein: The elastic extrusion part (7) comprises a moving rod (71) slidably arranged in the through hole, one end of the moving rod (71) is fixedly connected with an extrusion plate (72), the other end of the moving rod (71) is hinged with a first transmission rod (73), the top end of the first transmission rod (73) is hinged with the bottom end of the swing rod (6), and a spring (74) is sleeved on the moving rod (71).

5. The composite stylus of claim 1, wherein: The pressing part (9) comprises a pressing rod (91) slidably arranged in the through hole, the bottom end of the pressing rod (91) is fixedly connected with a pressing plate (92), the top end of the pressing rod (91) is hinged with a second transmission rod (93), and the top end of the second transmission rod (93) is hinged with the top end of the swing rod (6).

6. A composite stylus according to claim 5, wherein: The end of the L-shaped insertion plate (4) is obliquely arranged, a plurality of grooves are arranged on the upper surface of the L-shaped insertion plate (4) and the lower surface of the pressing plate (92), and a plurality of rolling balls (16) for reducing the friction with the plate-shaped material (10) are rolling connected in the grooves.

7. The composite stylus of claim 1, wherein: The negative pressure part (11) comprises an electric push rod (1101), a disc (1102), a fan (1103), a Laval nozzle (1104) and a connecting pipe (1105), the electric push rod (1101) is fixedly connected to the mounting seat (2), the disc (1102) is fixedly connected to the bottom end of the electric push rod (1101), the air inlet end of the Laval nozzle (1104) is connected with the air outlet end of the fan (1103), and the air outlet end of the Laval nozzle (1104) is connected with the connecting pipe (1105).

8. A composite stylus according to claim 7, wherein: The suction cup part (12) comprises no less than two hard pipes (1201) and suction cups (1202), the hard pipes (1201) are communicated and arranged on the air outlet end of the Laval nozzle (1104), and the suction cups (1202) are fixedly installed on the bottom end of the hard pipes (1201).

9. A composite stylus according to claim 8, wherein: The air blowing part (13) comprises two telescopic hoses (1301) and square pipes (1302), the two telescopic hoses (1301) are communicated and arranged on the connecting pipe (1105), the square pipes (1302) are fixedly installed between the two L-shaped plug boards (4), the square pipes (1302) and the telescopic hoses (1301) are communicated, a plurality of air outlet holes are formed in the square pipes (1302), and the two square pipes (1302) are arranged in a staggered mode, one is used for blowing and removing impurities on the lower surface of the plate-shaped material (10), and the other is used for blowing and removing impurities on the upper surface of the plate-shaped material (10).

10. A self-adjusting system for use in the composite end effector of any one of claims 1-9, wherein: The self-adjusting unit is configured with a self-adjusting strategy, and the self-adjusting strategy is configured with a self-adjusting step. Step one: the lower pressing part (9) presses the plate-shaped material (10), and the suction cup part (12) adsorbs and fixes the plate-shaped material (10); Step two: the two cross beams (3) drive the L-shaped plug board (4) to move and fix the plate-shaped material (10), the plate-shaped material (10) extrudes the elastic extrusion part (7), the elastic extrusion part (7) drives the swing lever (6) to swing, and the swing of the swing lever (6) drives the lower pressing part (9) to press and fix the plate-shaped material (10).

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