A multi-functional operating end tool

Abstract

This invention relates to the field of robotic end-effector technology, specifically a multifunctional end-effector tool. It includes an adapter flange, a main tool assembly, a drive unit, a right gripper assembly, a left gripper assembly, and a side alignment component. The drive unit is built into the main tool structure and provides rotational power. The gear of the drive unit meshes with the rack on the right gripper assembly, causing it to move parallel to the rack. The left gripper assembly moves symmetrically to the right gripper assembly. The side alignment component is perpendicular to the gripping surfaces of the left and right gripper assemblies, achieving a tight fit between the gripped object and the contact surfaces. When gripping a cuboid object, this invention can achieve precise alignment of four surfaces on the object—the surface gripped by the two grippers, the surface in contact with the side alignment component, and the surface in contact with the end alignment component—by judging and adjusting the proximity switches on the side alignment component and the end alignment component. This allows for accurate positioning of the gripped object.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, and more specifically to a multifunctional operating end effector. Background Technology

[0002] When performing precision operations on objects with a similar rectangular shape (such as regularly shaped electricity meters), such as precision assembly, the specific gripping position of the robot's end effector on the object being grasped has a significant impact on the success rate of subsequent precision operations. Currently, most robots grasp rectangular objects either based on a pre-taught position or using vision guidance. The former requires excessively high precision in determining the position of the grasped object; while the latter places high demands on the precision of the vision system, which is easily affected by complex lighting conditions, thus failing to meet requirements in some situations. Ideally, a coarse positioning method using visual positioning or other constraints would be used, followed by sensing and limiting the robot's relative positional relationship with the grasped object using its own sensors. This approach allows for achieving very high grasping accuracy at a lower technical and economic cost. Summary of the Invention

[0003] To address the above problems, the present invention aims to provide a multifunctional end effector. Based on the principle of parallel two-finger gripping, this end effector has multiple proximity sensors installed on two surfaces. Triggering these sensor signals establishes a reliable fit between the constraint surface and the surface of the object being gripped, achieving good fit in all directions and thus enabling precise grasping of the object.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] This invention provides a multifunctional end effector, including an adapter flange, a tool body assembly, a drive component, a right gripper finger assembly, a left gripper finger assembly, and a side alignment component. The drive component is located within the tool body assembly and provides the power source for rotational movement. The adapter flange connects to the tool body assembly and serves as the interface for connecting the multifunctional end effector to other devices during use. The right gripper finger assembly guides the movement of the tool body assembly through a surface fit and is powered by the drive component. The left gripper finger assembly has the same structure as the right gripper finger assembly, is symmetrically installed, and moves symmetrically. The side alignment component connects to the tool body assembly, and its inner surface is perpendicular to the gripping surface of the gripper finger, achieving effective contact with the surface of a cuboid object when gripping it. The tool body assembly serves as the main frame of the multifunctional end effector and, when gripping a cuboid object, achieves effective contact with the end face of the cuboid object.

[0006] The main component of the tool includes a main structural member, end face proximity sensor I, end face proximity sensor II, end face proximity sensor III and end face proximity sensor IV, wherein end face proximity sensors I, II, III and IV are built into holes in the upper end face of the main structural member, and their triggerable surfaces are recessed in the upper end face of the main structural member.

[0007] The end face proximity sensors I, II, III, and IV are cylindrical proximity sensors of the same type, function, and performance. When the distance between their triggerable action surface and the surface of the clamped object is within a specific range and exceeds a specific range, they output different switching signals.

[0008] When the output signals of all four end face proximity sensors (I, II, III, and IV) are consistent with the signal indicating that the distance between their triggerable action surfaces and the surface of the clamped object is within a specific range, it indicates that the tool body assembly is in close contact with the surface of the clamped object.

[0009] The drive component includes a motor reducer encoder assembly, a drive gear, a cover, and a clamping screw; wherein the motor reducer encoder assembly is a combination of a servo motor, a reducer, and an encoder, providing a power source; the drive gear is connected to the output shaft of the motor reducer encoder assembly; the cover is connected to the motor reducer encoder assembly via the clamping screw, restricting the axial movement of the drive gear.

[0010] The right finger clamping assembly includes a right finger clamping and a right rack, wherein the right rack is connected to the right finger clamping.

[0011] The right gripper assembly moves by meshing the right rack with the drive gear.

[0012] The side alignment component includes a side alignment plate, side proximity sensor I, side proximity sensor II, side proximity sensor III, and side proximity sensor IV. The side proximity sensors I, II, III, and IV are all placed inside holes in the side alignment plate, and the triggered surfaces of the side proximity sensors I, II, III, and IV are slightly lower than the surface of the side alignment plate.

[0013] When the output signals of the side proximity sensors I, II, III, and IV of the side alignment component are all consistent with the signal that the distance between the triggerable action surface and the surface of the clamped object is within a specific range, it indicates that the side alignment component is in close contact with the surface of the clamped object.

[0014] The advantages and positive effects of this invention are as follows:

[0015] 1. This invention achieves precise positioning of the grasping position of a cuboid-like object by reliably fitting the two planes in contact with the object being grasped and the two planes that hold the fingers together, totaling four screens.

[0016] 2. The present invention has a simple and compact structure. Compared with the general parallel two-finger gripper, it only adds a side alignment plate in appearance, so the gripping of objects is reliable.

[0017] 3. This invention can achieve precise grasping of cuboid-shaped objects based on coarse positioning, avoiding the influence of the external environment when using visual positioning, and has low requirements for the accuracy of the object's placement. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a multifunctional end-effector of the present invention;

[0019] Figure 2 This is a schematic diagram of the main component of the tool in this invention;

[0020] Figure 3 This is a schematic diagram of the drive component in this invention;

[0021] Figure 4 This is a schematic diagram of the right finger clamping assembly in this invention;

[0022] Figure 5 This is a schematic diagram of the side alignment component in this invention;

[0023] Figure 6 This is a schematic diagram of the proximity sensor used in this invention.

[0024] Wherein: 1 is the adapter flange, 2 is the tool body assembly, 3 is the drive component, 4 is the right gripper finger assembly, 5 is the left gripper finger assembly, 6 is the side alignment component, 201 is the main structural component, 202 is the end face proximity sensor I, 203 is the end face proximity sensor II, 204 is the end face proximity sensor III, 205 is the end face proximity sensor IV, 301 is the motor reducer encoder assembly, 302 is the drive gear, 303 is the pressure cap, 304 is the clamping screw, 401 is the right gripper finger, 402 is the right rack, 601 is the side alignment plate, 602 is the side proximity sensor I, 603 is the side proximity sensor II, 604 is the side proximity sensor III, and 605 is the side proximity sensor IV. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0026] like Figure 1 As shown, this invention provides a multifunctional end effector, including an adapter flange 1, a tool body assembly 2, a drive component 3, a right gripper assembly 4, a left gripper assembly 5, and a side alignment component 6. The drive component 3 is located within the tool body assembly 2, providing the power source for rotational movement. The adapter flange 1 connects to the tool body assembly 2, serving as the interface for connecting the multifunctional end effector to other devices during use. The right gripper assembly 4 guides the movement of the tool body assembly 2 through surface fit, and is powered by the drive component 3. The left gripper assembly 5 has the same structure as the right gripper assembly 4, is symmetrically installed, and moves symmetrically. The side alignment component 6 connects to the tool body assembly 2, and its inner surface is perpendicular to the gripping surfaces of the left and right gripper assemblies, achieving effective contact with the surface of a cuboid object when gripping it. The tool body assembly 2 serves as the main frame of the multifunctional end effector, while also achieving effective contact with the end face of the cuboid object when gripping it.

[0027] like Figure 2 As shown, the tool body assembly 2 includes a main structural component 201, an end face proximity sensor I 202, an end face proximity sensor II 203, an end face proximity sensor III 204, and an end face proximity sensor IV 205. The end face proximity sensors I 202, II 203, III 204, and IV 205 are built into holes in the upper end face of the main structural component 201, and their triggerable surfaces are recessed in the upper end face of the main structural component 201.

[0028] The end face proximity sensors I 202, II 203, III 204, and IV 205 are cylindrical proximity sensors of the same type, function, and performance. When the distance between their triggerable action surface and the surface of the clamped object is within a specific range and exceeds a specific range, they output different switching signals.

[0029] When the output signals of the end face proximity sensors I 202, II 203, III 204 and IV 205 are all consistent with the signal that the distance between their triggerable action surface and the surface of the clamped object is within a specific range, it indicates that the tool body assembly 2 is in close contact with the surface of the clamped object.

[0030] The aforementioned proximity sensors include, but are not limited to, such as Figure 6The proximity sensor is shown. One possible implementation is that the end face of the proximity sensor is recessed 0.3 mm below the surface of the main structure 201. The sensor is triggered when its end face is 0.6 mm from the object being grasped; therefore, the proximity sensor is triggered when the object being grasped is 0 to 0.3 mm from the main structure 201. The triggerable limit distance between the end face of the proximity sensor and the object being grasped can be adjusted by adjusting the depth of the proximity sensor recessed in the main structure 201.

[0031] like Figure 3 As shown, the drive component 3 includes a motor reducer encoder assembly 301, a drive gear 302, a cover 303, and a clamping screw 304; wherein the motor reducer encoder assembly 301 is a combination of a servo motor, a reducer, and an encoder, providing a power source; the drive gear 302 is connected to the output shaft of the motor reducer encoder assembly 301; the cover 303 is connected to the motor reducer encoder assembly 301 via the clamping screw 304, restricting the drive gear 302 from moving axially.

[0032] like Figure 4 As shown, the right finger clamping assembly 4 includes a right finger clamping 401 and a right rack 402, wherein the right rack 402 is connected to the right finger clamping 401.

[0033] The right gripper assembly 4 moves through the meshing of the right rack 402 and the drive gear 302. The left gripper assembly 5 and the right gripper assembly 4 are symmetrically arranged and move in opposite directions.

[0034] like Figure 5 As shown, the side alignment component 6 includes a side alignment plate 601, a side proximity sensor I 602, a side proximity sensor II 603, a side proximity sensor III 604, and a side proximity sensor IV 605. The side proximity sensors I 602, II 603, III 604, and IV 605 are all placed in holes in the side alignment plate 601, and the triggered surfaces of the side proximity sensors I 602, II 603, III 604, and IV 605 are slightly lower than the surface of the side alignment plate 601.

[0035] When the output signals of the side proximity sensors I 602, II 603, III 604 and IV 605 of the side alignment component 6 are all consistent with the signal that the distance between the triggerable action surface and the surface of the clamped object is within a specific range, it indicates that the side alignment component 6 is in close contact with the surface of the clamped object.

[0036] The present invention provides a multifunctional end-effector tool, the working principle of which is as follows:

[0037] When grasping a target object, the right gripper assembly 4 and the left gripper assembly 5 are fully opened, with the distance between them at their maximum. During operation, the side alignment component 6 is first brought into contact with the target object. If all proximity sensors are triggered, it is considered that the side alignment component 6 and the target object are reliably attached. Then, the tool body assembly 2 of the end tool moves closer to the target object until all proximity sensors of the tool body assembly 2 are also in the triggered state, at which point it is considered that the tool body assembly 2 and the target object are reliably attached. Finally, the right gripper assembly 4 and the left gripper assembly 5 close together, clamping the target object.

[0038] This invention provides a multifunctional end effector that achieves precise positioning of cuboid-like objects through reliable contact between four screens: two planes in contact with the object being grasped and two planes gripping the fingers. The invention features a simple and compact structure; compared to a typical parallel two-finger gripper, it only adds a side alignment plate, thus ensuring reliable object grasping. This invention can achieve precise grasping of cuboid-like objects based on coarse positioning, avoiding the influence of the external environment that occurs with visual positioning, and has low requirements for the precision of the object's placement.

[0039] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A multi-functional end effector, characterized in that, The tool includes an adapter flange (1), a tool body assembly (2), a drive component (3), a right gripper assembly (4), a left gripper assembly (5), and a side alignment component (6). The drive component (3) is located inside the tool body assembly (2) and provides the power source for rotational motion. The adapter flange (1) is connected to the tool body assembly (2) and serves as the interface for connecting the multi-functional end-effector tool to other devices during use. The right gripper assembly (4) and the tool body assembly (2) achieve motion guidance through surface fit, and the drive component (3) provides the power source. The left gripper assembly (5) and the right gripper assembly (4) have the same structure, are symmetrically installed, and move symmetrically. The side alignment component (6) is connected to the tool body assembly (2), and the inner surface of the side alignment component (6) is perpendicular to the gripping surfaces of the left and right gripper assemblies, achieving effective contact with the surface of the cuboid object when gripping it. The tool body assembly (2) serves as the main frame of the multi-functional end-effector tool and achieves effective contact with the end face of the cuboid object when gripping it.

2. The multifunctional end-effector tool according to claim 1, characterized in that, The tool body assembly (2) includes a main structural component (201), end face proximity sensor I (202), end face proximity sensor II (203), end face proximity sensor III (204) and end face proximity sensor IV (205), wherein end face proximity sensor I (202), end face proximity sensor II (203), end face proximity sensor III (204) and end face proximity sensor IV (205) are built into holes in the upper end face of the main structural component (201), and their triggerable action surfaces are recessed in the upper end face of the main structural component (201).

3. The multifunctional end-effector tool according to claim 2, characterized in that, The end face proximity sensors I (202), II (203), III (204) and IV (205) are cylindrical proximity sensors of the same type, function and performance. When the distance between the triggerable surface and the surface of the clamped object is within a specific range and exceeds a specific range, they output different switching signals.

4. The multifunctional end effector according to claim 2, characterized in that, When the output signals of the end face proximity sensors I (202), II (203), III (204) and IV (205) are all consistent with the signal indicating that the distance between the triggerable action surface and the surface of the clamped object is within a specific range, it indicates that the tool body assembly (2) is in close contact with the surface of the clamped object.

5. The multifunctional end effector according to claim 1, characterized in that, The drive component (3) includes a motor reducer encoder assembly (301), a drive gear (302), a cover (303), and a clamping screw (304); wherein the motor reducer encoder assembly (301) is a combination of a servo motor, a reducer, and an encoder, providing a power source; the drive gear (302) is connected to the output shaft of the motor reducer encoder assembly (301); the cover (303) is connected to the motor reducer encoder assembly (301) through the clamping screw (304), restricting the drive gear (302) from moving axially.

6. The multifunctional end effector according to claim 5, characterized in that, The right finger clamp assembly (4) includes a right finger clamp (401) and a right rack (402), wherein the right rack (402) is connected to the right finger clamp (401).

7. The multifunctional end effector according to claim 6, characterized in that, The right gripper assembly (4) moves by meshing with the drive gear (302) via the right rack (402).

8. The multifunctional end-effector tool according to claim 1, characterized in that, The side alignment component (6) includes a side alignment plate (601), a side proximity sensor I (602), a side proximity sensor II (603), a side proximity sensor III (604), and a side proximity sensor IV (605). The side proximity sensors I (602), II (603), III (604), and IV (605) are all placed in holes in the side alignment plate (601), and the triggered surfaces of the side proximity sensors I (602), II (603), III (604), and IV (605) are slightly lower than the surface of the side alignment plate (601).

9. The multifunctional end effector according to claim 8, characterized in that, When the output signals of the side proximity sensors I (602), II (603), III (604) and IV (605) of the side alignment component (6) are all consistent with the signal indicating that the distance between the triggerable action surface and the surface of the clamped object is within a specific range, it indicates that the side alignment component (6) is in close contact with the surface of the clamped object.

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