Split type tail end executing mechanism

Abstract

The invention relates to the technical field of mechanical engineering, in particular to a split type tail end executing mechanism which comprises a base, a first fork arm, a second fork arm, a connecting rod, a guiding and positioning device, a tray detecting device, a target position detecting device and a storage position calibrating device, and the first fork arm and the second fork arm are detachably connected to the two opposite sides of the base respectively; the first fork arm and the second fork arm are each provided with a guiding and positioning device and a tray detection device, the guiding and positioning devices are used for guiding and positioning trays placed on the first fork arm and the second fork arm, the tray detection devices are used for detecting whether the trays are placed or not, and the two ends of the connecting rod are detachably connected to the first fork arm and the second fork arm respectively. The target position detection device is installed on the bottom end face of the base and used for detecting a target position, and the storage position calibration device is detachably installed on the connecting rod and used for achieving calibration detection of the target storage position. The split type tail end executing mechanism aims at solving the problem that the tail end executing mechanism of a heavy-load robot is low in material tray taking and placing precision.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical engineering, and in particular to a split-type end-effector. Background Art

[0002] In the machining of high-variety, low-batch precision parts in industries like aerospace, intelligent production systems with automated logistics capabilities can effectively adapt to discrete production scenarios, reduce manual intervention, shorten manufacturing cycles, ensure processing quality, and reduce production costs. The operation of intelligent production systems consists of two major components: material flow and information flow. The on-demand transfer of materials, including workpieces, tooling, and cutting tools, through automated logistics systems is key to the normal operation of intelligent production systems. The logistics system's task execution efficiency, adaptability to multiple varieties, and long-term reliability directly determine the stable operation and efficiency improvement of the production line.

[0003] Materials are mostly transferred within the production line using transport methods such as stackers, robotic guide vehicles (RGVs), and automatic guided vehicles (AGVs). The robot and guide method uses a multi-axis robot and linear axis linkage to realize the transfer of pallets, workpieces, and tools, giving full play to the robot's advantages of high flexibility and high repeatability. It can realize the picking and placing of materials between different equipment points such as machine tools, storage locations, and loading stations, and has strong adaptability to the on-site environment. In addition, the driving form of robots and guide vehicles has good functional module characteristics, high technical maturity, and good integration characteristics, which is conducive to layout implementation and functional debugging, making it the preferred solution for various intelligent production lines.

[0004] The robot needs to be combined with the end-effector to realize various grasping and placing actions. At the same time, the end-effector structure is also equipped with corresponding detection, guidance, clamping and target recognition functions to ensure the safety and reliability of the picking and placing actions. Therefore, the end-effector not only needs to be mechanically connected to the robot body, but also its own structure must comply with the electromechanical interface consistent with the grasping object and picking and placing functions, and meet the requirements of load-bearing rigidity, docking accuracy and its own assembly processability.

[0005] Therefore, the inventor provides a split end-effector mechanism. Summary of the Invention

[0006] (1) Technical problems to be solved

[0007] The embodiment of the present invention provides a split end-effector mechanism, which solves the technical problem of low precision in picking up and placing material trays by the end-effector mechanism of a heavy-duty robot.

[0008] (2) Technical solution

[0009] The present invention provides a split end-effector mechanism, comprising a base, a first fork arm, a second fork arm, a connecting rod, a guide and positioning device, a pallet detection device, a target position detection device and a storage position calibration device, wherein the first fork arm and the second fork arm are respectively detachable and connected to opposite sides of the base; wherein the first fork arm and the second fork arm are both provided with the guide and positioning device and the pallet detection device, the two guide and positioning devices are respectively used for guiding and positioning the pallets placed on the first fork arm and the second fork arm, the pallet detection device is used for detecting whether the pallet is placed on the first fork arm and the second fork arm, the two ends of the connecting rod are respectively detachable and connected to the first fork arm and the second fork arm; the target position detection device is installed on the bottom end surface of the base and is used for detecting the target position, and the storage position calibration device is detachable and installed on the connecting rod and is used to realize calibration detection of the target storage position.

[0010] Furthermore, the base is a hollow structure with ribs inside.

[0011] Furthermore, the base is provided with a cable arrangement channel and an observation hole, and the observation hole is provided with a detachable cover.

[0012] Furthermore, the base has a neck connection end connected to the robot terminal shaft, and a shoulder connection end connected to the first fork arm and the second fork arm.

[0013] Furthermore, the neck connection end is a connection flange.

[0014] Furthermore, the guide positioning device includes a lifting positioning surface and a guide positioning pin. The lifting positioning surface is located on the upper end surface of the first fork arm. The lifting positioning surface is provided with a guide positioning pin for limiting the position of the pallet.

[0015] Furthermore, the storage location calibration device includes a visual recognition device and a laser ranging device.

[0016] Furthermore, the first fork arm and / or the second fork arm is a hollow structure, and has ribs inside.

[0017] Furthermore, the first fork arm and the second fork arm are symmetrically distributed on opposite sides of the base.

[0018] Furthermore, the connecting rod has a positioning hole that is mounted in cooperation with the positioning pin of the first fork arm.

[0019] (3) Beneficial effects

[0020] In summary, the present invention adopts a structural form of separate connection between the base and the first fork arm and the second fork arm, and assembles and connects them after completing their respective fine processing, which is beneficial to ensuring the symmetry accuracy of the first fork arm and the second fork arm, effectively overcoming the deformation of the one-piece open structure caused by stress release, ensuring the position accuracy of the guide positioning pin, and ensuring the reliability of long-term forking of multiple points and multiple pallets. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] Figure 1 It is a structural diagram of the existing robot automated logistics system;

[0023] Figure 2 This is a schematic structural diagram from a first perspective of a split end effector provided by an embodiment of the present invention;

[0024] Figure 3 This is a schematic structural diagram from a second perspective of a split-type end effector provided by an embodiment of the present invention;

[0025] Figure 4 This is a schematic diagram of the working state of a split end-effector provided by an embodiment of the present invention.

[0026] In the picture:

[0027] 1-base; 101-connecting flange; 102-removable cover; 2-first fork arm; 3-second fork arm; 4-connecting rod; 5-guide positioning device; 501-lifting positioning surface; 502-guide positioning pin; 6-pallet detection device; 7-target position detection device; 8-visual recognition device; 9-laser ranging device; 100-pallet; 200-robot end axis; 300-material; 400-machine tool; 500-ground rail; 600-loading station; 700-storage location. DETAILED DESCRIPTION

[0028] The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are intended to illustrate the principles of the present invention and are not intended to limit the scope of the present invention. That is, the present invention is not limited to the described embodiments and covers any modifications, replacements, and improvements to the parts, components, and connection methods without departing from the spirit of the present invention.

[0029] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0030] In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "back", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or are the orientations or positional relationships in which the products of the present invention are conventionally placed when in use, or are the orientations or positional relationships conventionally understood by those skilled in the art. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or component referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they should not be understood as limitations on the present invention.

[0031] It should also be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "disposed" and "installed" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances.

[0032] In traditional automated production lines, in order to improve processing efficiency, parts of the same family or similar specifications are usually used for on-line processing, with universal tooling, pallets and tools to minimize replacement and adjustment time, and maximize the advantages of automated processing through uniform logistics operations and production rhythm. Due to the diversity of aviation parts, even a single machine tool must complete the processing of parts of different families and hundreds of specifications. This requires the automated logistics system to be able to adapt to a wide range of different sizes, specifications and weights of transport objects. Take the needs of a certain intelligent production line as an example (such as Figure 1 (As shown), this production line, based on existing machine tools, incorporates an automated logistics system and intelligent management and control system to achieve unattended automated processing. Over 200 parts are processed online, ranging in size from 100mm to 1000mm and in weight from 1kg to 200kg, with a maximum transport distance of 30m. It enables material placement between various equipment locations, such as machine tools 400, storage locations 700, and loading stations 600, demonstrating strong adaptability to on-site environments. Furthermore, the drive system for the robot and ground rail 500 offers robust modular functionality, high technical maturity, and excellent integration, facilitating deployment, implementation, and functional debugging.

[0033] Figure 2 This is a structural diagram of a split end effector provided by an embodiment of the present invention, see Figure 2-3The end actuator may include a base 1, a first fork arm 2, a second fork arm 3, a connecting rod 4, a guide positioning device 5, a pallet detection device 6, a target position detection device 7 and a storage position calibration device. The first fork arm 2 and the second fork arm 3 are respectively disassembled and connected to the opposite sides of the base 1; wherein, the first fork arm 2 and the second fork arm 3 are both provided with a guide positioning device 5 and a pallet detection device 6, the two guide positioning devices 5 are respectively used to guide and position the pallet 100 placed on the first fork arm 2 and the second fork arm 3, the pallet detection device 6 is used to detect whether there is a pallet 100 placed on the first fork arm 2 and the second fork arm 3, the two ends of the connecting rod 4 are respectively disassembled and connected to the first fork arm 2 and the second fork arm 3; the target position detection device 7 is installed on the bottom end surface of the base 1 and is used to detect the target position, and the storage position calibration device is disassembled and installed on the connecting rod 4 and is used to realize calibration detection of the target storage position.

[0034] In the above embodiment, the base 1 is connected to the first and second fork arms 2 and 3 in a separate structure, and each is assembled and connected after fine machining. This ensures the symmetry of the first and second fork arms 2 and 3, effectively overcoming deformation caused by stress release in the integrated open structure, ensuring the positional accuracy of the guide locating pins, and ensuring the reliability of long-term multi-point and multi-pallet picking. The connecting rod 4 has a locating hole that mates with the locating pin of the first fork arm 2, ensuring accurate and repeatable positioning during assembly and disassembly.

[0035] As an optional embodiment, the base 1 is a hollow structure with internal ribs. By optimizing the topology and properly setting the reinforcement layout and rib wall thickness, the weight can be minimized while maintaining structural rigidity, which is of great significance for increasing the payload of heavy-duty robots.

[0036] As an optional implementation, see Figure 4 The base 1 is provided with a cable arrangement channel and an observation hole, which is equipped with a removable cover 102. The hollow structure is provided with a cable arrangement channel and an observation hole, which is conducive to the arrangement and routing of the sensor. The observation hole is equipped with a removable cover 102 to avoid chip contamination when the machine tool workbench is forked.

[0037] As an optional implementation, see Figure 2 The base 1 has a neck connection end connected to the robot's end shaft 200, and a shoulder connection end connected to the first fork arm 2 and the second fork arm 3. Specifically, the neck-shoulder-arm L-shaped actuator structure allows the robot's sixth axis to swing in a small range in a vertical posture. The center of gravity of the total load including the end actuator can be closer to the robot's end shaft center, which is conducive to exerting the robot's maximum workload. Furthermore, if Figure 1 As shown, the neck connection end is a connection flange 101 .

[0038] As an optional implementation, see Figure 3 The guide positioning device 5 includes a lifting and positioning surface 501 and a guide positioning pin 502. The lifting and positioning surface 501 is located on the upper end surface of the first fork arm 2. The lifting and positioning surface 501 is provided with a guide positioning pin 502 for limiting the position of the pallet 100. The guide positioning pin 502 not only meets the requirements for accuracy and positioning of the pallet 100, but also provides a positioning and installation reference for calibration accessories. The guide positioning pin 502 is made of high-hardness stainless steel and has a detachable structure, which meets the durability requirements of repeated forking and is easy to replace.

[0039] As an optional implementation, see Figure 3-4 The storage location calibration device includes a visual recognition device 8 and a laser ranging device 9. Specifically, the detachable visual recognition device 8 and laser ranging device 9 are installed to realize the regular calibration of the robot's storage location pick-up and placement points, and are removed to restore the normal material pallet pick-up and placement function.

[0040] In a specific embodiment, the first fork arm 2 and / or the second fork arm 3 is a hollow structure with ribs inside; the first fork arm 2 and the second fork arm 3 are symmetrically distributed on opposite sides of the base 1 .

[0041] It should be noted that the various embodiments in this specification are described in a progressive manner. References to the same or similar parts between the various embodiments are sufficient. Each embodiment focuses on the differences from the other embodiments. The present invention is not limited to the specific steps and structures described above and shown in the figures. Furthermore, for the sake of brevity, detailed descriptions of known methods and technologies are omitted here.

[0042] The above are merely embodiments of the present application and are not intended to limit the present application. Various modifications and variations are possible for those skilled in the art without departing from the scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A split end effector mechanism, characterized in that: The invention comprises a base (1), a first fork arm (2), a second fork arm (3), a connecting rod (4), a guide positioning device (5), a pallet detection device (6), a target position detection device (7) and a storage position calibration device, wherein the first fork arm (2) and the second fork arm (3) are respectively detachably connected to opposite sides of the base (1); wherein, The first fork arm (2) and the second fork arm (3) are both provided with the guiding and positioning device (5) and the pallet detection device (6). The two guiding and positioning devices (5) are respectively used for guiding and positioning the pallet (100) placed on the first fork arm (2) and the second fork arm (3). The pallet detection device (6) is used for detecting whether the pallet (100) is placed on the first fork arm (2) and the second fork arm (3). The two ends of the connecting rod (4) are respectively detachable and connected to the first fork arm (2) and the second fork arm (3); the target position detection device (7) is installed on the bottom end surface of the base (1) and is used for detecting the target position. The storage position calibration device is detachable and installed on the connecting rod (4) and is used for realizing calibration detection of the target storage position.

2. The split end effector according to claim 1, characterized in that: The base (1) is a hollow structure with ribs inside.

3. The split end effector according to claim 2, characterized in that: The base (1) is provided with a cable arrangement channel and an observation hole, and the observation hole is provided with a detachable cover plate (102).

4. The split end effector according to claim 1, characterized in that: The base (1) has a neck connection end connected to the robot terminal shaft (200), and a shoulder connection end connected to the first fork arm (2) and the second fork arm (3).

5. The split end effector according to claim 3, characterized in that: The neck connection end is a connection flange (101).

6. The split end effector according to claim 1, characterized in that: The guide positioning device (5) comprises a lifting positioning surface (501) and a guide positioning pin (502); the lifting positioning surface (501) is located on the upper end surface of the first fork arm (2); and the lifting positioning surface (501) is provided with a guide positioning pin (502) for limiting the position of the tray (100).

7. The split end effector according to claim 1, characterized in that: The storage location calibration device includes a visual recognition device (8) and a laser distance measuring device (9).

8. The split end effector according to claim 1, characterized in that: The first fork arm (2) and / or the second fork arm (3) are hollow structures, and have ribs inside.

9. The split end effector according to claim 1, characterized in that: The first fork arm (2) and the second fork arm (3) are symmetrically distributed on two opposite sides of the base (1).

10. The split end effector according to claim 1, characterized in that: The connecting rod (4) has a positioning hole for being mounted in cooperation with the positioning pin of the first fork arm (2).

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