End effector connecting device

Abstract

The invention discloses an end effector connecting device which comprises a main frame, a connecting plate and a plurality of positioning connecting assemblies arranged between the main frame and the connecting plate. The main frame comprises a lower cylinder and an upper cylinder, the lower cylinder comprises a lower base plate and a lower side plate extending upwards from the lower base plate, a lower space with a first opening is defined by the lower base plate and the lower side plate, the upper cylinder is an upper base plate and an upper side plate extending downwards from the upper base plate, an upper space with a second opening is defined by the upper base plate and the upper side plate, and the lower base plate and the upper side plate form a lower space with a second opening. The upper cylinder body is arranged on the circumferential outer wall of the lower cylinder body in a sleeving mode, the upper space of the second opening and the lower space of the first opening form the containing space, the outer conical surface abuts against the inner conical surface through the inhaul cable, rigid connection between the end effector and the manipulator is achieved, the operation degree is greatly improved through the connection mode, and the operation efficiency is improved. The stability and the reliability during operation are ensured, the operation quality is ensured, and meanwhile, the working efficiency is also improved.

Description

Technical Field

[0001] This invention relates to the technical field of end effectors, and more particularly to an end effector connection device. Background Technology

[0002] Robotic systems or multi-degree-of-freedom manipulators have been widely used in industrial production. Typically, an end effector is installed at the end of the robotic system or multi-degree-of-freedom manipulator to perform this task.

[0003] In one type of application scenario, such as when handling powder inside fragile packaging materials, a flexible or cushioned contact with the container is required before contact. At the same time, the handling of the container requires precision, and slight shaking is needed to remove the powder adhering to the side wall of the container. In this type of scenario, a flexible cushioning effect, a rigid operation, and a shaking-like operation need to be formed simultaneously. In the existing technology, complex multiple mechanisms are usually set on the end effector to achieve the above requirements, which makes the end effector structure complex, with large moment of inertia and high cost.

[0004] Therefore, in order to address the shortcomings of the above-mentioned problems, an end effector connection device is proposed. Summary of the Invention

[0005] This invention overcomes the shortcomings of the prior art and provides an end effector connection device.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows: an end effector connection device, comprising: a main frame 11 and a connecting plate 21, and a plurality of positioning and connecting components 30 disposed between the main frame 11 and the connecting plate 21, characterized in that;

[0007] The main frame 11 includes a lower cylinder 111 and an upper cylinder 112. The lower cylinder 111 includes a lower base plate 1111 and a lower side plate extending upward from the lower base plate 1111. The lower base plate 1111 and the lower side plate surround a lower space with a first opening. The upper cylinder 112 consists of an upper base plate 1121 and an upper side plate extending downward from the upper base plate 1121. The upper base plate 1121 and the upper side plate surround an upper space with a second opening. The upper cylinder 112 is fitted onto the circumferential outer wall of the lower cylinder 111. The upper space with the second opening and the lower space with the first opening form an accommodating space 110.

[0008] The positioning connection assembly 30 includes a positioning sleeve 31 and a positioning seat 32. The positioning sleeve 31 is located at the bottom of the main frame 11, and the positioning seat 32 is located on the upper surface of the connecting plate 21. The positioning seat 32 includes a positioning post 321 with an outer conical surface 322, and the positioning sleeve 31 includes a positioning hole 311 with an inner conical surface 312. The inner conical surface 312 and the outer conical surface 322 are in close contact.

[0009] In a preferred embodiment of the present invention, the outer circumferential wall of the positioning post 321 is provided with an outer spacer 521, the inner circumferential wall of the upper cylinder 112 is fixedly connected with a main base plate 12, the upper surface of the main base plate 12 is provided with a plurality of guide posts 45, the main base plate 12 is provided with a driving device 41, one end of the output shaft of the driving device 41 is fixedly connected to one end of the lead screw 42, and the plurality of guide posts 45 pass through the sliding plate 44 and are slidably connected.

[0010] In a preferred embodiment of the present invention, a lead screw 42 is rotatably connected to the top inner wall of the upper cylinder 112, a nut 43 is threadedly connected to the outer circumference of the lead screw 42, and a sliding plate 44 is fixedly connected to the outer circumference of the nut 43.

[0011] In a preferred embodiment of the present invention, the main frame 11 is provided with a traction component, the traction component includes a plurality of cables 33, one end of each of the plurality of cables 33 is fixedly connected to a connecting plate 21, and the other end of each of the plurality of cables 33 is fixedly connected to a sliding plate 44. Each cable 33 includes a core layer 331 and a sheath layer 332, and the core layer 331 is an elastic body.

[0012] In a preferred embodiment of the present invention, the inner conical surface 312 has an annular groove 513 on its circumferential inner wall. The annular groove 513 includes a reference surface 310, which is perpendicular to the center line of the positioning hole 311. The positioning sleeve 31 has a through air hole 514 on its circumferential inner wall, which communicates with the annular groove 513.

[0013] In a preferred embodiment of the present invention, an end effector connection system includes the following modules: a drive module, an air source module, a control module, a sealing module, and a quick-release module.

[0014] In a preferred embodiment of the present invention, the drive module includes a drive motor and a hydraulic cylinder, which drives the sliding plate 44 to move along the guide post 45 by rotating the lead screw 42, thereby adjusting the tension of the cable 33. The air source module includes an air pump and an air pipeline, which are connected to the air hole 514 of the positioning sleeve 31, for injecting positive pressure gas or drawing a vacuum into the annular groove 513 to assist the outer conical surface 322 and the inner conical surface 312 in contacting, separating or buffering. The control module includes a controller and a sensor. The sensor is used to detect the tension of the cable 33, the position of the sliding plate 44 and the air pressure state of the annular groove 513. The controller dynamically adjusts the working parameters of the drive module or the air source module according to the sensor signal. The sealing module includes an elastic sealing ring disposed at the gap between the positioning sleeve 31 and the positioning post 321. The quick-release module includes a snap-fit ​​structure or magnetic suction device disposed between the connecting plate 21 and the main frame 11.

[0015] In a preferred embodiment of the present invention, a method of using an end effector connection device includes the following steps:

[0016] S1. After the main frame 11 is fixedly connected to the robot arm and the connecting plate 21 is fixedly connected to the end effector, the sliding plate 44 is moved by adjusting the lead screw 42 through the drive device 41, thereby tightening or loosening the cable 33 to change the force of the cable 33 on the connecting plate 21.

[0017] S2. When a rigid connection is required, tightening the cable 33 makes the inner conical surface 312 of the positioning sleeve 31 fit tightly with the outer conical surface 322 of the positioning seat 32, forming an axial preload to ensure a rigid connection between the end effector and the robot.

[0018] S3. When buffering is required, gradually relax the tension of the cable 33 so that a small gap is maintained between the inner conical surface 312 and the outer conical surface 322, and use the elastic properties of the core layer 331 of the cable 33 to absorb external impact or vibration energy.

[0019] S4. When a shaking operation is required, the tension of the cable 33 is further released to completely separate the inner conical surface 312 from the outer conical surface 322. The elastic rebound characteristics of the cable 33 drive the connecting plate 21 to generate a high-frequency small-amplitude displacement, thereby realizing the shaking function of the end effector.

[0020] In a preferred embodiment of the present invention, the circular array layout of the cable 33 and the alternating arrangement of the positioning connection component 30 work together.

[0021] In a preferred embodiment of the present invention, the cone angle between the inner cone surface 312 and the outer cone surface 322 is 18-22°.

[0022] This invention addresses the shortcomings of the prior art and has the following beneficial effects:

[0023] (1) This invention provides an end effector connection device, which achieves flexible switching between rigid connection, buffer operation and shaking function through the setting of positioning connection components and elastic cable system. The conical surface fitting structure (inner conical surface 312 and outer conical surface 322) can form axial preload in the tightened state to ensure the rigid fixation of the end effector; while in the loosened state, the core layer 331 and sheath layer 332 of the elastic cable 33 can absorb external impact energy, and at the same time, the elastic rebound characteristics of the cable can realize high-frequency small-amplitude shaking to meet the needs of buffering, control and shaking off adhering particles in the operation of powder materials.

[0024] (2) This invention provides an end effector connection device. Through the linkage control of the drive module 41 and the air source module, combined with the auxiliary functions of the annular groove 513 and the air hole 514, the connection state can be dynamically adjusted. In the rigid connection stage, positive pressure gas injection into the annular groove can enhance the sealing and stability of the conical surface fit. In the buffering or vibration stage, vacuuming can quickly separate the conical surface, reduce friction loss and extend the component life. In addition, the synergistic effect of the circumferential array of cables 33, guide posts 45 and sliding plates 44 ensures balanced force in multiple directions, improves the device's vibration resistance and long-term operational reliability under complex working conditions, and is especially suitable for vulnerable materials or high-precision operation scenarios.

[0025] (3) This invention provides an end effector connection device, which significantly improves installation and maintenance efficiency through the quick-release module, positioning sleeve 31, and positioning seat 32. The auxiliary function of the air source module, which switches between positive pressure and vacuum, reduces the need for manual adjustment. At the same time, the setting of the elastic sealing ring and the outer spacer 521 reduces the risk of seal wear. Combined with the real-time monitoring of tension, air pressure, and position by the control module, the device can dynamically optimize operating parameters, reduce manual intervention, thereby shortening production preparation time and reducing maintenance costs. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments;

[0027] Figure 1 This is a perspective structural diagram of the end effector connection device according to a preferred embodiment of the present invention;

[0028] Figure 2 This is a preferred embodiment of the present invention. Figure 1 Schematic diagram of the cross section at point AA;

[0029] Figure 3 This is a preferred embodiment of the present invention. Figure 1 Schematic diagram of the cross section at point BB;

[0030] Figure 4 This is a cross-sectional view at point C of a preferred embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the cable structure according to a preferred embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of an end effector connection system according to a preferred embodiment of the present invention;

[0033] Figure 7 This is a flowchart illustrating a preferred embodiment of the present invention.

[0034] In the diagram: 11. Main frame; 110. Accommodation space; 111. Lower cylinder; 1111. Lower base plate; 112. Upper cylinder; 1121. Upper base plate; 12. Main base plate; 21. Connecting plate; 30. Positioning connection assembly; 31. Positioning sleeve; 310. Reference surface; 311. Positioning hole; 312. Inner conical surface; 32. Positioning seat; 321. Positioning post; 322. Outer conical surface; 33. Cable; 331. Core layer; 332. Sheath layer; 41. Drive device; 42. Lead screw; 43. Nut; 44. Sliding plate; 45. Guide post; 513. Annular groove; 514. Air hole; 521. Outer spacer. Detailed Implementation

[0035] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. These drawings are simplified schematic diagrams, which are only used to illustrate the basic structure of the present invention and therefore only show the components relevant to the present invention.

[0036] In this invention, the mechanical gripper, as the core actuator, is selected from Festo's MGHS series multi-degree-of-freedom manipulator, whose flexible gripping structure is adapted to the grasping requirements of powder containers; the drive module uses a Panasonic Minas series servo motor in conjunction with a Festo hydraulic cylinder; the air source module is equipped with a Festo MPA-2 air pump and customized air pipeline; the control module is based on Beckhoff CX9020 embedded controller, integrating force and pressure sensors, and uses a closed-loop PID algorithm to dynamically optimize parameters; the sealing module uses Schunk elastic sealing rings to ensure air path reliability, and the quick-release module uses an Enerpac magnetic quick-release interface to improve installation efficiency.

[0037] This method is designed for tasks involving powders within fragile packaging materials; for example, in scenarios such as powder grabbing or cleaning materials adhering to the sidewalls of containers.

[0038] like Figure 1 As shown, an end effector connection device includes: a main frame 11 and a connecting plate 21, and a plurality of positioning and connecting components 30 disposed between the main frame 11 and the connecting plate 21;

[0039] like Figures 1-2As shown, the main frame 11 includes a lower cylinder 111 and an upper cylinder 112. The lower cylinder 111 includes a lower base plate 1111 and a lower side plate extending upward from the lower base plate 1111. The lower base plate 1111 and the lower side plate surround to form a lower space with a first opening. The upper cylinder 112 is an upper base plate 1121 and an upper side plate extending downward from the upper base plate 1121. The upper base plate 1121 and the upper side plate surround to form an upper space with a second opening. The upper cylinder 112 is sleeved on the circumferential outer wall of the lower cylinder 111. The upper space with the second opening and the lower space with the first opening form an accommodating space 110.

[0040] In this embodiment, the accommodating space 110 formed by the nesting of the lower cylinder 111 and the upper cylinder 112 achieves centralized protection and standardized layout of the internal components, thereby improving the integration and compatibility of the device.

[0041] Furthermore, the wrap-around layout of the lower and upper side panels enhances the overall frame's resistance to deformation, reducing the impact of external impacts or vibrations on internal components, thereby improving operational reliability. The interconnected design of the first and second openings maximizes the use of vertical space, providing independent installation areas for functional components at different levels and avoiding redundant structures occupying volume.

[0042] Furthermore, the openness and adjustability of the accommodating space 110, through the adjustment of the relative positions of the upper and lower cylinders 111, enable the device to adapt to end effectors of various sizes or shapes, reducing dependence on specific equipment. The split-type cylinder structure facilitates disassembly and assembly, supports quick replacement of internal components or maintenance, and significantly reduces maintenance costs and time. By replacing the complex structure of traditional multi-component dispersed installation with a layered nested accommodating space 110, assembly steps and potential failure points are reduced. At the same time, the enclosed nature of the accommodating space 110 protects the internal components from external interference such as dust and liquids, extending their service life.

[0043] In addition, the rigid connection between the upper and lower cylinders 111 and the stable design of the accommodating space 110 can withstand the dynamic forces during the operation of the end effector, avoiding structural loosening or failure due to load fluctuations, thereby improving the overall environmental adaptability and dynamic load support capability.

[0044] like Figures 2-4 As shown, the positioning connection assembly 30 includes a positioning sleeve 31 and a positioning seat 32. The positioning sleeve 31 is located at the bottom of the main frame 11, and the positioning seat 32 is located on the upper surface of the connecting plate 21. The positioning seat 32 includes a positioning post 321 with an outer conical surface 322, and the positioning sleeve 31 includes a positioning hole 311 with an inner conical surface 312. The inner conical surface 312 and the outer conical surface 322 are tightly fitted together.

[0045] The inner conical surface 312 has an annular groove 513 on its inner circumferential wall. The annular groove 513 includes a reference surface 310, which is perpendicular to the center line of the positioning hole 311. The positioning sleeve 31 has a through air hole 514 on its inner circumferential wall. The air hole 514 communicates with the annular groove 513. The cone angle of the inner conical surface 312 and the outer conical surface 322 is 18 to 22°. The positioning column 321 has an outer spacer 521 on its outer circumferential wall. The main base plate 12 is fixedly connected to the inner circumferential wall of the upper cylinder 112. The upper surface of the main base plate 12 has several guide columns 45. The top inner wall of the upper cylinder 112 is rotatably connected to a lead screw. The main base plate 12 has a driving device 41. One end of the output shaft of the driving device 41 is fixedly connected to one end of the lead screw. The outer circumferential wall of the lead screw is threaded with a nut 43. The outer circumferential wall of the nut 43 is fixedly connected with a sliding plate. Several guide columns 45 pass through the sliding plate and are slidably connected.

[0046] In this embodiment, the positioning sleeve 31 and the positioning seat 32 form an adaptive matching structure through the tight fit of the inner conical surface 312 and the outer conical surface 322, which generates an axial preload between the two contact surfaces, effectively improving the structural stability between the main frame 11 and the connecting plate 21.

[0047] Furthermore, precise alignment is achieved through the conical surface geometry, avoiding misalignment caused by assembly errors or external vibrations. The progressive contact characteristics of the conical surface mating can evenly distribute forces, reduce local stress concentration, thereby extending the component's lifespan and maintaining stable connection performance under dynamic loads.

[0048] Furthermore, the self-locking effect of the conical surface fit enhances the resistance to loosening, maintaining connection reliability even under frequent start-stop or impact conditions. At the same time, the controllable gap design of the conical contact area provides a physical basis for flexible adjustment, taking into account the adaptability of switching between rigid connection and buffering requirements, and improving the overall device's adaptability and operational accuracy under complex working conditions.

[0049] like Figures 2-5 As shown, the main frame 11 is equipped with a traction component, which includes several cables 33. One end of each cable 33 is fixedly connected to the connecting plate 21, and the other end of each cable 33 is fixedly connected to the sliding plate. Each cable 33 includes a core layer 331 and a sheath layer 332. The core layer 331 is an elastic body, and the sheath layer 332 is woven from outer cables into a mesh. The sheath layer 332 wraps around the core layer 331. The cables 33 are arranged in a circular array around the center line, and the cables 33 and the positioning connection component 30 are arranged alternately.

[0050] In this embodiment, the composite structure of the core layer 331 and sheath layer 332 of the cable 33 in the traction assembly achieves stress dispersion and energy absorption under dynamic load through the buffering characteristics of the elastic core layer 331 and the rigid constraint of the braided sheath layer 332, effectively reducing the direct impact on the main frame 11 and the connecting plate 21 under high-frequency vibration or impact conditions, and extending the fatigue life of the overall structure.

[0051] Furthermore, the circular array layout allows the tension cable 33 to distribute the force evenly around the center line, avoiding deformation or failure caused by localized concentrated force. At the same time, it forms a rigid-flexible complementary support system with the phased positioning connection components 30, ensuring high-precision centering stability in rigid connection and providing buffering and rebound capability in flexible adjustment mode.

[0052] Furthermore, the woven mesh structure of the sheath layer 332 enhances the torsional and bending resistance of the cable 33, preventing the cable 33 from tangling or breaking during complex movements, further improving the reliability and operational accuracy of the device under dynamic loads. At the same time, the compressibility of the elastic core layer 331 provides physical buffer space for the fine-tuning action of the end effector, seamlessly adapting to various operational needs such as jitter, buffering, or rigid switching.

[0053] like Figure 6 As shown, an end effector connection system includes the following modules:

[0054] The drive module includes a drive motor and a hydraulic cylinder, which drives the sliding plate 44 to move along the guide post 45 by rotating the lead screw 42, thereby adjusting the tension of the cable 33;

[0055] The gas source module includes an air pump and an air pipeline, which are connected to the air hole 514 of the positioning sleeve 31. It is used to inject positive pressure gas into the annular groove 513 or to draw a vacuum, and to assist the outer conical surface 322 and the inner conical surface 312 in fitting, separating or buffering.

[0056] The control module includes a controller and sensors. The sensors are used to detect the tension of the cable 33, the position of the sliding plate 44, and the air pressure status of the annular groove 513. The controller dynamically adjusts the operating parameters of the drive module or the air source module based on the sensor signals.

[0057] The sealing module includes: an elastic sealing ring disposed at the gap between the positioning sleeve 31 and the positioning post 321;

[0058] The quick-release module includes a snap-fit ​​structure or magnetic suction device disposed between the connecting plate 21 and the main frame 11.

[0059] It should be noted that by working together with multiple modules, dynamic control and multi-functional adaptation of the end effector connection status can be achieved, significantly improving the flexibility, stability and efficiency of operation.

[0060] The drive module precisely adjusts the cable tension through the linkage of the lead screw and the sliding plate, combined with the linear guidance of the guide column, providing basic power support for rigid connection, buffer operation and vibration function;

[0061] The air supply module, through positive pressure / vacuum switching, assists in the bonding or separation of the conical surfaces, enhancing the sealing and stability of the connection interface and reducing mechanical friction loss through air pressure buffering, thus extending component life. The control module integrates sensors and controllers to monitor tension, position, and air pressure status in real time, dynamically optimizing drive and air supply parameters to ensure the system's response speed and operational accuracy during assembly, flexible gripping, or high-frequency vibration.

[0062] The elastic sealing ring of the sealing module effectively isolates external interference and ensures the reliability of the air supply system, while the snap or magnetic structure of the quick-release module greatly simplifies the installation and maintenance process of the end effector.

[0063] Overall, the system achieves seamless switching between rigid fixation, flexible buffering, and dynamic vibration through modular design and closed-loop control, making it particularly suitable for tasks involving powder materials.

[0064] like Figure 7 As shown, a method of using an end effector connection device includes the following steps:

[0065] S1. The main frame 11 is fixedly connected to the robot arm, and the connecting plate 21 is firmly connected to the end effector to form a stable mechanical interface. Then, the drive device 41 controls the lead screw 42 to rotate, which drives the sliding plate 44 to move linearly along the guide post 45, thereby adjusting the tension of the cable 33 and realizing dynamic control of the force on the connecting plate 21.

[0066] During this process, the rotation angle θ of the lead screw 42 and the displacement d of the sliding plate 44 satisfy the following relationship:

[0067]

[0068] Where p is the screw pitch. This displacement directly changes the elongation of cable 33, thereby controlling its tension T and achieving the preset connection state.

[0069] It is worth noting that the multiple cables 33 are arranged in a circular array and alternately set with the positioning connection components 30 to ensure that the force is evenly distributed in the circumference, which significantly improves the overall stiffness and dynamic response stability of the structure and lays the foundation for switching between different operating modes in the future.

[0070] S2. When the system needs to enter the operation state of grasping powder materials in fragile packaging, the drive device 41 further tightens the cable 33, so that the inner conical surface 312 of the positioning sleeve 31 and the outer conical surface 322 of the positioning seat 32 are closely fitted to form an axial preload, thereby realizing a rigid connection between the end effector and the robot.

[0071] The preload F a It can be estimated using the following mechanical model:

[0072]

[0073] in:

[0074] F r The radial clamping force applied to the cable;

[0075] μ is the coefficient of friction of the material in contact with the conical surface;

[0076] a is half of the cone angle. In this embodiment, the cone angle is set to 18-22°, so a∈[9°, 11°], which is conducive to forming a self-locking effect and improving the reliability of the connection.

[0077] As the cable tension increases, the stress distribution in the conical contact area tends to be more uniform, effectively avoiding localized stress concentration and extending the lifespan of critical components. Simultaneously, positive pressure gas can be injected into the annular groove 513 through the vent 514, generating an additional axial force.

[0078] F gas =P·A

[0079] Where P represents air pressure and A represents the effective area. This air pressure-assisted mechanism can further enhance the sealing and vibration resistance of the conical surface fit, prevent micro-movement loosening or leakage, and is suitable for precision operation in high dynamic loads or clean environments.

[0080] S3. When the system needs to cope with impact or vibration conditions, the tension of the cable 33 is appropriately relaxed, so that a controllable small gap is maintained between the inner conical surface 312 and the outer conical surface 322, entering a buffer state. At this time, the core layer 331 of the cable 33 absorbs external impact energy using its elastic properties.

[0081] In this mode, the cable tension is adjusted from the initial value F0 to F r The corresponding axial preload decreases, and the cone clearance δ can be reduced by F. r Regulation. The elastic deformation of the core layer follows Hooke's Law:

[0082] ΔF=k·ΔL

[0083] Where k is the equivalent elastic coefficient of the cable, and ΔL is the deformation. This elastic rebound mechanism allows the connecting plate 21 to move freely within a small range, effectively isolating external vibrations from being transmitted to the robot body.

[0084] In addition, the air supply module can evacuate the annular groove 513, reducing residual friction, assisting in conical surface separation, and reducing wear. The elastic sealing ring in the sealing module ensures the air circuit is airtight, while the quick-release structure facilitates the rapid replacement and maintenance of the end effector.

[0085] S4. When a shaking operation (cleaning up adhering powder) is required, the tension of the cable 33 is further released, so that the inner conical surface 312 and the outer conical surface 322 are completely separated, and the mechanical constraint is released. At this time, under the action of elastic rebound force, the cable 33 drives the connecting plate 21 to generate high-frequency small-amplitude reciprocating motion, realizing the active shaking function of the end effector.

[0086] The frequency and amplitude of the vibration are jointly determined by the cable elastic coefficient k, the initial tension release rate, and the dynamic response of the drive module. The control system monitors the position of the sliding plate 44, the cable tension, and the air pressure status in real time through sensors, and dynamically adjusts the output of the drive device 41 using a PID control algorithm.

[0087]

[0088] Where e(t) is the deviation between the set jitter parameter and the actual response, K p K i K d The gain is proportional, integral, and derivative. This closed-loop control ensures a stable and adjustable jitter process, suitable for different material properties and container shapes.

[0089] In summary, this method achieves seamless switching between rigid connection, damping and vibration absorption, and active vibration through a single drive mechanism (screw-sliding plate-cable system), without the need for additional actuators or complex mechanisms.

[0090] Based on the preferred embodiments of the present invention described above, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. An end effector connection device, comprising: The main frame (11) and the connecting plate (21), and a plurality of positioning and connecting components (30) disposed between the main frame (11) and the connecting plate (21), Its characteristics are: The main frame (11) includes a lower cylinder (111) and an upper cylinder (112). The lower cylinder (111) includes a lower base plate (1111) and a lower side plate extending upward from the lower base plate (1111). The lower base plate (1111) and the lower side plate surround a lower space with a first opening. The upper cylinder (112) is an upper base plate (1121) and an upper side plate extending downward from the upper base plate (1121). The upper base plate (1121) and the upper side plate surround an upper space with a second opening. The upper cylinder (112) is fitted onto the circumferential outer wall of the lower cylinder (111). The upper space with the second opening and the lower space with the first opening form an accommodating space (110). The positioning connection assembly (30) includes a positioning sleeve (31) and a positioning seat (32). The positioning sleeve (31) is located at the bottom of the main frame (11), and the positioning seat (32) is located on the upper surface of the connecting plate (21). The positioning seat (32) includes a positioning post (321) with an outer conical surface (322), and the positioning sleeve (31) includes a positioning hole (311) with an inner conical surface (312). The inner conical surface (312) and the outer conical surface (322) are tightly fitted together.

2. The end effector connection device according to claim 1, characterized in that: The outer circumferential wall of the positioning column (321) is provided with an outer spacer (521), and the inner circumferential wall of the upper cylinder (112) is fixedly connected with a main base plate (12). The upper surface of the main base plate (12) is provided with a plurality of guide columns (45). The main base plate (12) is provided with a driving device (41). One end of the output shaft of the driving device (41) is fixedly connected to one end of the lead screw (42). The plurality of guide columns (45) pass through the sliding plate (44) and are slidably connected.

3. The end effector connection device according to claim 1, characterized in that: The top inner wall of the upper cylinder (112) is rotatably connected to a lead screw (42), the outer circumference of the lead screw (42) is threaded with a nut (43), and the outer circumference of the nut (43) is fixedly connected with a sliding plate (44).

4. The end effector connection device according to claim 1, characterized in that: The main frame (11) is provided with a traction component, which includes several cables (33). One end of each cable (33) is fixedly connected to a connecting plate (21), and the other end of each cable (33) is fixedly connected to a sliding plate (44). Each cable (33) includes a core layer (331) and a sheath layer (332). The core layer (331) is an elastic body, and the sheath layer (332) is woven from outer cables into a mesh. The sheath layer (332) wraps around the core layer (331). The cables (33) are arranged in a circular array around the center line.

5. The end effector connection device according to claim 4, characterized in that: The inner conical surface (312) has an annular groove (513) on its circumferential inner wall. The annular groove (513) includes a reference surface (310), which is perpendicular to the center line of the positioning hole (311). The positioning sleeve (31) has a through air hole (514) on its circumferential inner wall, which is connected to the annular groove (513).

6. An end effector connection system, based on an end effector connection device according to any one of claims 1-5, characterized in that, It includes the following modules: drive module, air source module, control module, sealing module, and quick-release module.

7. The end effector connection system according to claim 6, characterized in that: The drive module includes a drive motor and a hydraulic cylinder, which drives the sliding plate (44) to move along the guide post (45) by rotating the lead screw (42), thereby adjusting the tension of the cable (33). The air source module includes an air pump and an air pipeline, which are connected to the air hole (514) of the positioning sleeve (31) and are used to inject positive pressure gas or evacuate the annular groove (513) to assist the outer conical surface (322) and the inner conical surface (312) in fitting, separating or buffering. The control module includes a controller and a sensor. The sensor is used to detect the tension of the cable (33), the position of the sliding plate (44) and the air pressure state of the annular groove (513). The controller dynamically adjusts the working parameters of the drive module or the air source module according to the sensor signal. The sealing module includes an elastic sealing ring set at the gap between the positioning sleeve (31) and the positioning post (321). The quick release module includes a buckle structure or magnetic suction device set between the connecting plate (21) and the main frame (11).

8. A method of using an end effector connection device, based on an end effector connection device according to any one of claims 1-7, characterized in that, Includes the following steps: S1. After the main frame (11) is fixedly connected to the robot and the connecting plate (21) is fixedly connected to the end effector, the sliding plate (44) is moved by adjusting the screw (42) through the drive device (41), thereby tightening or loosening the cable (33) to change the force of the cable (33) on the connecting plate (21). S2. When a rigid connection is required, tighten the cable (33) so that the inner conical surface (312) of the positioning sleeve (31) and the outer conical surface (322) of the positioning seat (32) fit tightly together to form an axial preload and ensure a rigid connection between the end effector and the robot. S3. When buffering is required, gradually relax the tension of the cable (33) so that a small gap is maintained between the inner conical surface (312) and the outer conical surface (322), and use the elastic properties of the core layer (331) of the cable (33) to absorb external impact or vibration energy. S4. When a shaking operation is required, the tension of the cable (33) is further released to completely separate the inner conical surface (312) from the outer conical surface (322). The elastic rebound characteristics of the cable (33) drive the connecting plate (21) to generate a high-frequency small-amplitude displacement, thereby realizing the shaking function of the end effector.

9. The method of using the end effector connection device according to claim 8, characterized in that: The circular array layout of the cable (33) and the alternating arrangement of the positioning connection component (30) are described.

10. A method of using the end effector connection device according to claim 8, characterized in that: The cone angle between the inner cone surface (312) and the outer cone surface (322) is 18-22°.

Images