End effector, robotic arm module, assembly robot and data collection method

Abstract

The application relates to the technical field of intelligent manufacturing, in particular to an end execution device, a mechanical arm module, an assembly robot and a data acquisition method. The end execution device is used for mounting a transport bolt on a household appliance. The end execution device comprises a driving assembly, a bolt head, an adapter support and a righting mechanism. The driving assembly is connected with the bolt head and is used for driving the bolt head to rotate; the adapter support is connected with the driving assembly and is used for being connected with a mechanical arm of the assembly robot. The righting mechanism is connected with the driving assembly and comprises a lifting piece used for lifting a transport bolt to be assembled to align the transport bolt with the bolt head. The end execution device in the application can correct the posture of the transport bolt through the righting mechanism, thereby ensuring that the bolt head and the transport bolt are successfully connected, and the assembly success rate of the transport bolt is improved, so that the automatic assembly of the transport bolt is realized.

Description

Technical Field

[0001] This application relates to the field of intelligent manufacturing technology, and in particular to an end effector, a robotic arm module, an assembly robot, and a data acquisition method. Background Technology

[0002] Transport bolts are temporary fasteners installed on household appliances to secure critical components during transport, preventing damage from vibration and bumps. For example, transport bolts secure the drum assembly inside a washing machine, keeping it stable and preventing it from shaking and impacting the machine's casing during transport.

[0003] On home appliance production lines, the tightening of transport bolts is primarily done manually, which presents problems such as high labor intensity and poor consistency. Some manufacturers have attempted automated solutions, such as assembly robots using robotic arms to perform the tightening of transport bolts; however, these also face some intractable problems. For example, the structural characteristics of transport bolts make them difficult to grasp, making it impractical to have a robotic arm grasp the transport bolts first and then install them onto the appliance. If the transport bolts are pre-attached manually to the bolt holes, the posture of the bolts after attachment is difficult to control precisely, making it difficult for the tightening tool at the end of the robotic arm to align with the bolts, leading to assembly failures.

[0004] On the other hand, with the development of teach-based automation control technology, collecting motion trajectories during manual teaching to train intelligent robots has become an important means of automating complex assembly tasks. However, current end effectors are mostly designed for performing general tasks and do not have the function of collecting teach data. Summary of the Invention

[0005] This application provides an end effector, a robotic arm module, an assembly robot, and a data acquisition method, which aim to improve the assembly success rate of transport bolts, thereby realizing the automated assembly of transport bolts.

[0006] The specific technical solution is as follows:

[0007] An embodiment of the first aspect of this application provides an end effector for installing transport bolts into a household appliance. The end effector includes a drive assembly, a bolt bit, an adapter bracket, and a straightening mechanism. The drive assembly is connected to the bolt bit and is used to drive the bolt bit to rotate. The adapter bracket is connected to the drive assembly and is used to connect to the robotic arm of an assembly robot. The straightening mechanism is connected to the drive assembly and includes a lifting member for lifting the transport bolt to be assembled, so as to align the transport bolt with the bolt bit.

[0008] The end effector in this embodiment includes a straightening mechanism, which comprises a lifting component for supporting the transport bolt. The transport bolt to be tightened is pre-attached manually to the bolt hole of the household appliance. After the tightening operation begins, the robotic arm of the assembly robot drives the end effector to move towards the location of the transport bolt. During this movement, the lifting component first contacts the transport bolt and lifts it from the bottom, thereby correcting the bolt's posture to align it with the bolt cutter bit. As the end effector continues to move forward, the bolt cutter bit and the transport bolt can then be smoothly engaged. Finally, the bolt cutter bit is rotated using a drive assembly to tighten the transport bolt. Therefore, the end effector in this embodiment, by incorporating a straightening mechanism, can correct the posture of the transport bolt, ensuring smooth engagement between the bolt cutter bit and the transport bolt. This improves the assembly success rate of the transport bolt and enables automated assembly of the transport bolt.

[0009] In some embodiments, the straightening mechanism further includes a fixed frame and a sliding engagement assembly, the fixed frame being connected to the drive assembly, and the lifting member being connected to the fixed frame via the sliding engagement assembly, so that the lifting member can move relative to the fixed frame in a first direction, the first direction being parallel to the axis of the bolt bit.

[0010] During the continuous feeding of the end effector towards the household appliance, the lifting component will come into contact with the appliance's casing. At this point, the casing will block the lifting component from moving further. In this embodiment, the lifting component is connected to the fixed frame via a sliding fit assembly, and the fixed frame is connected to the drive assembly. This configuration ensures that the lifting component remains in its current position after contacting the appliance's casing, while the drive assembly and the bolt bit can continue moving towards the appliance. In other words, the contact between the lifting component and the appliance's casing does not impede the movement of the drive assembly and the bolt bit, ensuring stable operation of both components.

[0011] In some embodiments, the sliding engagement assembly includes a slider and a guide rail, the slider slidingly engaging with the guide rail, the slider being connected to one of the fixing frame and the lifting member, and the guide rail being connected to the other of the fixing frame and the lifting member.

[0012] This configuration allows for a relatively stable relative movement between the support component and the fixed frame, ensuring contact between the support component and the appliance casing without hindering the movement of the drive assembly and the screwdriver bit.

[0013] In some embodiments, the straightening mechanism further includes a buffer member, one end of which abuts against the fixing frame and the other end of which abuts against the lifting member.

[0014] In this way, when the lifting component contacts the outer casing of the household appliance, the buffer component holds the lifting component in contact with the outer casing, ensuring that the lifting component maintains its support on the transport bolt and thus guarantees that the bolt cutter bit can smoothly engage with the transport bolt. After the bolt cutter bit and the transport bolt are engaged, in the initial stage of tightening the transport bolt using the bolt cutter bit, the lifting action of the lifting component also helps to keep the transport bolt in a stable position, thereby preventing the problem of jamming caused by the transport bolt being misaligned.

[0015] In some embodiments, the straightening mechanism further includes a guide member extending along the first direction, one end of which is connected to the fixed frame, and the lifting member slidingly engages with the guide member; the buffer member is a spring, which is sleeved on the guide member.

[0016] By incorporating a guide and allowing the lifting component to slide against it, the stability of the lifting component relative to the drive assembly can be improved. Furthermore, the buffer is a spring, which is fitted onto the guide; this allows for stable installation of the spring, thereby enhancing its operational stability.

[0017] In some embodiments, the lifting member includes a connecting frame, a support portion, and an adjusting member. The connecting frame is connected to the sliding engagement assembly, the support portion is connected to the connecting frame, and the support portion is used to lift the transport bolt. The adjusting member is connected to the connecting frame, and the position of the adjusting member relative to the connecting frame is adjustable along the first direction. The other end of the buffer member abuts against the adjusting member.

[0018] With the position of the supporting component relative to the fixed frame unchanged, the compression degree of the spring can be changed by altering the position of the adjusting component on the connecting frame. This allows for adjustment of the initial preload of the spring, facilitating adjustments during actual use to ensure that the spring does not deform excessively or fail.

[0019] In some embodiments, the lifting member includes a connecting frame and a support portion, the connecting frame being connected to the sliding fit assembly, the support portion being connected to the connecting frame, and the support portion having a support surface for lifting the transport bolt, the support surface being an arc-shaped surface.

[0020] The lifting component includes a connecting frame and a support part. The support surface of the support part is set as an arc surface. This helps to improve the support stability of the transport bolt when lifting the transport bolt through the support surface and can prevent the transport bolt from shifting, so that the bolt bit can be smoothly connected with the transport bolt.

[0021] In some embodiments, the end effector further includes an image acquisition component connected to the drive component, the image acquisition component being used to record the motion trajectory of the end effector.

[0022] The end effector in this embodiment can also be used to collect teaching data. Specifically, the end effector can be connected to a handheld mechanism, allowing manual tightening of the transport bolts via the handheld end effector. During this process, the motion trajectory of the end effector can be recorded by an image acquisition component to form a training dataset for teaching. Based on this training dataset, the assembly robot can be trained, and the trained assembly robot can independently complete the tightening operation of the transport bolts.

[0023] In some embodiments, the image acquisition component includes at least two cameras connected to the drive component via camera mounts.

[0024] In some embodiments, the number of cameras is two, and the two cameras are spaced apart circumferentially along the bolt bit.

[0025] In some embodiments, the drive assembly includes a motor and a clamping member connected to the output shaft of the motor, with the bolt bit mounted on the clamping member.

[0026] This allows for a transmission connection between the drive assembly and the bolt bit, thereby enabling the bolt bit to rotate.

[0027] An embodiment of the second aspect of this application provides a robotic arm module, the robotic arm module including a robotic arm and an end effector as described in any of the above embodiments, the end effector being mounted at the end of the robotic arm.

[0028] An embodiment of the third aspect of this application provides an assembly robot, which includes the robotic arm module in any of the above embodiments.

[0029] An embodiment of the fourth aspect of this application provides a data acquisition method, implemented based on the end effector in any of the above embodiments, wherein the data is used to train an assembly robot, and the data acquisition method includes: During the process of the operator holding the end effector to tighten the transport bolts, the motion trajectory of the end effector is recorded by the image acquisition component fixed on the drive assembly to form a training dataset for teaching.

[0030] After training, the assembly robot can independently complete the tightening of transport bolts, so as to realize the automated assembly process of transport bolts.

[0031] In some embodiments, recording the motion trajectory of the end effector using an image acquisition component fixed to the drive component includes: The motion trajectory of the end effector is recorded using at least two cameras fixed to the drive assembly, the two cameras having different perspectives.

[0032] This setup allows for obtaining the spatial relationship between the bolt bit and the transport bolt from different perspectives, thus enabling more accurate recording of the motion trajectory of the end effector. Attached Figure Description

[0033] Figure 1 A schematic diagram of an assembly robot performing a fastening operation on transport bolts, provided in an embodiment of this application; Figure 2 This is a schematic diagram of the structure of an end effector provided in an embodiment of this application; Figure 3a This is one of the schematic diagrams showing the relative positions of the lifting component and the transport bolt during the fastening operation. Figure 3b This is the second schematic diagram showing the relative positions of the lifting component and the transport bolts during the fastening operation. Figure 3c This is the third schematic diagram showing the relative positions of the lifting component and the transport bolts during the fastening process. Figure 3d This is the fourth diagram showing the relative positions of the lifting component and the transport bolts during the fastening process. Figure 3e This is the fifth diagram showing the relative positions of the lifting component and the transport bolts during the fastening process. Figure 3f This is the sixth diagram showing the relative positions of the lifting component and the transport bolts during the fastening process. Figure 4 This is a schematic diagram showing the connection between an end effector and a handheld mechanism according to an embodiment of this application.

[0034] Explanation of icon numbers: 10. Robotic arm module; 20. Transport bolts; 30. Home appliances; 100. End effector; 110. Drive assembly; 111. Motor; 112. Clamping component; 120. Bolt bits; 130. Adapter bracket; 140. Straightening mechanism; 141. Lifting component; 1411. Connecting frame; 1412. Support part; 1413. Support surface; 1414. Adjusting component; 142. Fixing frame; 143. Sliding fit assembly; 1431. Slider; 1432. Guide rail; 144. Buffer component; 145. Guide component; 150. Image acquisition component; 151. Camera; 152. Camera bracket; 200. Robotic arm; 300. Handheld mechanism.

[0035] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions in this application will be clearly and thoroughly described below with reference to the accompanying drawings. In the description of the embodiments of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. "And / or" in the text is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Furthermore, in the description of the embodiments of this application, "multiple" refers to two or more than two.

[0037] Hereinafter, the terms "first" and "second" are used for descriptive purposes only and should not be construed as implying or suggesting relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

[0038] As described in the background section, the tightening of transport bolts on household appliance production lines is mainly done manually, which suffers from high labor intensity and poor consistency. Some manufacturers have attempted automated solutions, such as assembly robots using robotic arms to perform the tightening of transport bolts; however, this also faces some intractable problems. For example, transport bolts are difficult to grasp due to their structural characteristics, making it difficult to implement a solution where the robotic arm first grasps the transport bolt and then installs it onto the household appliance. Furthermore, if the transport bolt is pre-attached to the bolt hole manually, the posture of the bolt after attachment is difficult to control precisely, making it difficult for the tightening tool at the end of the robotic arm to align with the bolt, leading to assembly failure.

[0039] On the other hand, with the development of teach-based automation control technology, collecting motion trajectories during manual teaching to train intelligent robots has become an important means of automating complex assembly tasks. However, current end effectors are mostly designed for performing general tasks and do not have the function of collecting teach data.

[0040] Based on the above problems, the applicant proposed a technical solution in the embodiments of this application. Specifically, an end effector was designed, which includes a drive assembly, a bolt bit, an adapter bracket, and a straightening mechanism. The drive assembly can be installed at the end of the robotic arm of the assembly robot through the adapter bracket, and the straightening mechanism includes a lifting component for lifting and transporting bolts.

[0041] The transport bolts to be tightened are pre-attached manually to the bolt holes of the household appliance. During operation, the robotic arm drives the end effector to feed towards the transport bolts. During this feed, a lifting component first contacts the transport bolt and lifts it from the bottom, correcting its posture to align it with the bolt cutter bit. As the end effector continues to feed, the bolt cutter bit and transport bolt are successfully engaged. Then, the drive assembly rotates the bolt cutter bit to tighten the transport bolt.

[0042] In this technical solution, the end effector can correct the posture of the transport bolt by setting a straightening mechanism, thereby ensuring that the bolt bit and the transport bolt can be smoothly connected, thus improving the assembly success rate of the transport bolt and realizing the automated assembly of the transport bolt.

[0043] The above is the core idea of ​​this application. The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0044] like Figure 1 , Figure 2 as well as Figures 3a-3f As shown, an embodiment of the first aspect of this application provides an end effector 100 for mounting a transport bolt 20 to a household appliance 30. The end effector 100 includes a drive assembly 110, a bolt bit 120, an adapter bracket 130, and a straightening mechanism 140. The drive assembly 110 is connected to the bolt bit 120 and is used to drive the bolt bit 120 to rotate. The adapter bracket 130 is connected to the drive assembly 110 and is used to connect to the robotic arm 200 of an assembly robot. The straightening mechanism 140 is connected to the drive assembly 110 and includes a lifting member 141 for lifting the transport bolt 20 to be assembled, thereby aligning the transport bolt 20 with the bolt bit 120.

[0045] The end effector 100 can be installed at the end of the robotic arm 200 of the assembly robot, so as to cooperate with the robotic arm 200 to perform the fastening operation of the transport bolt 20.

[0046] The drive assembly 110 can be any device capable of driving the bolt bit 120 to rotate. For example, the drive assembly 110 may include a motor 111, which is connected to the bolt bit 120 to drive the bolt bit 120 to rotate so that the transport bolt 20 can be tightened when the bolt bit 120 is engaged with the transport bolt 20.

[0047] The bolt bit 120 is a tool for tightening the transport bolt 20. The specific type of the bolt bit 120 can be selected according to the specific type of the transport bolt 20. For example, some transport bolts 20 used in washing machines are hexagonal head bolts, and the corresponding bolt bit 120 may include a hexagonal socket that matches the hexagonal bolt.

[0048] The adapter bracket 130 is used to connect the drive assembly 110 to the robotic arm 200. It is understood that the end effector of the robotic arm 200 has a universal mounting interface, and different types / functions of end effectors 100 can be connected to the robotic arm 200 through the corresponding adapter bracket 130. This facilitates the replacement of different types / functions of end effectors 100 for the assembly robot.

[0049] The end effector 100 in this embodiment includes a straightening mechanism 140, which includes a lifting member 141 for supporting the transport bolt 20. The transport bolt 20 to be tightened is pre-attached manually to the bolt hole of the household appliance 30. After the tightening operation begins, the robotic arm 200 of the assembly robot drives the end effector 100 to move towards the location of the transport bolt 20. During this movement, the lifting member 141 first contacts the transport bolt 20 and lifts it from the bottom, thereby correcting the posture of the transport bolt 20 to align it with the bolt cutter bit 120. As the end effector 100 continues to move forward, the bolt cutter bit 120 and the transport bolt 20 can smoothly engage. Then, the drive assembly 110 rotates the bolt cutter bit 120 to tighten the transport bolt 20.

[0050] Therefore, it can be seen that the end effector 100 in this embodiment of the application can correct the posture of the transport bolt 20 by setting the straightening mechanism 140, thereby ensuring that the bolt bit 120 and the transport bolt 20 are smoothly connected, thereby improving the assembly success rate of the transport bolt 20 and realizing the automated assembly of the transport bolt 20.

[0051] like Figure 1 , Figure 2 As shown, in some embodiments, the straightening mechanism 140 further includes a fixed frame 142 and a sliding engagement assembly 143. The fixed frame 142 is connected to the drive assembly 110, and the lifting member 141 is connected to the fixed frame 142 through the sliding engagement assembly 143, so that the lifting member 141 can move relative to the fixed frame 142 in a first direction, which is parallel to the axis of the bolt bit 120.

[0052] During the docking process between the bolt bit 120 of the end effector 100 and the transport bolt 20, the drive assembly 110 and the bolt bit 120 continuously move towards the direction of the household appliance 30. During the tightening of the transport bolt 20, the drive assembly 110 and the bolt bit 120 also continuously move towards the direction of the household appliance 30 to ensure that the bolt bit 120 can effectively transmit torque, thereby screwing the transport bolt 20 into the household appliance 30. While the end effector 100 continues to feed towards the direction of the household appliance 30, the lifting member 141 will come into contact with the outer casing of the household appliance 30 (e.g., the cabinet of a washing machine). At this time, due to the obstruction of the outer casing, the lifting member 141 will not continue to move. In this embodiment, the lifting member 141 is connected to the fixing frame 142 via a sliding engagement assembly 143, and the fixing frame 142 is connected to the drive assembly 110. This configuration ensures that when the lifting member 141 contacts the outer casing of the household appliance 30, it remains in its current position, while the drive assembly 110 and the bolt bit 120 can continue to move in the direction of the household appliance 30. In other words, the contact between the lifting member 141 and the outer casing of the household appliance 30 does not impede the movement of the drive assembly 110 and the bolt bit 120, thus ensuring stable operation of the drive assembly 110 and the bolt bit 120.

[0053] like Figure 2 As shown, in some embodiments, the sliding engagement assembly 143 includes a slider 1431 and a guide rail 1432. The slider 1431 and the guide rail 1432 are slidably engaged. The slider 1431 is connected to one of the fixing frame 142 and the lifting member 141, and the guide rail 1432 is connected to the other of the fixing frame 142 and the lifting member 141. This arrangement allows for relatively stable relative movement between the lifting member 141 and the fixing frame 142, thereby ensuring contact between the lifting member 141 and the outer casing of the household appliance 30, without hindering the movement of the drive assembly 110 and the bolt bit 120.

[0054] like Figure 2 As shown, in one specific example, slider 1431 is connected to fixed frame 142, and guide rail 1432 is connected to lifting member 141. In another specific example, guide rail 1432 is connected to fixed frame 142, and slider 1431 is connected to lifting member 141. Either of these connection methods can achieve relatively stable relative movement between lifting member 141 and fixed frame 142.

[0055] like Figure 2 As shown, in some embodiments, the straightening mechanism 140 further includes a buffer 144, one end of which abuts against the fixing frame 142, and the other end of which abuts against the lifting member 141.

[0056] Thus, when the lifting member 141 contacts the outer casing of the household appliance 30, under the abutment of the buffer member 144, the lifting member 141 remains in contact with the outer casing of the household appliance 30, thereby ensuring that the lifting member 141 supports the transport bolt 20 and thus ensures that the bolt bit 120 can smoothly engage with the transport bolt 20. After the bolt bit 120 and the transport bolt 20 are engaged, in the initial stage of tightening the transport bolt 20 using the bolt bit 120, the lifting action of the lifting member 141 also helps to keep the transport bolt 20 in a stable position, thereby preventing the problem of jamming due to the transport bolt 20 being skewed.

[0057] like Figure 2 As shown, in one embodiment, the straightening mechanism 140 further includes a guide member 145 extending along a first direction. One end of the guide member 145 is connected to the fixing frame 142. The lifting member 141 is slidably engaged with the guide member 145. The buffer member 144 is a spring, which is sleeved on the guide member 145. Exemplarily, the guide member 145 can be a guide post.

[0058] By providing a guide 145 and allowing the lifting member 141 to slide in conjunction with the guide 145, the stability of the lifting member 141 during movement relative to the drive assembly 110 can be improved. Furthermore, the buffer 144 is a spring, and the spring is sleeved on the guide 145. This allows for stable installation of the spring using the guide 145, thereby improving the spring's operational stability.

[0059] like Figure 2 As shown, in one embodiment, the lifting member 141 includes a connecting frame 1411, a support portion 1412, and an adjusting member 1414. The connecting frame 1411 is connected to the sliding engagement assembly 143, the support portion 1412 is connected to the connecting frame 1411, and the support portion 1412 is used to lift the transport bolt 20. The adjusting member 1414 is connected to the connecting frame 1411, and the position of the adjusting member 1414 relative to the connecting frame 1411 is adjustable along a first direction. The other end of the buffer member 144 abuts against the adjusting member 1414.

[0060] With the position of the lifting member 141 relative to the fixed frame 142 unchanged, the compression degree of the spring can be changed by changing the position of the adjusting member 1414 on the connecting frame 1411. This allows for adjustment of the initial preload of the spring, making it easier to adjust the spring during actual use to ensure that the spring does not deform excessively or fail.

[0061] In one embodiment, the adjusting member 1414 is an adjusting bolt, and the connecting frame 1411 has bolt holes, into which the adjusting bolt is fitted. Thus, by rotating the adjusting bolt, the position of the adjusting member 1414 relative to the connecting frame 1411 can be adjusted, thereby adjusting the initial preload of the spring.

[0062] like Figure 2 As shown, in some embodiments, the lifting member 141 includes a connecting frame 1411 and a support portion 1412. The connecting frame 1411 is connected to the sliding fit assembly 143, and the support portion 1412 is connected to the connecting frame 1411. The support portion 1412 forms a support surface 1413 for lifting the transport bolt 20, and the support surface 1413 is an arc-shaped surface.

[0063] The lifting component 141 includes a connecting frame 1411 and a support part 1412. The support surface 1413 of the support part 1412 is set as an arc surface. This helps to improve the support stability of the transport bolt 20 when the transport bolt 20 is lifted by the support surface 1413, and can prevent the transport bolt 20 from shifting, so that the bolt bit 120 can be smoothly connected with the transport bolt 20.

[0064] like Figure 1 , Figure 2 as well as Figure 4 As shown, in some embodiments, the end effector 100 further includes an image acquisition component 150, which is connected to the drive component 110 and is used to record the motion trajectory of the end effector 100.

[0065] The end effector 100 in this embodiment can also be used to collect teaching data. Specifically, the end effector 100 can be connected to the handheld mechanism 300, and the transport bolt 20 can be tightened manually by hand using the end effector 100. During this process, the motion trajectory of the end effector 100 can be recorded by the image acquisition component 150 to form a training dataset for teaching. Based on this training dataset, the assembly robot can be trained, and the trained assembly robot can independently complete the tightening operation of the transport bolt 20.

[0066] The handheld mechanism 300 can be any existing device that can be held by the operator. The handheld mechanism 300 can be connected to the adapter bracket 130, or the adapter bracket 130 can be removed from the end effector 100 and the handheld mechanism 300 can be directly connected to the drive assembly 110.

[0067] like Figure 2 , Figure 4As shown, in one embodiment, the image acquisition component 150 may include at least two cameras 151, which are connected to the drive component 110 via camera brackets 152. This configuration allows for the acquisition of the spatial positional relationship between the bolt bit 120 and the transport bolt 20 from different perspectives, thereby more accurately recording the motion trajectory of the end effector 100.

[0068] like Figure 2 , Figure 4 As shown, in one embodiment, there are two cameras 151, which are spaced apart circumferentially along the bolt bit 120. This allows the two cameras 151 to capture the spatial relationship between the bolt bit 120 and the transport bolt 20 from different perspectives, resulting in more accurate motion trajectory data. Furthermore, having only two cameras 151 also helps to more effectively control the cost of the end effector 100.

[0069] Furthermore, the two cameras 151 can be spaced 90° apart circumferentially around the bolt bit 120. For example, one camera 151 is positioned directly above the bolt bit 120, and the other camera 151 is positioned to the side of the bolt bit 120. This arrangement facilitates accurate recording of the motion trajectory of the end effector 100.

[0070] like Figure 2 As shown, in some embodiments, the drive assembly 110 includes a motor 111 and a clamping member 112, the clamping member 112 being connected to the output shaft of the motor 111, and the bolt bit 120 being mounted on the clamping member 112. Thus, a transmission connection can be achieved between the drive assembly 110 and the bolt bit 120, thereby enabling the rotational movement of the bolt bit 120.

[0071] like Figure 1 As shown, an embodiment of the second aspect of this application provides a robotic arm module 10, which includes a robotic arm 200 and an end effector 100 as described in any of the above embodiments, wherein the end effector 100 is mounted on the end of the robotic arm 200.

[0072] The robotic arm module 10 in this embodiment is based on the same inventive concept as the end effector 100 in the above embodiment. Therefore, the robotic arm module 10 can obtain the beneficial effects of the end effector 100 in the corresponding embodiment.

[0073] An embodiment of the third aspect of this application provides an assembly robot, which includes the robotic arm module 10 in any of the above embodiments.

[0074] An embodiment of the fourth aspect of this application provides a data acquisition method implemented based on the end effector 100 in any of the above embodiments, wherein the data is used to train an assembly robot, and the data acquisition method includes: During the process of the operator holding the end effector 100 to tighten the transport bolt 20, the image acquisition component 150 fixed on the drive component 110 records the motion trajectory of the end effector 100 to form a training dataset for teaching.

[0075] After training, the assembly robot can independently complete the fastening operation of the transport bolt 20, so as to realize the automated assembly process of the transport bolt 20.

[0076] In one embodiment, the step of recording the motion trajectory of the end effector 100 using the image acquisition component 150 fixed to the drive component 110 further includes: The motion trajectory of the end effector 100 is recorded using at least two cameras 151 fixed to the drive assembly 110, with the two cameras 151 having different perspectives.

[0077] This configuration allows for obtaining the spatial positional relationship between the bolt bit 120 and the transport bolt 20 from different perspectives, thereby more accurately recording the motion trajectory of the end effector 100.

[0078] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. An end effector for mounting transport bolts to household appliances, characterized in that, The end effector includes: Driver components; A bolt cutter bit, wherein the drive assembly is connected to the bolt cutter bit and the drive assembly is used to drive the bolt cutter bit to rotate; An adapter bracket, which is connected to the drive assembly, is used to connect to the robotic arm of an assembly robot. A straightening mechanism is connected to the drive assembly. The straightening mechanism includes a lifting member for lifting the transport bolt to be assembled, so as to align the transport bolt with the bolt bit.

2. The end effector according to claim 1, characterized in that, The straightening mechanism further includes a fixed frame and a sliding engagement assembly. The fixed frame is connected to the drive assembly, and the lifting member is connected to the fixed frame through the sliding engagement assembly, so that the lifting member can move relative to the fixed frame in a first direction, the first direction being parallel to the axis of the bolt bit.

3. The end effector according to claim 2, characterized in that, The sliding engagement assembly includes a slider and a guide rail. The slider slides into the guide rail and is connected to one of the fixing frame and the lifting member. The guide rail is connected to the other of the fixing frame and the lifting member.

4. The end effector according to claim 2, characterized in that, The straightening mechanism also includes a buffer component, one end of which abuts against the fixed frame, and the other end of which abuts against the lifting component.

5. The end effector according to claim 4, characterized in that, The straightening mechanism further includes a guide member that extends along the first direction, one end of which is connected to the fixed frame, and the lifting member slides in cooperation with the guide member; The buffer is a spring, and the spring is sleeved on the guide.

6. The end effector according to claim 5, characterized in that, The lifting component includes a connecting frame, a support part, and an adjusting part. The connecting frame is connected to the sliding fit assembly, and the support part is connected to the connecting frame. The support part is used to lift the transport bolt. The adjusting member is connected to the connecting frame, and the position of the adjusting member relative to the connecting frame along the first direction is adjustable. The other end of the buffer member abuts against the adjusting member.

7. The end effector according to claim 2, characterized in that, The lifting component includes a connecting frame and a support portion. The connecting frame is connected to the sliding fit assembly, and the support portion is connected to the connecting frame. The support portion forms a support surface for lifting the transport bolt, and the support surface is an arc-shaped surface.

8. The end effector according to claim 1, characterized in that, The end effector further includes an image acquisition component connected to the drive component, and the image acquisition component is used to record the motion trajectory of the end effector.

9. The end effector according to claim 8, characterized in that, The image acquisition component includes at least two cameras, which are connected to the drive component via camera brackets.

10. The end effector according to claim 9, characterized in that, The number of cameras is two, and the two cameras are arranged at circumferential intervals along the bolt bit.

11. The end effector according to claim 1, characterized in that, The drive assembly includes a motor and a clamping member, the clamping member being connected to the output shaft of the motor, and the bolt bit being mounted on the clamping member.

12. A robotic arm module, characterized in that, It includes a robotic arm and an end effector as described in any one of claims 1 to 9, wherein the end effector is mounted on the end of the robotic arm.

13. An assembly robot, characterized in that, Includes the robotic arm module as described in claim 12.

14. A data acquisition method, implemented based on the end effector according to claims 1 to 11, wherein the data is used to train an assembly robot, characterized in that, The data acquisition method includes: During the process of the operator holding the end effector to tighten the transport bolts, the motion trajectory of the end effector is recorded by the image acquisition component fixed on the drive assembly to form a training dataset for teaching.

15. The data acquisition method according to claim 14, characterized in that, The method of recording the motion trajectory of the end effector using an image acquisition component fixed on the drive component includes: The motion trajectory of the end effector is recorded using at least two cameras fixed to the drive assembly, the two cameras having different perspectives.

Images