End effector off-line assembly system and end effector

Abstract

This disclosure relates to an offline assembly system and end effector for end effectors, belonging to the field of end effector manufacturing technology. The offline assembly system for end effectors is used to assemble end effectors and includes a gantry, a robot, and a positioning component. The gantry includes two uprights. The robot is located between the two uprights and has an end effector capable of moving, rotating, and fixing within a spatial position between the two uprights. The positioning component is mounted on the end effector and has at least one of a suction cup positioning structure, a bracket positioning structure, and a sensor positioning structure. The two uprights are respectively connected to both ends of the end effector's crossbeam. The suction cup positioning structure is used to position various suction cups of the end effector, the bracket positioning structure is used to position the end effector's bracket, and the sensor positioning structure is used to position the end effector's sensor. The offline assembly system and end effector of this disclosure can improve the assembly efficiency and accuracy of end effectors.

Description

Technical Field

[0001] This disclosure relates to the field of end effector manufacturing technology, and in particular to an offline assembly system for end effectors and an end effector. Background Technology

[0002] An end effector is a device used for gripping and transporting objects. In related technologies, during the assembly of end effectors, in order to accurately install components such as suction cups, sensors, and brackets, assembly tooling and molds are required for installation and debugging. This necessitates frequent lifting of the molds, resulting in low assembly efficiency and insufficient assembly accuracy of the end effector. Summary of the Invention

[0003] Therefore, this disclosure provides an offline assembly system and end effector for end effectors, which can improve the assembly efficiency and accuracy of end effectors. The technical solution is as follows: In a first aspect, an offline assembly system for end effectors is provided for assembling end effectors, the offline assembly system for end effectors including a gantry, a robot and positioning components; The truss includes two uprights; The robot is located between the two uprights, and the robot has an end effector that can move, rotate, and be fixed within the space between the two uprights. The positioning element is mounted on the end effector, and the positioning element has at least one of a suction cup positioning structure, a bracket positioning structure, and a sensor positioning structure. The two uprights are respectively connected to the two ends of the crossbeam of the end effector; the suction cup positioning structure is used to position the various suction cups of the end effector; the bracket positioning structure is used to position the bracket of the end effector; and the sensor positioning structure is used to position the sensor of the end effector.

[0004] In some possible implementations, the positioning element has a first surface and a second surface, the first surface and the second surface being located at opposite ends of the positioning element, respectively; The positioning element is fixedly connected to the end effector via the first surface; Both the suction cup positioning structure and the sensor positioning structure are located on the second surface; At least a portion of the bracket positioning structure is located on the second surface.

[0005] In some possible implementations, the suction cup positioning structure includes a plurality of annular marking lines, the plurality of annular marking lines being adapted to coincide with the outer contours of different suction cups respectively.

[0006] In some possible implementations, the plurality of said annular marker lines are arranged concentrically.

[0007] In some possible implementations, the sensor positioning structure is a groove adapted to embed the sensor.

[0008] In some possible implementations, when the plurality of the annular marking lines are concentrically arranged, the groove and the plurality of the annular marking lines are located on the same surface, and the groove and the plurality of the annular marking lines are concentrically arranged.

[0009] In some possible implementations, the positioning element has a second surface, a third surface, and a fourth surface, all of which intersect each other; The second surface and the third surface are adapted to be attached to and supported on two intersecting surfaces of the bracket, respectively, and both the second surface and the third surface are parallel to the positioning direction; When the second surface and the third surface are respectively in contact with the two surfaces corresponding to the bracket, the fourth surface abuts against or approaches one side surface of the bracket along the positioning direction; The second surface, the third surface, and the fourth surface together constitute the bracket positioning structure.

[0010] In some possible implementations, when the second surface and the third surface are respectively attached to the two surfaces corresponding to the bracket, the distance between the fourth surface and one side surface of the bracket along the positioning direction is 0 ≤ L ≤ 5 mm.

[0011] In some possible implementations, the robot includes a robot body and a translation device; The robot body is mounted on the translation device; The translation device is installed between the two uprights and is used to drive the robot body to move along the length of the crossbeam; The end effector is mounted on the robot body.

[0012] In a second aspect, an end effector is provided, wherein the end effector is assembled using any of the end effector offline assembly systems described in the first aspect.

[0013] In the scheme disclosed herein, the two ends of the end effector's crossbeam can be connected to two uprights respectively, achieving positional fixation. The robot can move the positioning component to the corresponding spatial position via the end effector based on the three-dimensional spatial coordinates of the end effector's suction cup, bracket, or sensor. By placing the suction cup, bracket, or sensor at the corresponding positioning structure for installation, precise installation of the suction cup, bracket, or sensor can be achieved, thus improving the assembly efficiency and accuracy of the end effector 100. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of an offline assembly system for an end effector provided in an embodiment of this disclosure; Figure 2 This is a schematic diagram of the structure of a robot provided in an embodiment of this disclosure; Figure 3 This is a schematic diagram of the structure of a positioning component provided in an embodiment of this disclosure; Figure 4 This is a schematic diagram of the structure of an end effector provided in an embodiment of this disclosure; Figure 5 This is a schematic diagram of a suction cup mounting structure provided in an embodiment of this disclosure; Figure 6 This is a schematic diagram of a bracket installation structure provided in an embodiment of this disclosure; Figure 7 This is a schematic diagram of the structure of a sensor provided in an embodiment of this disclosure; Figure 8 This is a schematic diagram of the connection structure of a first quick-change component provided in an embodiment of this disclosure; Figure 9 This is a schematic diagram of the connection structure between a fixed base and a crossbeam provided in an embodiment of this disclosure; Figure 10 This is a schematic diagram of the connection structure between a connector and a replacement connector provided in an embodiment of this disclosure; Figure 11 This is a schematic diagram of the structure of the high-speed single-arm line pickup provided in the embodiments of this disclosure; Figure 12 This is a schematic diagram of the structure of the high-speed dual-arm line pickup provided in the embodiments of this disclosure; Figure 13 This is a schematic diagram of the structure of the robot end effector provided in the embodiments of this disclosure.

[0016] Explanation of reference numerals in the attached figures 1. Truss; 11. Stand; 12. Connecting frame; 121. Assisted robotic arm; 2. Robot; 21. Robot body; 211. End effector; 22. Translation device; 221. Guide rail; 222. Mounting base; 223. Drive unit; 3. Positioning component; 301. First surface; 302. Second surface; 303. Third surface; 304. Fourth surface; 31. Suction cup positioning structure; 311. Circular marking line; 32. Bracket positioning structure; 33. Sensor positioning structure; 4. Safety fence; 5. Safety light curtain; 6. Collapse platform.

[0017] 100. End effector; 101. Crossbeam; 1011. Suction cup; 1012. Bracket; 1013. Sensor; 102. Fixing component; 103. Main rod; 104. First quick-change assembly; 1041. Fixing base; 1042. Connecting base; 10421. Vertical extension; 10422. Lateral extension; 1043. Replacement base; 105. Second quick-change assembly; 106. Connecting rod. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0019] Firstly, this embodiment relates to an offline assembly system for end effectors, as described in reference... Figure 1 As shown, this offline assembly system for end effectors is used to assemble end effector 100. (Reference) Figure 1 As shown, the end effector offline assembly system includes a truss 1, a robot 2, and a positioning component 3. The truss 1 includes two uprights 11. The robot 2 is located between the two uprights 11.

[0020] refer to Figure 2 As shown, robot 2 has an end effector 211. The end effector 211 can move, rotate, and be fixed within the space between the two uprights 11. A positioning element 3 is mounted on the end effector 211. For example, the end effector 211 can be integrated with a flange, and the positioning element 3 can be fixedly connected to the positioning element 3 through the flange. Alternatively, the end effector 211 can also be integrated with a vacuum suction cup or a magnetic suction cup to achieve a fixed connection of the positioning element 3 by adsorption.

[0021] Among them, such as Figure 3 As shown, the positioning element 3 has at least one of a suction cup positioning structure 31, a bracket positioning structure 32, and a sensor positioning structure 33. For example, the positioning element 3 may have one of the suction cup positioning structure 31, the bracket positioning structure 32, and the sensor positioning structure 33, or it may have two of the suction cup positioning structure 31, the bracket positioning structure 32, and the sensor positioning structure 33, or it may have all three of the suction cup positioning structure 31, the bracket positioning structure 32, and the sensor positioning structure 33 simultaneously.

[0022] Two uprights 11 are used to connect to the two ends of the crossbeam 101 of the end effector 100, respectively. For example... Figure 4 As shown, each end of the crossbeam 101 may have a fastener 102, which can be fixedly connected to the corresponding upright 11. The fastener 102 can be fixedly sleeved on one end of the crossbeam 101, and the fastener 102 can be detachably connected to the upright 11 by means of bolts, snap-fit, etc.

[0023] refer to Figure 3 As shown, the suction cup positioning structure 31 is used to position the various suction cups 1011 of the end effector 100, the bracket positioning structure 32 is used to position the bracket 1012 of the end effector 100, and the sensor positioning structure 33 is used to position the sensor 1013 of the end effector 100.

[0024] As described above, the two ends of the crossbeam 101 of the end effector 100 can be connected to the two uprights 11 respectively, thus fixing its position. The robot 2 can move the positioning component 3 to the corresponding spatial position via the end effector 211 based on the three-dimensional spatial coordinates of the suction cup 1011, bracket 1012, or sensor 1013 of the end effector 100. By placing the suction cup 1011, bracket 1012, or sensor 1013 at the corresponding positioning structure for installation, precise installation of the suction cup 1011, bracket 1012, or sensor 1013 can be achieved, thereby improving the assembly efficiency and accuracy of the end effector 100.

[0025] In some examples, reference Figure 3 , Figure 5 and Figure 6 As shown, the positioning member 3 has a first surface 301 and a second surface 302. The first surface 301 and the second surface 302 are located at opposite ends of the positioning member 3. For example Figure 3 As shown, the positioning element 3 can be approximately disc-shaped. The first surface 301 and the second surface 302 can be the two axial end faces of the disc-shaped positioning element 3, respectively. The positioning element 3 is fixedly connected to the end effector 211 via the first surface 301. For example, the first surface 301 can be fixedly connected to the end effector 211 via a flange.

[0026] Continue to refer to Figure 3 As shown, both the suction cup positioning structure 31 and the sensor positioning structure 33 are located on the second surface 302. At least a portion of the bracket positioning structure 32 is located on the second surface 302. The second surface 302 can be the upper surface of the positioning member 3.

[0027] Thus, after the suction cup 1011, bracket 1012 or sensor 1013 is placed on the positioning member 3, the end effector 211 can support the suction cup 1011, bracket 1012 or sensor 1013 without obstructing the suction cup 1011, bracket 1012 or sensor 1013, thereby facilitating the assembly of the suction cup 1011, bracket 1012 or sensor 1013.

[0028] In some examples, reference Figure 3 As shown, the suction cup positioning structure 31 includes multiple annular marking lines 311. These multiple annular marking lines 311 are adapted to coincide with the outer contours of different suction cups 1011. For example, the multiple annular marking lines 311 can all be set on the second surface 302. The outer contour of the suction cup 1011 can be circular, rounded rectangle, etc. By aligning the outer contour of the suction cup 1011 with the corresponding annular marking lines 311, precise positioning of the suction cup 1011 in three-dimensional space can be achieved, improving the assembly accuracy of the suction cup 1011. When the end effector 100 is working, the suction cup 1011 can accurately adhere to the position corresponding to the workpiece being gripped, achieving reliable gripping of the workpiece.

[0029] In some examples, reference Figure 3 As shown, multiple annular marking lines 311 are concentrically arranged. For example, each annular marking line 311 can be concentrically arranged on the second surface 302. This facilitates the setting of the annular marking lines 311, and allows workers to easily and quickly find the corresponding annular marking line 311 based on the size and shape of the outer contour of the suction cup 1011, thus improving assembly efficiency.

[0030] In some examples, reference Figure 3 As shown, the sensor positioning structure 33 is a groove, which is suitable for embedding the sensor 1013. For example, the groove can be a circular groove. Combined with... Figure 7 As shown, the lower end of the sensor 1013 can be cylindrical, and the lower end of the sensor 1013 can be inserted into the groove for positioning. At the same time, the groove can also limit the position of the sensor 1013, thereby facilitating the assembly of the sensor 1013.

[0031] In some examples, reference Figure 3 As shown, when multiple annular marker lines 311 are concentrically arranged, the groove and the multiple annular marker lines 311 are located on the same surface. Furthermore, the groove and the multiple annular marker lines 311 are concentrically arranged. For example, the groove and the multiple annular marker lines 311 can both be arranged on the second surface 302. Both the groove and the multiple annular marker lines 311 are concentrically arranged with the disc-shaped positioning member 3. Therefore, the arrangement of the groove and the multiple annular marker lines 311 can be relatively simple.

[0032] In some examples, reference Figure 3 and Figure 6 As shown, the positioning element 3 has a second surface 302, a third surface 303 and a fourth surface 304, and the second surface 302, the third surface 303 and the fourth surface 304 all intersect.

[0033] For example Figure 6 As shown, the positioning element 3 can be disc-shaped. The second surface 302 can be the axial end face of the positioning element 3, and the circumferential side of the positioning element 3 can have an L-shaped cut along the axial direction to form the third surface 303 and the fourth surface 304. The second surface 302, the third surface 303, and the fourth surface 304 can be perpendicular to each other.

[0034] refer to Figure 6 As shown, the second surface 302 and the third surface 303 are adapted to be attached to and supported on two intersecting surfaces of the bracket 1012, respectively, and both the second surface 302 and the third surface 303 are parallel to the positioning direction 001. When the second surface 302 and the third surface 303 are respectively attached to the two corresponding surfaces of the bracket 1012, the fourth surface 304 abuts against or approaches one side surface of the bracket 1012 along the positioning direction 001. The second surface 302, the third surface 303, and the fourth surface 304 together constitute the bracket positioning structure 32.

[0035] Therefore, the bracket 1012 can be accurately positioned by the second surface 302, the third surface 303 and the fourth surface 304, thereby improving the assembly accuracy of the bracket 1012.

[0036] In some examples, reference Figure 3 As shown, two L-shaped cuts can be made along the axial direction on the circumferential side of the positioning member 3. The two L-shaped cuts are symmetrically arranged with the axis of the positioning member 3 as the center. This helps to reduce the rotational stroke of the positioning member 3 and improve assembly efficiency during the assembly of the bracket 1012.

[0037] In some examples, reference Figure 6 As shown, when the second surface 302 and the third surface 303 are respectively in contact with the two corresponding surfaces of the bracket 1012, the distance between the fourth surface 304 and one side surface of the bracket 1012 along the positioning direction 001 is 0 ≤ L ≤ 5 mm. For example, it can be L=0, L=1.1 mm, L=2.3 mm, L=3.6 mm, L=4.5 mm, or L=5 mm, etc. Therefore, the assembly of the bracket 1012 can have high precision.

[0038] In some examples, reference Figure 2As shown, robot 2 includes a robot body 21 and a translation device 22. The robot body 21 is mounted on the translation device 22. The translation device 22 is mounted between two uprights 11 and is used to drive the robot body 21 to move along the length of the crossbeam 101.

[0039] For example Figure 2 As shown, the translation device 22 may include a guide rail 221, a mounting base 222, and a drive unit 223. The guide rail 221 can be installed on the ground using bolts, anchors, etc., and the two uprights 11 can be installed on the ground at both ends of the guide rail 221 along its length using bolts, anchors, etc. The guide rail 221 can extend along the length of the crossbeam 101. The bottom of the mounting base 222 can be fixed to a slider by welding, bolts, etc., and the slider can be slidably mounted on the guide rail 221. The drive unit 223 can be a motor, which can be fixedly installed on the mounting base 222 by bolts, welding, etc. A gear can be fixedly connected to the output shaft of the motor, and a rack extending along the length of the guide rail 221 can be provided. The gear meshes with the rack, so that the motor can drive the mounting base 222 to slide along the guide rail 221 by rotating the drive gear. The crossbeam 101 can be located above the robot body 21. Thus, the robot body 21 can move along the length of the crossbeam 101 along the mounting base 222.

[0040] Continue to refer to Figure 2 As shown, the end effector 211 is mounted on the robot body 21. The robot body 21 can be a six-axis robot, which can be fixedly mounted on the mounting base 222 by bolts, welding, or other methods. Thus, the robot body 21 can drive the end effector 211 to move, rotate, and fix in a spatial position. At the same time, the robot body 21 can move along the length of the crossbeam 101 along with the mounting base 222, thereby enabling the end effector 211 to move, rotate, and fix in a three-dimensional spatial position between the two uprights 11.

[0041] In some examples, reference Figure 2 As shown, the truss 1 may also include a connecting frame 12. The two ends of the connecting frame 12 can be fixedly connected to the two uprights 11 by bolts, welding or other means. This can improve the stability of the two uprights 11 and help prevent the two uprights 11 from tilting or leaning, which would cause the two uprights 11 to fail to support the end effector 100 or reduce the assembly accuracy of the end effector 100.

[0042] In some examples, reference Figure 2 As shown, the connecting frame 12 can be located above the crossbeam 101, which can prevent interference with the assembly of the end effector 100.

[0043] In some examples, a light can be installed on the connecting frame 12 to provide illumination, making it easier for workers to assemble the suction cup 1011, the bracket 1012 and the sensor 1013.

[0044] In some examples, reference Figure 2 As shown, a power-assisted robotic arm 121 can be mounted on the connecting frame 12, and an operation panel can be connected to the power-assisted robotic arm 121. The power-assisted robotic arm 121 can drive the operation panel to rise, move, and rotate. Thus, the operator can conveniently move the operation panel to perform operations on the operation panel, and the operator can control the robot 2 through the operation panel.

[0045] In some examples, reference Figure 2 As shown, the offline assembly system for the end effector can also include a safety fence 4. The safety fence 4 can surround the robot 2. For example, the safety fence 4 can be a metal fence or a wooden fence. The safety fence 4 can be installed on the ground around the robot 2. Thus, the safety fence 4 helps prevent personnel from accidentally falling into the robot 2's working area, preventing personal injury.

[0046] In some examples, reference Figure 2 As shown, the offline assembly system for the end effector can also include a safety light curtain 5. Both the safety light curtain 5 and the robot 2 can be signal-connected to the same robot controller. For example, the robot controller can be integrated into the control panel. The transmitter and receiver of the safety light curtain 5 can be located at opposite ends of the guide rail 221 along its length. When a person enters the operating area of ​​the robot 2, the signal between the transmitter and receiver of the safety light curtain 5 is blocked, and the blocked signal is sent to the robot controller. The robot controller can then issue a stop command to the robot 2, thereby preventing potential personnel injury. For example, the robot controller can send a stop command to the motor and the six-axis robot.

[0047] In some examples, reference Figure 2 As shown, the end effector offline assembly system may also include a platform 6. The platform 6 can be set around the robot 2. For example, the platform 6 can be constructed using concrete pouring or a metal mesh frame. Alternatively, the robot 2 can be positioned lower by digging a pit in the ground and installing the robot 2 inside the pit.

[0048] In this way, when the staff stands on the platform 6, they can have a higher position relative to the robot 2, which makes it easier for the staff to access the positioning component 3 and to more easily assemble the suction cup 1011, bracket 1012 and sensor 1013.

[0049] After the end effector 100 is designed according to the die drawing and the whole-line simulation, the fine assembly points and transition points of all suction cup components can be automatically generated through the off-line fine assembly simulation tool of the end effector 100. Among them, the fine assembly point refers to the position point where the positioning member 3 carried by the end effector 211 supports according to the preset posture during the assembly of the suction cup 1011, the bracket 1012 or the sensor 1013. The transition point is each trajectory point where the positioning member 3 on the end effector 211 approaches and leaves the fine assembly point, and the robot 2 does not interfere with any components of the assembled and unassembled end effector 100 during this process. The off-line fine assembly simulation tool of the end effector sends the generated motion trajectory of the robot 2 to the robot controller, and is selected and executed by the assembly personnel. Through data conversion by the robot simulation software supporting the robot 2, the robot 2 is programmed off-line in the robot simulation software, the positions of all the suction cups 1011, brackets 1012 and sensors 1013 are planned, and the motion path of the robot 2 is generated. The engineer runs the program to check whether there is interference in the path of the robot 2. After confirmation, the robot TP program (TeachPendant Program) is output and transmitted to the robot controller. At the same time, another engineer operates the robot controller according to the type of the required production line, moves the end effector of the robot to the preset point, and arranges the corresponding main rod 103, suction cup 1011, bracket 1012 and sensor 1013 according to the requirements of the end effector 100 drawing until the assembly of the whole end effector 100 is completed.

[0050] In the embodiment of the present disclosure, both ends of the cross beam 101 of the end effector 100 can be respectively connected to two vertical frames 11 to achieve position fixation. The robot 2 can move the positioning member 3 to the corresponding spatial position through the end effector 211 according to the three-dimensional spatial coordinate positions of the suction cup 1011, the bracket 1012 or the sensor 1013 of the end effector 100. Placing the suction cup 1011, the bracket 1012 or the sensor 1013 at the corresponding positioning structure for installation can achieve the precise installation of the suction cup 1011, the bracket 1012 or the sensor 1013, and thus can improve the assembly efficiency and assembly accuracy of the end effector 100.

[0051] In the second aspect, referring to Figure 4 and Figures 8 to 13 as shown, the present embodiment further provides an end effector, which is assembled by using the end effector off-line assembly system of any one of the first aspects.

[0052] As described above, the two ends of the crossbeam 101 of the end effector 100 can be connected to the two uprights 11 respectively, thus fixing its position. The robot 2 can move the positioning component 3 to the corresponding spatial position via the end effector 211 based on the three-dimensional spatial coordinates of the suction cup 1011, bracket 1012, or sensor 1013 of the end effector 100. By placing the suction cup 1011, bracket 1012, or sensor 1013 at the corresponding positioning structure for installation, precise installation of the suction cup 1011, bracket 1012, or sensor 1013 can be achieved, thereby improving the assembly efficiency and accuracy of the end effector 100.

[0053] In some examples, reference Figure 4 As shown, the end effector 100 may include a crossbeam 101, a main rod 103, a suction cup 1011, a bracket 1012, and a sensor 1013, as well as at least one of a first quick-change assembly 104 and a second quick-change assembly 105. For example, the end effector 100 may include the first quick-change assembly 104. As another example, the end effector 100 may include the second quick-change assembly 105. Still another example, the end effector 100 may include both the first quick-change assembly 104 and the second quick-change assembly 105.

[0054] Among them, continue to refer to Figure 4 As shown, the main rod 103 extends along the length of the crossbeam 101, and the main rod 103 and the crossbeam 101 can be fixedly connected by a first quick-change assembly 104 or a second quick-change assembly 105. The suction cup 1011, the bracket 1012, and the sensor 1013 can be connected to the main rod 103 via a connecting rod 106. The bracket 1012 can be an empty workstation bracket. The sensor 1013 is used to detect whether the end effector 100 has gripped a workpiece. For example, the sensor 1013 can be a proximity sensor.

[0055] When assembling the suction cup 1011, bracket 1012 and sensor 1013, the suction cup 1011, bracket 1012 or sensor 1013 can be placed on the positioning part 3 through the corresponding positioning structure, and then the suction cup 1011, bracket 1012 or sensor 1013 can be connected to the main rod 103 through the corresponding connecting rod 106. The assembly operation is simple and the assembly accuracy can be high.

[0056] In some examples, reference Figure 4 As shown, the end effector 100 may have multiple first quick-change components 104. The multiple first quick-change components 104 are distributed at intervals along the length direction of the crossbeam 100.

[0057] Among them, reference Figures 8 to 10As shown, the first quick-change assembly 104 may include a fixed base 1041, a connecting base 1042, and a replacement base 1043. The fixed base 1041 can be fixedly mounted on the crossbeam 101. The connecting base 1042 is T-shaped and may include a vertical extension 10421 and a horizontal extension 10422. The first end of the vertical extension 10421 is detachably connected to the fixed base 1041; for example, the first end of the vertical extension 10421 and the fixed base 1041 can be detachably fixedly connected by bolts, latches, etc. The second end of the vertical extension 10421 is connected to the middle of the horizontal extension 10422. The replacement base 1043 is detachably fixedly connected to the horizontal extension 10422. For example, the replacement base 1043 and the horizontal extension 10422 can be detachably fixedly connected by bolts, snap-fits, etc. The main rod 103 can be detachably fixedly connected to at least two replacement bases 1043. For example, the main rod 103 and at least two replacement seats 1043 can be detachably fixedly connected by bolts, latches, etc.

[0058] Therefore, by configuring different replacement seats 1043, or by configuring the main rod 103 to be connected with different replacement seats 1043, different end effectors 100 can be assembled.

[0059] For example Figure 11 and Figure 12 As shown, the end effector 100 may include two main rods 103, which can be connected to two replacement seats 1043 respectively. This enables the assembly of a high-speed single-arm line end effector 100 or a high-speed dual-arm line end effector 100.

[0060] In some examples, reference Figure 13 As shown, the second quick-change assembly 105 can be located in the middle of the crossbeam 101. One end of the main rod 103 can be detachably fixed to the second quick-change assembly 105 by means of bolts, latches, etc. The end effector 100 can include two main rods 103, which can be respectively installed at both ends of the second quick-change assembly 105 along the length of the crossbeam 101. This enables the assembly of the robot end effector 100.

[0061] In some examples, reference Figure 8 As shown, the vertical extension 10421 and the horizontal extension 10422 can be integrally formed, which can improve the structural strength of the connector 1042.

[0062] In this embodiment, the two ends of the crossbeam 101 of the end effector 100 can be connected to two uprights 11 respectively to fix its position. The robot 2 can move the positioning component 3 to the corresponding spatial position via the end effector 211 based on the three-dimensional spatial coordinates of the suction cup 1011, bracket 1012, or sensor 1013 of the end effector 100. By placing the suction cup 1011, bracket 1012, or sensor 1013 at the corresponding positioning structure for installation, precise installation of the suction cup 1011, bracket 1012, or sensor 1013 can be achieved, thus improving the assembly efficiency and accuracy of the end effector 100.

[0063] It should be noted that, in the description of this application, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0064] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0065] In the description of this specification, the references to the terms "certain embodiments", "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples" refer to specific features, structures, materials, or characteristics described in connection with the embodiments or examples that are included in at least one embodiment or example of this application.

[0066] The above are merely embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the principles of this application should be included within the protection scope of this application.

Claims

1. An offline assembly system for end effectors, used for assembling end effectors (100), characterized in that, The end effector offline assembly system includes a truss (1), a robot (2), and a positioning component (3). The truss (1) includes two uprights (11). The robot (2) is located between the two uprights (11), and the robot (2) has an end effector (211) that can move, rotate and be fixed in the space between the two uprights (11); The positioning element (3) is mounted on the end effector (211), and the positioning element (3) has at least one of a suction cup positioning structure (31), a bracket positioning structure (32), and a sensor positioning structure (33); Among them, the two uprights (11) are respectively connected to the two ends of the crossbeam (101) of the end effector (100), the suction cup positioning structure (31) is used to realize the positioning of the various suction cups (1011) of the end effector (100), the bracket positioning structure (32) is used to realize the positioning of the bracket (1012) of the end effector (100), and the sensor positioning structure (33) is used to realize the positioning of the sensor (1013) of the end effector (100).

2. The offline assembly system for end effectors according to claim 1, characterized in that, The positioning member (3) has a first surface (301) and a second surface (302), the first surface (301) and the second surface (302) being located at opposite ends of the positioning member (3); The positioning element (3) is fixedly connected to the end effector (211) via the first surface (301); The suction cup positioning structure (31) and the sensor positioning structure (33) are both located on the second surface (302). At least a portion of the bracket positioning structure (32) is located on the second surface (302).

3. The offline assembly system for end effectors according to claim 1 or 2, characterized in that, The suction cup positioning structure (31) includes a plurality of annular marking lines (311), which are adapted to coincide with the outer contours of different suction cups (1011).

4. The offline assembly system for end effectors according to claim 3, characterized in that, Multiple circular marking lines (311) are arranged concentrically.

5. The offline assembly system for end effectors according to any one of claims 1 to 4, characterized in that, The sensor positioning structure (33) is a groove, which is suitable for embedding the sensor (1013).

6. The offline assembly system for end effectors according to claim 5, characterized in that, When multiple ring-shaped marking lines (311) are concentrically arranged, the groove and multiple ring-shaped marking lines (311) are located on the same surface, and the groove and multiple ring-shaped marking lines (311) are concentrically arranged.

7. The offline assembly system for end effectors according to claim 1 or 2, characterized in that, The positioning element (3) has a second surface (302), a third surface (303) and a fourth surface (304), and the second surface (302), the third surface (303) and the fourth surface (304) all intersect each other; The second surface (302) and the third surface (303) are adapted to be attached to and supported on two intersecting surfaces of the bracket (1012), respectively, and both the second surface (302) and the third surface (303) are parallel to the positioning direction (001); When the second surface (302) and the third surface (303) are respectively in contact with the two surfaces corresponding to the bracket (1012), the fourth surface (304) abuts against or approaches one side surface of the bracket (1012) along the positioning direction (001); The second surface (302), the third surface (303), and the fourth surface (304) together constitute the bracket positioning structure (32).

8. The offline assembly system for end effectors according to claim 7, characterized in that, When the second surface (302) and the third surface (303) are respectively attached to the two surfaces corresponding to the bracket (1012), the distance between the fourth surface (304) and one side surface of the bracket (1012) along the positioning direction (001) is 0≤L≤5mm.

9. The offline assembly system for end effectors according to claim 1, characterized in that, The robot (2) includes a robot body (21) and a translation device (22); The robot body (21) is mounted on the translation device (22); The translation device (22) is installed between the two uprights (11) and is used to drive the robot body (21) to move along the length direction of the crossbeam (101); The end effector (211) is mounted on the robot body (21).

10. An end effector, characterized in that, The end effector is assembled using the end effector offline assembly system described in any one of claims 1 to 9.

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