A multi-chuck end effector for workpiece pose adjustment and methods of using the same

Abstract

The application discloses a kind of for workpiece posture adjustment multi-suction disc end effector and its use method, belong to industrial automation assembly technical field, it includes multi-suction nozzle suction disc, vacuum negative pressure device, pressure reducing valve and fixed main body etc.;The multi-suction nozzle suction disc is connected inside with vacuum negative pressure device, and is bonded to the outside of fixed main body;The vacuum negative pressure device is connected with pressure reducing valve, and vacuum negative pressure device is used to output pressure gas or air extraction in pressure reducing valve, and pressure reducing valve is used to reduce the air pressure of received pressure gas;The pressure reducing valve is also connected with multi-suction nozzle suction disc.The application has the following advantages: compact structure design, simple operation method, by controlling specified vacuum negative pressure device and pressure reducing valve changes negative pressure value, makes the deformation section of specified suction disc deforms to reach the purpose of adjusting workpiece posture, has real-time, provides efficient and reliable technical support for automated sorting, assembly positioning and other industrial applications.

Description

Technical Field

[0001] This invention belongs to the field of industrial automation assembly technology, specifically a multi-suction cup end effector for workpiece posture adjustment and its usage method. Background Technology

[0002] With the development of modern industry and electronic technology, precision assembly technology is widely used in aerospace, automation and other fields. Many applications have increasingly higher requirements for the comprehensive performance of assembly technology. Workpiece assembly and adjustment is one of the most important links in component manufacturing. The suction cup end effector is used to grasp the workpiece for assembly. However, the traditional suction cup actuator can only grasp the target workpiece and cannot adjust the posture of the target workpiece. It is difficult to solve the problem of deviation between the actual axis direction of the grasped target workpiece and the axis direction of the body to be assembled during the assembly process.

[0003] To address the aforementioned problems, this invention proposes a multi-suction cup end effector for workpiece posture adjustment. By controlling a specified vacuum negative pressure device and a pressure reducing valve to change the negative pressure value, the deformation of a specified suction cup is altered to achieve the purpose of adjusting the workpiece posture. Summary of the Invention

[0004] The purpose of this invention is to provide a multi-cup end effector for workpiece posture adjustment, so as to solve the problem mentioned in the background art that the current traditional suction cup actuators can only grasp the target workpiece and cannot adjust the posture of the target workpiece.

[0005] To achieve the above objectives, the present invention provides the following technical solution: comprising a set of multi-nozzle suction cups, a set of vacuum negative pressure devices, a set of pressure reducing valves, and a fixing body;

[0006] Each of the aforementioned vacuum negative pressure devices is independently connected to a set of the aforementioned pressure reducing valves. The vacuum negative pressure devices are used to output pressurized gas into the pressure reducing valves or to extract gas. The pressure reducing valves are used to reduce the gas pressure of the received pressurized gas.

[0007] A set of pressure reducing valves is connected to a set of multi-nozzle suction cups. The pressure reducing valves are used to output pressurized gas to the multi-nozzle suction cups or to extract air. The multi-nozzle suction cups are used to grip the workpiece.

[0008] As a further preferred embodiment of this technical solution: a set of the multi-nozzle suction cups includes: at least three independent suction cups, at least one shared suction cup, at least three external connecting tubes and at least three internal connecting tubes;

[0009] At least three of the external connecting pipes are respectively connected at one end to at least three of the pressure reducing valves;

[0010] At least three of the independent suction cups are connected to the other end of at least three of the external connecting tubes, and at least three of the independent suction cups are also connected to one end of at least three of the internal connecting tubes;

[0011] At least one of the common suction cups is connected to the other end of at least three of the internal connecting tubes.

[0012] As a further preferred embodiment of this technical solution: a common suction cup includes: a suction cup body and a three-part baffle;

[0013] The three-part baffle is located inside the suction cup body, and the three-part baffle divides the internal space of the suction cup body into three separate spaces;

[0014] The three separate spaces inside the shared suction cup are respectively connected to the interiors of the three independent suction cups.

[0015] As a further preferred embodiment of this technical solution: at least three of the independent suction cups each include: at least one ventilation section and at least one deformation section;

[0016] At least one of the ventilation sections is connected to the internal connecting pipe and the external connecting pipe;

[0017] At least one of the deformable segments is in contact with the target workpiece for gripping the target workpiece, and the position of the target workpiece is adjusted by changing the deformation amount of the suction cup deformable segment.

[0018] As a further preferred embodiment of this technical solution: a set of pressure reducing valves includes at least three pressure reducing valves.

[0019] As a further preferred embodiment of this technical solution: at least three of the pressure reducing valves are normally open valves.

[0020] As a further preferred embodiment of this technical solution: at least three pressure reducing valves each include: a vacuum inlet, a pressure reducing valve body, and a vacuum outlet;

[0021] One end of the vacuum input port is connected to the vacuum negative pressure device, and the other end of the vacuum input port is connected to the pressure reducing valve body;

[0022] One end of the vacuum exhaust port is connected to the pressure reducing valve body, and the other end of the vacuum exhaust port is connected to a multi-nozzle suction cup.

[0023] As a further preferred embodiment of this technical solution: a set of the vacuum negative pressure devices includes at least three vacuum negative pressure devices.

[0024] As a further preferred embodiment of this technical solution: at least three of the vacuum negative pressure devices each include: an interface and a gas source device;

[0025] One end of the interface is connected to the gas source device, and the other end of the interface is connected to the pressure reducing valve.

[0026] The purpose of this invention is to provide a method for using a multi-suction cup end effector for workpiece posture adjustment, so as to solve the problems mentioned in the background art.

[0027] To achieve the above objectives, the present invention provides the following technical solution: based on the known workpiece posture offset direction and offset amount, the additional negative pressure value of the vacuum negative pressure device under the action of the pressure reducing valve is calculated by a function formula, thereby changing the deformation amount of the independent suction cup, and finally making the target workpiece posture return to the correct position.

[0028] The adjustments to the referenced function formula include:

[0029] like If the negative pressure value of the i-suction cup is not changed, then the negative pressure value of the i-suction cup will be changed; otherwise, the negative pressure value of the i-suction cup will be changed.

[0030] Where N is the number of independent suction cups, and i is the center point number of the independent suction cups;

[0031] Known workpiece attitude offset vector According to the vector formula Where k is the suction cup number whose negative pressure value needs to be changed, the proportion of negative pressure value to be adjusted for each independent suction cup is calculated, and the corresponding pressure reducing valve gradually changes the negative pressure value, so that the target workpiece posture slowly returns to the correct position.

[0032] Compared with the prior art, the beneficial effects of the present invention are:

[0033] I. This invention includes a multi-nozzle suction cup, a vacuum negative pressure device, a pressure reducing valve, and a fixing body, etc. It has a compact structure and a simple operation method. By controlling the specified vacuum negative pressure device and pressure reducing valve to change the negative pressure value, the deformation section of the specified suction cup is deformed to achieve the purpose of adjusting the workpiece posture. It has real-time performance and provides efficient and reliable technical support for industrial applications such as automated sorting and assembly positioning.

[0034] II. The combined design of the independent and shared suction cups in this invention balances the flexibility of local adjustment with the overall stability of adsorption. Each independent suction cup controls the negative pressure value individually through a pressure reducing valve, allowing for real-time adjustment of the adsorption force based on the actual offset of the workpiece. The three-part baffle of the shared suction cup divides the internal space into three independent areas, ensuring a uniform distribution of the overall adsorption force during local adjustments and preventing deformation or slippage of the workpiece due to uneven force at a single point. Attached Figure Description

[0035] Figure 1 This is a three-dimensional structural diagram of a multi-suction cup end effector for workpiece posture adjustment according to the present invention;

[0036] Figure 2 This is a schematic diagram of the structure of a multi-suction cup end effector for workpiece posture adjustment according to the present invention;

[0037] Figure 3 This is a schematic diagram of a test structure for a multi-suction cup end effector for workpiece posture adjustment according to the present invention;

[0038] Figure 4 This invention relates to a multi-suction cup end effector for workpiece posture adjustment. Figure 3 Schematic diagram of the cross-sectional structure of section AA;

[0039] Figure 5 This is a schematic diagram of a multi-suction cup end effector for workpiece posture adjustment and its usage method according to the present invention.

[0040] Legend: 1. Multi-nozzle suction cup; 11. Independent suction cup; 111. Deformation section; 112. Ventilation section; 12. Shared suction cup; 121. Suction cup body; 122. Three-part baffle; 13. Internal connecting pipe; 14. External connecting pipe; 2. Pressure reducing valve; 21. Pressure reducing valve body; 22. Vacuum exhaust port; 23. Vacuum input port; 3. Vacuum negative pressure device; 31. Air source device; 32. Interface; 4. Fixing body; 5. Workpiece. Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] Example 1:

[0043] Please see Figures 1-4 As shown, the present invention provides a multi-suction cup end effector: including a set of multi-suction cups 1, a set of vacuum negative pressure devices 3, a set of pressure reducing valves 2 and their fixing bodies 4;

[0044] A set of vacuum negative pressure devices 3 are connected to a set of pressure reducing valves 2 respectively. The vacuum negative pressure devices 3 are used to output pressurized gas to the pressure reducing valves 2 or to extract gas. The pressure reducing valves 2 are used to reduce the gas pressure of the received pressurized gas.

[0045] A set of pressure reducing valves 2 are connected to a set of multi-nozzle suction cups 1. The pressure reducing valves 2 are used to output pressurized gas to the multi-nozzle suction cups 1 or to extract gas. The multi-nozzle suction cups 1 are used to grip the workpiece 5.

[0046] In this embodiment, it should be noted that: an end effector is a tool for managing network terminal devices. It can help administrators manage terminal devices in the network in a unified manner, and realize functions such as monitoring, identification, classification, and policy management, thereby improving the network security of enterprises. In the field of industrial automation, an end effector is a mechanism for grasping and handling objects. It can be installed on robots or automated equipment to grasp and handle objects. The multi-suction cup end effector is installed on the end of the robot, and the multi-suction cup 1 is controlled by at least three air source devices 31. The multiple air source devices 31 improve the adsorption capacity, avoid the problem of needing to re-grab if the grasp fails, and greatly improve the working efficiency of grasping workpiece 5.

[0047] In this embodiment, specifically: the air source device 31 includes an air pump and an air pump. The air pump is used to blow air into the multi-nozzle suction cup 1, and the air pump is used to extract air from the multi-nozzle suction cup 1.

[0048] In this embodiment, specifically: a set of multi-nozzle suction cups 1 includes: at least three independent suction cups 11, at least one shared suction cup 12, at least three external connecting tubes 14 and at least three internal connecting tubes 13;

[0049] At least three external connecting pipes 14 are connected at one end to at least three pressure reducing valves 2 respectively;

[0050] At least three independent suction cups 11 are connected to the other end of at least three external connecting tubes 14, and at least three independent suction cups 11 are also connected to one end of at least three internal connecting tubes 13;

[0051] The shared suction cup 12 is connected to the other end of at least three internal connecting tubes 13. The multiple suction cups work together to form a redundant adsorption structure. Even if a single suction cup fails due to surface defects of the workpiece 5, the other suction cups can still maintain the rated gripping force.

[0052] In this embodiment, it should be noted that: the independent suction cup 11 and the shared suction cup 12 are a type of vacuum equipment actuator. They utilize the compressibility and liquefaction of air to generate negative pressure to adhere to the surface of an object. When the vacuum suction cup comes into contact with the object being suctioned, a temporary sealed space is formed. By removing or thinning the air in this sealed space, a large pressure difference can be created between the inside and outside, thereby firmly adhering to the workpiece 5. Vacuum suction cups come in various types and materials to adapt to different working environments and needs. For example, suction cups made of rubber can operate at high temperatures, suction cups made of silicone rubber are particularly suitable for gripping products with rough surfaces, while suction cups made of polyurethane have high durability. In practical applications, if the suction cup needs to be oil-resistant, it can be made of materials such as polyurethane, nitrile rubber, or vinyl-containing polymers.

[0053] In this embodiment, specifically: a common suction cup 12 includes: a suction cup body 121 and a three-part baffle 122;

[0054] The three-part baffle 122 is located inside the suction cup body 121, and the three-part baffle 122 divides the internal space of the suction cup body 121 into three separate spaces.

[0055] At least three independent suction cups 11 include: at least one ventilation section 112 and at least one deformable section 111;

[0056] At least one ventilation section 112 is connected to an internal connecting pipe 13 and an external connecting pipe 14;

[0057] At least one deformable segment 111 contacts the target workpiece 5 for gripping the target workpiece 5, and the position of the target workpiece 5 is adjusted by changing the amount of deformation of the suction cup deformable segment 111.

[0058] A set of pressure reducing valves 2 includes: at least three pressure reducing valves 2.

[0059] In this embodiment, specifically: at least three pressure reducing valves 2 are normally open valves.

[0060] In this embodiment, specifically: the three pressure reducing valves 2 each include: a vacuum inlet 23, a pressure reducing valve body 21, and a vacuum outlet 22;

[0061] One end of the vacuum inlet 23 is connected to the vacuum negative pressure device 3, and the other end of the vacuum inlet 23 is connected to the pressure reducing valve body 21.

[0062] One end of the vacuum exhaust port 22 is connected to the pressure reducing valve body 21, and the other end of the vacuum exhaust port 22 is connected to a multi-nozzle suction cup 1.

[0063] In this embodiment, specifically: the three vacuum negative pressure devices 3 each include: an interface 32 and an air source device 31;

[0064] One end of interface 32 is connected to the gas source device 31, and the other end of interface 32 is connected to the pressure reducing valve 2.

[0065] In this embodiment, it should be noted that when the air source device 31 evacuates air, it removes the air from the suction cup channel and inside the suction cup through the interface 32, making the suction cup a vacuum state. At this time, the air pressure inside the suction cup is lower than the external atmospheric pressure, so the object is sucked up under the action of external pressure. The higher the vacuum degree inside the suction cup, the tighter the suction cup adheres to the object, and the greater the adsorption force. The air source device 31 includes a parallel air pump, which switches the working mode through a solenoid valve. The air source device 31 and the pressure reducing valve 2 are connected by a quick-plug connector to ensure modular replacement efficiency.

[0066] In this embodiment, specifically: the three separate spaces inside the common suction cup 12 are respectively connected to the interiors of the three independent suction cups 11; after the multi-nozzle suction cup 1 grips the workpiece 5, if the axis of the workpiece 5 is offset due to inaccurate gripping position or other reasons, continued assembly will result in problems such as workpiece 5 collision or assembly failure. The multi-nozzle suction cup 1 consists of three independent suction cups 11 and one common suction cup 12. The three independent suction cups 11 can be individually controlled by three pressure reducing valves 2. According to the actual deviation of the workpiece 5, the corresponding pressure reducing valve 2 is adjusted to change the deformation of the deformation section 111 of the corresponding independent suction cup 11, thereby realizing the adjustment of the axis of the workpiece 5 back to the correct position. The pressure reducing valve 2 adopts a diaphragm pressure reducing structure and has a built-in pressure sensor, which can provide real-time feedback of the output pressure to the control system, making it convenient for the staff to observe in real time.

[0067] Example 2:

[0068] Please see Figure 5 As shown, the present invention provides a method for using a multi-suction cup end effector for adjusting the posture of workpiece 5: based on the known posture offset direction and offset amount of workpiece 5, the additional negative pressure value of a set of vacuum negative pressure devices 3 under the action of pressure reducing valve 2 is calculated by a function formula, thereby changing the deformation amount of independent suction cup 11, and finally making the posture of workpiece 5 return to the correct position.

[0069] In the above scheme, the adjustments to the referenced function formula include:

[0070] like If the negative pressure value of the i-suction cup is not changed, then the negative pressure value of the i-suction cup will be changed; otherwise, the negative pressure value of the i-suction cup will be changed.

[0071] Where N is the number of independent suction cups 11, and i is the center point number of the independent suction cup 11;

[0072] Known workpiece 5 attitude offset vector According to the vector formula Where k is the suction cup number whose negative pressure value needs to be changed, the proportion of the negative pressure value to be adjusted corresponding to the independent suction cup 11 is calculated, and the corresponding pressure reducing valve 2 gradually changes the negative pressure value, so that the posture of the target workpiece 5 slowly returns to the correct position; by controlling the specified vacuum negative pressure device 3 and pressure reducing valve 2 to change the negative pressure value, the deformation of the specified suction cup is changed to achieve the purpose of adjusting the posture of the workpiece 5, realizing real-time correction and adjustment of the posture of the workpiece 5. In the attached figure, a, b, and c are the centers of the bottom surfaces of the three independent suction cups 11, o is the center of the bottom surface of the common suction cup 12, p is the vertex of the workpiece 5, and d is the perpendicular point of a on the reverse extension line of op.

[0073] Working principle or structural principle: The vacuum negative pressure device 3 outputs pressurized gas or evacuates air to the pressure reducing valve 2 through the air source device 31. After the pressure reducing valve 2 reduces the air pressure to a safe range, it delivers airflow to the multi-nozzle suction cup 1. During evacuation, the air inside the multi-nozzle suction cup 1 is drawn out to form a negative pressure. The pressure difference between the inside and outside of the suction cup causes the suction cup to tightly adhere to the workpiece 5. During inflation, the multi-nozzle suction cup 1 separates from the workpiece 5. When in use, the vacuum negative pressure device 3 is activated, and the output pressure of the pressure reducing valve 2 is adjusted to change the equivalent stiffness of the independent suction cup 11, so that different stiffnesses can be used. After the workpiece 5 is gripped by the multi-nozzle suction cup 1, the axis of the workpiece 5 may shift due to inaccurate gripping position or other reasons. If assembly continues, problems such as workpiece 5 collision or assembly failure may occur. The multi-nozzle suction cup 1 consists of three independent suction cups 11 and one common suction cup 12. The three independent suction cups 11 can be individually controlled by three pressure reducing valves 2. According to the actual deviation of the workpiece 5, the corresponding pressure reducing valve 2 is adjusted to change the deformation of the deformation section 111 of the corresponding independent suction cup 11, thereby realizing the adjustment and return of the axis of the workpiece 5 to the correct position.

[0074] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A multi-suction cup end effector for workpiece posture adjustment, characterized in that: It includes a set of multi-nozzle suction cups (1), a set of vacuum negative pressure devices (3), a set of pressure reducing valves (2) and a fixed body (4); A set of vacuum negative pressure devices (3) are independently connected to a set of pressure reducing valves (2). The vacuum negative pressure devices (3) are used to output pressurized gas into the pressure reducing valves (2) or to extract gas. The pressure reducing valves (2) are used to reduce the gas pressure of the received pressurized gas. A set of pressure reducing valves (2) is connected to a set of multi-nozzle suction cups (1). The pressure reducing valves (2) are used to output pressurized gas or extract gas to the multi-nozzle suction cups (1). The multi-nozzle suction cups (1) are used to grip the workpiece (5). A set of the multi-nozzle suction cups (1) includes: at least three independent suction cups (11), at least one common suction cup (12), at least three external connecting tubes (14) and at least three internal connecting tubes (13). At least three of the external connecting pipes (14) are connected at one end to at least three of the pressure reducing valves (2); At least three of the independent suction cups (11) are connected to the other end of at least three of the external connecting tubes (14), and at least three of the independent suction cups (11) are also connected to one end of at least three of the internal connecting tubes (13); At least one of the common suction cups (12) is connected to the other end of at least three of the internal connecting tubes (13); One of the common suction cups (12) includes: a suction cup body (121) and a three-part baffle (122); The three-part baffle (122) is located inside the suction cup body (121), and the three-part baffle (122) divides the internal space of the suction cup body (121) into three separate spaces; The three separate spaces inside the shared suction cup (12) are respectively connected to the interiors of the three independent suction cups (11); The at least three independent suction cups (11) each include: at least one ventilation section (112) and at least one deformable section (111). At least one of the ventilation sections (112) is connected to the internal connecting pipe (13) and the external connecting pipe (14); At least one of the deformable segments (111) contacts the target workpiece (5) for gripping the target workpiece (5) and the position of the target workpiece (5) is adjusted by changing the amount of deformation of the suction cup deformable segment (111).

2. The multi-suction cup end effector for workpiece posture adjustment according to claim 1, characterized in that: A set of pressure reducing valves (2) includes at least three pressure reducing valves (2).

3. A multi-suction cup end effector for workpiece posture adjustment according to claim 2, characterized in that: At least three of the pressure reducing valves (2) are normally open valves.

4. A multi-suction cup end effector for workpiece posture adjustment according to claim 3, characterized in that: At least three of the pressure reducing valves (2) each include: a vacuum inlet (23), a pressure reducing valve body (21), and a vacuum outlet (22); One end of the vacuum input port (23) is connected to the vacuum negative pressure device (3), and the other end of the vacuum input port (23) is connected to the pressure reducing valve body (21); One end of the vacuum exhaust port (22) is connected to the pressure reducing valve body (21), and the other end of the vacuum exhaust port (22) is connected to a multi-nozzle suction cup (1).

5. A multi-suction cup end effector for workpiece posture adjustment according to claim 4, characterized in that: A set of the vacuum negative pressure devices (3) includes: at least three vacuum negative pressure devices (3).

6. A multi-suction cup end effector for workpiece posture adjustment according to claim 5, characterized in that: At least three of the vacuum negative pressure devices (3) each include: an interface (32) and an air source device (31); One end of the interface (32) is connected to the gas source device (31), and the other end of the interface (32) is connected to the pressure reducing valve (2).

7. A method of using a multi-suction cup end effector for workpiece posture adjustment according to any one of claims 1-6, characterized in that: Based on the known orientation and offset of the workpiece (5), the additional negative pressure value of the vacuum negative pressure device (3) under the action of the pressure reducing valve (2) is calculated by function formula, thereby changing the deformation of the independent suction cup (11) and finally making the orientation of the target workpiece (5) return to normal. The adjustments to the referenced function formula include: If so, the negative pressure value of the i-suction cup will not be changed; otherwise, the negative pressure value of the i-suction cup will be changed. Where N is the number of independent suction cups (11), and i is the center point number of the independent suction cups (11); Given the known workpiece (5) posture offset vector, according to the vector formula, where k is the suction cup number that needs to change the negative pressure value, calculate the proportion of the negative pressure value to be adjusted for the independent suction cup (11), and gradually change the negative pressure value for the corresponding pressure reducing valve (2), so that the posture of the target workpiece (5) slowly returns to the correct position.

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