Strain gauge mounting end effector with two types of suction heads capable of being mutually converted

Abstract

The invention relates to the technical field of machinery, in particular to a strain gauge mounting end effector with two mutually-convertible suction heads, which comprises a mounting frame, two suction heads, a clamping mechanism, a clamping mechanism and a clamping mechanism, the two connecting pieces are fixedly mounted at the two ends of the mounting frame respectively; the two suction head mechanisms are respectively used for sucking and pressing the strain gauges with different sizes; the turnover mechanism and the mounting frame are mounted on the turnover mechanism, the turnover mechanism is used for switching the two suction head mechanisms and enabling the suction head mechanism used after each turnover to be kept coaxial with the mechanical arm, the two suction head mechanisms are adopted to suck the strain gauge and then press the strain gauge, the reliability of strain gauge mounting is improved, and the production efficiency is improved. According to the invention, a special overturning structure design is adopted, so that no matter which suction head mechanism works, the suction head mechanism and the tail end of the mechanical arm are kept coaxial, the precision requirement of strain gauge suction is met, and the control of the mechanical arm to the end effector is simplified.

Description

Technical Field

[0001] The present invention relates to the field of mechanical technology, and in particular, to a strain gauge mounting end effector with mutual conversion between two types of suction heads. Background Art

[0002] In the fields of industrial production, intelligent manufacturing, and precision measurement, the high-precision requirements of sensors have become particularly important. As one of the core components of sensors, the quality of strain gauge patching directly affects the reliability and accuracy of sensors. However, the current strain gauge patching process mainly relies on manual operation, which has a large workload and a complex process, resulting in difficult control of accuracy and consistency, thereby affecting the measurement performance of sensors. At the same time, the repetitive work of manual operation is prone to operation fatigue, which in turn leads to unstable patching positions or sticking deviations. In addition, the traditional patching process has high requirements for the operating environment, such as cleanliness control and manual stability, which increases the overall production cost. Therefore, developing an end effector for precise strain gauge patching is of great significance for improving the overall manufacturing level. The automated production of sensors is rapidly developing towards higher efficiency and higher precision, and the research and development of this end effector will also provide the necessary technical support for realizing the full automation and high-precision production of the manufacturing industry.

[0003] During the automatic patching process of strain gauges, most of the existing patching equipment can only complete simple and fixed operations, lacking sufficient flexibility and intelligence level, and it is difficult to adapt to the changing production environment and complex patching requirements. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a strain gauge mounting end effector with mutual conversion between two types of suction heads, which has the advantages of high patching accuracy, simple structure, high working efficiency, and wide applicability.

[0005] To solve the above technical problems, the present invention adopts the following technical solutions:

[0006] A strain gauge mounting end effector with mutual conversion between two types of suction heads, which includes:

[0007] A mounting frame;

[0008] Two connecting pieces, which are respectively fixedly installed at both ends of the mounting frame;

[0009] Two suction head mechanisms, which are respectively installed on the two connecting pieces, and the two suction head mechanisms are respectively used for sucking and pressing strain gauges of different sizes;

[0010] The flipping mechanism, on which the mounting bracket is installed, is used to switch between two suction head mechanisms and ensure that the suction head mechanism used after each flip is coaxial with the robotic arm.

[0011] Preferably, the flipping mechanism includes a cylinder support frame, a cylinder fixedly installed on one inner wall of the cylinder support frame, a flange plate installed on the rotating shaft of the cylinder, and a flange seat installed on the flange plate.

[0012] Furthermore, the flange plate and the flange seat form a connection structure, and this connection structure includes an air passage hole in the middle for the introduction of an air pipe.

[0013] Even further, a robotic arm end flange seat for connecting with the robotic arm is fixedly installed on the outer surface of the other side of the cylinder support frame.

[0014] Even further, the included angle of the cylinder support frame is 120°, which can ensure that the suction head mechanism working after each flip is coaxial with the end of the robotic arm.

[0015] Even further, the mounting bracket is installed on the flange seat.

[0016] Even further, the suction head mechanism includes a fixed cylinder fixedly installed on a connecting piece and a suction head shaft slidably installed inside the fixed cylinder.

[0017] Even further, a stabilizing mechanism is provided on the suction head shaft and the fixed cylinder. The stabilizing mechanism includes a lower fixing ring fixedly installed on the outer surface of the suction head shaft, an upper fixing ring slidably installed on the outer surface of the fixed cylinder, and a connecting rod fixedly connected to the upper fixing ring and the lower fixing ring.

[0018] Even further, a spring is sleeved on the outer surface of the fixed cylinder. One end of the spring is fixedly connected to the upper fixing ring, and the other end of the spring is fixedly connected to the connecting piece.

[0019] Even further, air passage holes are respectively provided in the middle of the connecting piece and the mounting bracket for the introduction of an air pipe.

[0020] Advantages of the present invention:

[0021] The present invention uses two suction head mechanisms to pick up the strain gauges and then press them, improving the reliability of strain gauge mounting. The present invention adopts a special flipping structure design to ensure that no matter which suction head mechanism is working, it is coaxial with the end of the robotic arm, so as to meet the accuracy requirements for strain gauge picking and also simplify the control of the robotic arm over this end effector.

[0022] Through the arrangement of the spring, the present invention can completely convert the pressure of the suction head mechanism on the workpiece into the force of the spring, ensuring the stress range of the workpiece, preventing the workpiece from being damaged, effectively protecting the strain gauge during the mounting process, and at the same time, by arranging a stabilizing mechanism on the suction head mechanism, it is possible to avoid the shaking at the end of the suction head mechanism caused by the spring. The overall structure of the present invention is simple and easy to maintain, with high mounting accuracy. On the basis of ensuring work safety, the mounting efficiency is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 is a three-dimensional structure schematic diagram of the present invention.

[0025] Figure 2 is a three-dimensional schematic diagram of the suction head mechanism of the present invention.

[0026] Figure 3 is a three-dimensional schematic diagram of the flipping mechanism of the present invention.

[0027] Figure 4 is a three-dimensional schematic diagram of the mounting bracket of the present invention.

[0028] Figure 5 is a motion schematic diagram of the flipping mechanism of the present invention.

[0029] Explanation of the reference numerals in the drawings: 1. Mounting bracket; 2. Connecting piece; 3. Suction head mechanism; 4. Flipping mechanism; 301. Fixed cylinder; 302. Suction head shaft; 303. Stabilizing mechanism; 401. Cylinder support frame; 402. Cylinder; 403. Flange; 404. Flange seat; 405. Flange seat at the end of the robotic arm; 3031. Lower fixing ring; 3032. Upper fixing ring; 3033. Connecting rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0030] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0031] It should be understood that when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, wholes, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0032] It should also be understood that the terms used in this specification of the present invention are for the purpose of describing specific embodiments only and are not intended to limit the present invention. As used in this specification of the present invention and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0033] It should be further understood that the term "and / or" used in this specification of the present invention and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0034] Embodiment 1

[0035] Please refer to Figures 1-5 As shown, a strain gauge mounting end effector with mutual conversion between two suction heads includes a mounting frame 1, two connecting members 2, two suction head mechanisms 3, and a flipping mechanism 4. The two connecting members 2 are respectively fixedly installed at both ends of the mounting frame 1. The two suction head mechanisms 3 are respectively installed on the two connecting members 2. The mounting frame 1 makes the included angle between the two suction head mechanisms 3 be 120°. The two suction head mechanisms 3 are respectively used for sucking and pressing strain gauges of different sizes. The mounting frame 1 is installed on the flipping mechanism 4. The flipping mechanism 4 is used to convert the two suction head mechanisms 3 and make the suction head mechanism 3 used after each flip be coaxial with the robotic arm.

[0036] The present invention can install two suction head mechanisms 3 by setting two connecting members 2. The suction heads of the two suction head mechanisms 3 can use suction heads of different sizes (the rest of the structures are the same), so that the two suction head mechanisms 3 are respectively a large-end suction head mechanism 3 and a small-end suction head mechanism 3, thereby enabling the two suction head mechanisms 3 to work for strain gauges of different sizes. The present invention uses two suction head mechanisms 3 to suck the strain gauges and then press them, improving the reliability of strain gauge mounting. The present invention adopts a special flipping structure design to ensure that no matter which suction head mechanism 3 is working, it is coaxial with the end of the robotic arm, so as to meet the accuracy requirements for strain gauge suction and also simplify the control of the robotic arm for this end effector.

[0037] Specifically, the flipping mechanism 4 of the present invention includes a cylinder support frame 401, a cylinder 402 fixedly installed on one inner wall of the cylinder support frame 401, a flange plate 403 installed on the rotating shaft of the cylinder 402, and a flange seat 404 installed on the flange plate 403. The mounting bracket 1 is installed on the flange seat 404;

[0038] The flange plate 403 and the flange seat 404 form a connection structure, and this connection structure includes an air passage hole in the middle for the introduction of an air pipe;

[0039] On the outer surface of the other side of the cylinder support frame 401, a robotic arm end flange seat 405 for connecting with the robotic arm is fixedly installed. Through the robotic arm end flange seat 405, the strain gauge mounting end effector for converting between the two suction heads is integrally installed on the robotic arm;

[0040] The included angle of the cylinder support frame 401 is 120°. The cylinder support frame 401 of the present invention adopts a special structural design, and together with the mounting bracket 1, the included angle between the two suction head mechanisms 3 is 120°. When the cylinder 402 drives the mounting bracket 1 to rotate 180° to switch the suction head mechanism 3, the suction head mechanism 3 to work after each flip can be coaxial with the end of the robotic arm, thus ensuring the accuracy requirements for strain gauge suction. At the same time, it can also simplify the control of the robotic arm over this end effector;

[0041] The suction head mechanism 3 includes a fixed cylinder 301 fixedly installed on the connecting member 2 and a suction head shaft 302 slidably installed inside the fixed cylinder 301;

[0042] A stabilizing mechanism 303 is provided on the suction head shaft 302 and the fixed cylinder 301. The stabilizing mechanism 303 includes a lower fixing ring 3031 fixedly installed on the outer surface of the suction head shaft 302, an upper fixing ring 3032 slidably installed on the outer surface of the fixed cylinder 301, and a connecting rod 3033 fixedly connected to the upper fixing ring 3032 and the lower fixing ring 3031;

[0043] A spring (not shown in the figure) is sleeved on the outer surface of the fixed cylinder 301. One end of the spring is fixedly connected to the upper fixing ring 3032, and the other end of the spring is fixedly connected to the connecting member 2. There is a gap between the spring and the fixed cylinder 301;

[0044] When the suction head mechanism 3 is pressed against the strain gauge, at the moment when the suction head mechanism 3 comes into contact with the strain gauge, the suction head mechanism 3 can prevent the damage of the strain gauge caused by pressing the strain gauge under the action of the spring. That is, during the pressing process, the suction head shaft 302 will slide upward. During the upward sliding process of the suction head shaft 302, it can drive the lower fixing ring 3031 to slide upward synchronously. During the upward sliding process of the lower fixing ring 3031, it can drive the connecting rod 3033 to slide upward. During the upward sliding process of the connecting rod 3033, it can drive the upper fixing ring 3032 to slide upward on the outer surface of the fixed cylinder 301. During the upward sliding process of the upper fixing ring 3032 on the outer surface of the fixed cylinder 301, it will compress the spring. At the same time, with the cooperative setting of the lower fixing ring 3031, the upper fixing ring 3032 and the connecting rod 3033, it can prevent the suction head shaft 302 from shaking during the upward movement, so that the suction head mechanism 3 is in a stable state during the working process;

[0045] Through the setting of the spring in the present invention, the pressure of the suction head mechanism 3 on the workpiece can be completely converted into the force of the spring, ensuring the force range of the workpiece and preventing the workpiece from being damaged. During the mounting process, the strain gauge is effectively protected. At the same time, by providing a stabilizing mechanism 303 on the suction head mechanism 3, it is possible to avoid the shaking at the end of the suction head mechanism 3 caused by the spring.

[0046] Air holes are provided in the middle of both the connecting member 2 and the mounting bracket 1 for introducing the air pipe.

[0047] In summary, the overall structure of the present invention is simple and easy to maintain, with high mounting accuracy. On the basis of ensuring work safety, the mounting efficiency is effectively improved.

[0048] The method for the strain gauge mounting end effector with two suction heads of the present invention being convertible to each other includes the following steps:

[0049] Step 1: At the start of the process, the external device identifies the size of the strain gauge, and the flipping mechanism 4 controls the use of the large-end suction head mechanism 3 or the small-end suction head mechanism 3;

[0050] Step 2: The external robotic arm drives the actuator to move to the tray containing the strain gauges;

[0051] Step 3: The external robotic arm drives the actuator to descend. When the suction head mechanism 3 reaches above the strain gauge, the air pump is started, and the suction head mechanism 3 generates negative pressure with the strain gauge to suck the strain gauge;

[0052] Step 4: The external robotic arm drives the actuator to move to the target position of the workpiece (pre-sprayed with AB glue);

[0053] Step 5: The external robotic arm drives the actuator to descend. When the suction head mechanism 3 reaches the working position, the air pump is turned off, and the strain gauge reaches the working position;

[0054] Step 6: The external robotic arm drives the actuator to continue to descend, and the suction head mechanism 3 presses onto the strain gauge, applying a pressing force to the strain gauge through a spring;

[0055] Step 7: The external robotic arm drives the actuator to leave, and the mounting of the strain gauge is completed.

[0056] As described above, only the specific embodiments of the present invention are provided, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A strain gauge mounting end effector with mutual conversion between two types of suction heads, characterized in that: The strain gauge mounting end effector for the mutual conversion of these two suction heads includes: A mounting bracket (1); Two connecting pieces (2), and the two connecting pieces (2) are respectively fixedly installed at both ends of the mounting bracket (1); Two suction head mechanisms (3), and the two suction head mechanisms (3) are respectively installed on the two connecting pieces (2), and the two suction head mechanisms (3) are respectively used for sucking and pressing strain gauges of different sizes; A flipping mechanism (4), the mounting bracket (1) is installed on the flipping mechanism (4), and the flipping mechanism (4) is used to convert the two suction head mechanisms (3), and makes the suction head mechanism (3) used after each flipping keep coaxial with the robotic arm.

2. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 1, characterized in that, The flipping mechanism (4) includes a cylinder support frame (401), a cylinder (402) fixedly installed on the inner wall of one side of the cylinder support frame (401), a flange plate (403) installed on the rotating shaft of the cylinder (402), and a flange seat (404) installed on the flange plate (403).

3. The strain gauge mounting end effector with interchangeable two suction heads according to claim 2, characterized in that, The flange plate (403) and the flange seat (404) form a connection structure, and the connection structure includes an air passage hole in the middle for the introduction of an air pipe.

4. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 1, characterized in that, On the outer surface of the other side of the cylinder support frame (401), a robotic arm end flange seat (405) for connecting with the robotic arm is fixedly installed.

5. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 4, characterized in that The included angle of the cylinder support frame (401) is 120°, which can make the suction head mechanism (3) working after each flipping keep coaxial with the end of the robotic arm.

6. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 5, characterized in that, The mounting bracket (1) is installed on the flange seat (404).

7. The strain gauge mounting end effector with mutual conversion of two suction heads according to claim 6, characterized in that The suction head mechanism (3) includes a fixed cylinder (301) fixedly installed on the connecting piece (2) and a suction head shaft (302) slidably installed inside the fixed cylinder (301).

8. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 7, characterized in that, A stabilizing mechanism (303) is provided on the suction head shaft (302) and the fixed cylinder (301), and the stabilizing mechanism (303) includes a lower fixed ring (3031) fixedly installed on the outer surface of the suction head shaft (302), an upper fixed ring (3032) slidably installed on the outer surface of the fixed cylinder (301), and a connecting rod (3033) fixedly connected to the upper fixed ring (3032) and the lower fixed ring (3031).

9. The strain gauge mounting end effector with mutual conversion of two types of suction heads according to claim 8, characterized in that A spring is sleeved on the outer surface of the fixed cylinder (301), one end of the spring is fixedly connected to the upper fixed ring (3032), and the other end of the spring is fixedly connected to the connecting piece (2).

10. The strain gauge mounting end effector with mutual conversion of two suction heads according to claim 1, characterized in that Air passage holes are respectively opened in the middle of the connecting piece (2) and the mounting bracket (1), and the air passage holes are used for the introduction of an air pipe.

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