A robot end effector and robot

Abstract

This invention discloses a robot end effector and a robot. The device includes a cylinder, a reciprocating piston assembly, a permanent magnet assembly connected to the piston assembly, and an adsorption end cap disposed on the cylinder. The permanent magnet assembly includes a permanent magnet and a magnetic guide, the magnetic guide being connected to the piston assembly. The piston assembly moves the permanent magnet assembly closer to the adsorption end cap, and the magnetic guide guides the magnetic field to the adsorption end cap to generate an adsorption force. The piston assembly moves the permanent magnet assembly away from the adsorption end cap to release the adsorption force. This invention constructs a low magnetic reluctance magnetic circuit by using a magnetic guide that conforms to the magnetic poles of the permanent magnet, reducing magnetic field air loss and increasing the adsorption force for the same volume, meeting the requirements for lightweight robots. Simultaneously, dual air inlets pneumatic control achieves adsorption and release; the permanent magnet remains adsorbed even after air supply is cut off, providing anti-fall functionality. Overall, it achieves high magnetic energy utilization and a compact structure.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a robot end effector and a robot. Background Technology

[0002] With the rapid development of industrial automation and robotics, permanent magnet adsorption end effectors are widely used in metal workpiece handling and assembly. Existing permanent magnet adsorption end effectors are mainly divided into two categories: pneumatic permanent magnet adsorption cylinders and servo-electric permanent magnet adsorption cylinders. Pneumatic permanent magnet adsorption cylinders rely on an external air source to drive a piston that moves the permanent magnet; after adsorption is complete, the gripping function can be maintained even after the air source is cut off. Electric permanent magnet adsorption cylinders are equipped with a servo adjustment mechanism, enabling continuous adjustment of the adsorption force.

[0003] However, all of the aforementioned existing technologies suffer from the common problem of low magnetic circuit efficiency. Existing devices mostly employ axial magnetization structures for permanent magnets, requiring the magnetic circuit to pass through an air gap or a non-magnetic cylinder to complete its closure. Air magnetic reluctance is much higher than that of magnetically conductive metal materials, resulting in significant magnetic flux loss along the conduction path. Consequently, the effective adsorption force acting on the adsorption surface is far lower than the theoretical magnetic energy of the permanent magnet. To offset magnetic flux loss and ensure the rated gripping force, existing products can only increase the size of the permanent magnet, leading to a substantial increase in the overall weight and dimensions of the end effector, failing to meet the design requirements of lightweight, miniaturized, and compact robot end effects. Simultaneously, the low magnetic energy utilization rate directly limits the maximum adsorption force that a unit volume of permanent magnet can output, making it difficult to achieve high-force gripping operations in confined installation conditions.

[0004] Therefore, there is an urgent need for a new type of robot end effector design to overcome the technical challenges of low magnetic circuit efficiency and severe magnetic field loss in the air in existing technologies, which make it difficult to meet the requirements of lightweight and compact robot end effectors. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a robot end effector and a robot.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: In a first aspect, embodiments of the present invention provide a robot end effector, comprising: Cylinder block; A piston assembly, which is reciprocally disposed within the cylinder body; A permanent magnet assembly is connected to the piston assembly and moves synchronously with the piston assembly. The permanent magnet assembly includes a permanent magnet and a magnetic conductor. The magnetic conductor is attached to the magnetic pole of the permanent magnet and is connected to the piston assembly. An adsorption end cap is disposed at one end of the cylinder and is used to contact the adsorbed object; When the piston assembly drives the permanent magnet assembly to move closer to the adsorption end cap, the magnetic conductor guides the magnetic field of the permanent magnet to the adsorption end cap, so as to generate an adsorption force at the adsorption end cap. When the piston assembly drives the permanent magnet assembly to move away from the adsorption end cap, the adsorption force at the adsorption end cap is released.

[0007] In one specific embodiment, the cylinder body is provided with a first air inlet and a second air inlet, which are used to introduce gas to drive the piston assembly to move; the piston assembly includes a piston rod, a first piston and a second piston, the first piston and the second piston are respectively connected to the piston rod, and a rear cover is provided at the end of the cylinder body away from the adsorption end cap, the rear cover is sleeved on the piston rod and fixedly connected to the cylinder body, the rear cover, the cylinder body and the first piston enclose to form a first movable cavity, the first movable cavity is in communication with the first air inlet; the adsorption end cap, the second piston, the cylinder body and the permanent magnet assembly enclose to form a second movable cavity, the second movable cavity is in communication with the second air inlet.

[0008] In one specific embodiment, the permanent magnet assembly further includes a fixing frame, the permanent magnet is disposed on the fixing frame, the magnetic conductive component includes a first magnetic conductive component and a second magnetic conductive component, the first magnetic conductive component and the second magnetic conductive component are respectively attached to the two poles of the permanent magnet, the fixing frame forms the first magnetic conductive component, and the second piston forms the second magnetic conductive component.

[0009] In one specific embodiment, there are multiple permanent magnets, and an installation cavity is formed between the fixing frame and the second piston. The multiple permanent magnets are arranged at intervals along the circumference of the fixing frame in the installation cavity.

[0010] In one specific embodiment, the adsorption end cap includes a first front cover, a second front cover, and a third front cover. The first front cover and the second front cover are made of a highly magnetically permeable material, and the third front cover is disposed between the first front cover and the second front cover and is made of a non-magnetically permeable material. The first front cover is disposed opposite to the second piston, and the second front cover is disposed opposite to the fixing frame.

[0011] In one specific embodiment, when gas is introduced into the first air inlet, causing the permanent magnet assembly to move towards the adsorption end cap to the adsorption position, the second piston is in contact with the first front cover, and the fixing frame is in contact with the second front cover, so as to form a magnetic circuit closed loop from the second front cover through the adsorbed object to the first front cover.

[0012] In one specific embodiment, the piston rod is further fitted with a guide sleeve and an adjusting nut assembly. The guide sleeve is engaged with the rear cover, and the adjusting nut assembly is used to adjust the travel of the piston assembly. The distance between the adjusting nut assembly and the guide sleeve is adjustable to limit the travel of the piston rod when it moves toward the adsorption end cap.

[0013] In one specific embodiment, the adjusting nut assembly includes a first adjusting nut and a second adjusting nut, the first adjusting nut and the second adjusting nut being threadedly connected to the piston rod and abutting against each other.

[0014] In one specific embodiment, a mounting cover is also connected to one end of the cylinder near the adsorption end cap, the mounting cover being used to fix the adsorption end cap to the cylinder; a gasket is also provided at the bottom of the mounting cover, the gasket being fitted onto the adsorption end cap and used to contact the surface of the object being adsorbed.

[0015] The advantages of the robot end effector of the present invention compared with the prior art are as follows: By setting a magnetic guide component that fits against the magnetic pole of the permanent magnet, a low magnetic resistance and high efficiency magnetic circuit is constructed from the permanent magnet to the adsorption end cap. This effectively solves the technical defects of the prior art, which is that the magnetic circuit needs to be closed through air, resulting in large magnetic flux loss and low magnetic energy utilization. This significantly improves the effective adsorption force at the adsorption end cap with the same permanent magnet volume, or greatly reduces the overall volume and weight of the device with the same adsorption force requirement, thus meeting the stringent requirements of robot end effectors for lightweight and compact design. At the same time, the driving piston assembly moves the permanent magnet assembly closer to or away from the adsorption end cap, realizing reliable pneumatic control of adsorption and release. Even if the air supply is cut off during the adsorption state, the magnetic attraction effect formed by the permanent magnet on the adsorption end cap through the magnetic guide component is still maintained. It has a safety redundancy protection mechanism to prevent falling even when the air supply is cut off. Thus, the technical effects of high magnetic energy utilization, compact structure, and safe and reliable operation are achieved in combination.

[0016] Secondly, embodiments of the present invention provide a robot, including the robot end effector as described above.

[0017] The advantages of the robot of the present invention compared with the prior art are as follows: By integrating the above-mentioned end effector, and using the magnetic conductor to closely fit the permanent magnet poles to construct a low magnetic resistance and high efficiency magnetic circuit, the common problems of large magnetic flux loss and low magnetic energy utilization caused by the closed magnetic circuit through air in the prior art are effectively overcome. This allows the robot end effector to output a greater attraction force with the same permanent magnet volume, or to significantly reduce the volume and weight of the end effector with the same attraction force. This greatly reduces the inertial load during robot movement and improves its flexibility and accessibility, making it better suited for industrial robotic arms and humanoid robots in narrow spaces. This device meets the operational needs under intermittent heavy-duty conditions. Simultaneously, the dual air inlets independently drive the piston assembly, allowing the permanent magnet assembly to move closer to or further away from the adsorption end cap. Even with an interruption in airflow, the permanent magnet maintains its grip through the magnetic attraction effect formed by the magnetic guide, preventing the workpiece from falling due to unexpected air supply interruptions. This gives the robot a fall-prevention redundancy capability with self-holding in case of air shortage. The robot's end effector boasts comprehensive performance advantages, including high magnetic energy utilization, small size, lightweight design, and high reliability, enhancing the robot's adaptability and operational stability in diverse scenarios such as metal workpiece handling and assembly.

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A three-dimensional schematic diagram of the robot end effector provided by the present invention; Figure 2 This is a cross-sectional schematic diagram of the robot end effector provided by the present invention; Figure 3 An exploded view of the robot end effector provided by the present invention.

[0021] Figure Labels Cylinder body 10, first air inlet 11, second air inlet 12, rear cover 13, guide sleeve 14, mounting cover 15, washer 16, piston assembly 20, piston rod 21, first piston 22, second piston 23, permanent magnet assembly 30, permanent magnet 31, fixing frame 32, adsorption end cover 40, first front cover 41, second front cover 42, third front cover 43, adjusting nut assembly 50, first adjusting nut 51, second adjusting nut 52. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0023] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] 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. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical 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 invention according to the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0029] See Figures 1 to 3 As shown, the present invention discloses a specific embodiment of a robot end effector, comprising: Cylinder block 10; Piston assembly 20, which is reciprocally movable within the cylinder body 10; A permanent magnet assembly 30 is connected to the piston assembly 20 and moves synchronously with the piston assembly 20. The permanent magnet assembly 30 includes a permanent magnet 31 and a magnetic conductor. The magnetic conductor is attached to the magnetic pole of the permanent magnet 31 and connected to the piston assembly 20. Adsorption end cap 40, the adsorption end cap 40 is disposed at one end of the cylinder 10, and is used to contact the adsorbed object; The cylinder body 10 is provided with a first air inlet 11 and a second air inlet 12, which are used to introduce gas to drive the piston assembly 20 to move. When gas is introduced into the first air inlet 11, the piston assembly 20 drives the permanent magnet assembly 30 to move closer to the adsorption end cap 40, and the magnetic conductor guides the magnetic field of the permanent magnet 31 to the adsorption end cap 40 so that an adsorption force is generated at the adsorption end cap 40. When gas is introduced into the second air inlet 12, the piston assembly 20 drives the permanent magnet assembly 30 to move away from the adsorption end cap 40, so as to release the adsorption force at the adsorption end cap 40.

[0030] Specifically, the cylinder body 10 serves as the supporting frame of the entire device, and its interior is a hollow structure. A piston assembly 20 is provided inside the cylinder body 10. The piston assembly 20 includes a piston rod 21, a first piston 22, and a second piston 23. The first piston 22 and the second piston 23 are respectively fixedly connected to the piston rod 21 and can reciprocate within the cylinder body 10 together with the piston rod 21.

[0031] A rear cover 13 is fixedly connected to the upper end of the cylinder 10 (i.e., the end furthest from the adsorption end cover 40). The rear cover 13 is sleeved on the outside of the piston rod 21, serving as a guide and support for the piston rod 21. An adsorption end cover 40, formed by the combination of a first front cover 41, a second front cover 42, and a third front cover 43, is connected to the lower end of the cylinder 10 (i.e., the end closest to the adsorption end cover 40). This adsorption end cover 40 is used to directly contact the upper surface of the object being adsorbed.

[0032] The cylinder body 10 is also provided with a first air inlet 11 and a second air inlet 12. The rear cover 13, the inner wall of the cylinder body 10 and the upper end face of the first piston 22 form a sealed first active cavity, which is connected to an external air source through the first air inlet 11 on the cylinder body 10. The adsorption end caps 40 (i.e., the first front cover 41, the second front cover 42 and the third front cover 43), the second piston 23, the inner wall of the cylinder body 10 and the permanent magnet assembly 30 form a sealed second active cavity, which is connected to an external air source through the second air inlet 12 on the cylinder body 10.

[0033] The permanent magnet assembly 30 includes a permanent magnet 31 and a magnetic conductor. The magnetic conductor specifically includes a first magnetic conductor and a second magnetic conductor. In this embodiment, the first magnetic conductor is a mounting frame 32, and the second magnetic conductor is a second piston 23. That is, the second piston 23 not only serves as a component of the piston assembly 20 but also functions as a magnetic conductor. The permanent magnet 31 is disposed within the annular mounting cavity formed between the mounting frame 32 and the second piston 23. The mounting frame 32 and the second piston 23 are respectively tightly fitted to the inner and outer magnetic pole surfaces of the permanent magnet 31. Both the mounting frame 32 and the second piston 23 are made of a highly permeable material (such as electrical pure iron), thereby enabling efficient collection and conduction of the magnetic field generated by the permanent magnet 31.

[0034] When compressed gas is introduced into the first movable chamber through the first air inlet 11, the gas pressure pushes the first piston 22 downward. The first piston 22, through the piston rod 21, drives the second piston 23 and the permanent magnet 31 fixed on the mounting bracket 32 ​​to move synchronously towards the adsorption end cover 40. At this time, the magnitude of the adsorption force at the adsorption end cover 40 increases as the distance between the permanent magnet 31 and the adsorption end cover 40 decreases, and vice versa. Simultaneously, the magnetic field generated by the permanent magnet 31 is guided by the two magnetic conductive components, the mounting bracket 32 ​​and the second piston 23, and efficiently transmitted to the first front cover 41 and the second front cover 42, which are made of highly magnetically permeable material, so that a strong adsorption force is generated at the adsorption end cover 40, thereby firmly adsorbing the ferromagnetic workpiece. After the gas source is disconnected, the adsorption force still exists due to the holding effect of the magnetic field of the permanent magnet 31 itself, realizing the gas cut-off retention function.

[0035] When compressed gas is introduced into the second active chamber through the second air inlet 12, the gas pressure pushes the second piston 23 to move upward. The second piston 23 drives the first piston 22 and the permanent magnet 31 to move synchronously towards the rear cover 13 through the piston rod 21, so that the permanent magnet 31 moves away from the adsorption end cover 40. At this time, the magnetic force at the adsorption end cover 40 gradually decreases until it disappears, thereby releasing the adsorption effect on the adsorbed object.

[0036] In other words, by setting a magnetically conductive component that fits against the magnetic poles of the permanent magnet 31, a low-resistivity and high-efficiency magnetic circuit is constructed from the permanent magnet 31 to the adsorption end cap 40. This effectively solves the technical defects of existing technologies, such as high magnetic flux loss and low magnetic energy utilization caused by the need for the magnetic circuit to be closed through air. This significantly improves the effective adsorption force at the adsorption end cap 40 with the same permanent magnet 31 volume, or greatly reduces the overall volume and weight of the device under the same adsorption force requirement, meeting the stringent requirements of lightweight and compact robot end effectors. At the same time, the piston assembly 20 is driven by the first air inlet 11 and the second air inlet 12 to move the permanent magnet assembly 30 closer to or away from the adsorption end cap 40, realizing reliable pneumatic control of adsorption and release. Even if the air supply is cut off during the adsorption state, the magnetic attraction effect formed by the permanent magnet 31 on the adsorption end cap 40 through the magnetically conductive component is still maintained, providing a safety redundancy protection mechanism to prevent falling even when the air supply is cut off. Thus, the technical effects of high magnetic energy utilization, compact structure, and safe and reliable operation are achieved.

[0037] See Figures 2 to 3As shown, in one embodiment, the piston assembly 20 includes a piston rod 21, a first piston 22, and a second piston 23. The first piston 22 and the second piston 23 are respectively connected to the piston rod 21. The cylinder body 10 has a rear cover 13 at one end away from the adsorption end cap 40. The rear cover 13 is sleeved on the piston rod 21 and fixedly connected to the cylinder body 10. The rear cover 13, the cylinder body 10, and the first piston 22 enclose a first movable cavity, which communicates with the first air inlet 11. The adsorption end cap 40, the second piston 23, the cylinder body 10, and the permanent magnet assembly 30 enclose a second movable cavity, which communicates with the second air inlet 12.

[0038] Specifically, the piston rod 21 is arranged through the axial centerline of the cylinder body 10. The first piston 22 and the second piston 23 are respectively fixedly sleeved on the piston rod 21, and the outer peripheral walls of the first piston 22 and the second piston 23 form a sliding seal with the inner wall of the cylinder body 10. A rear cover 13 is fixedly connected to the end of the cylinder body 10 away from the adsorption end cover 40 (i.e., the upper end). A guide hole is opened in the center of the rear cover 13. The upper end of the piston rod 21 passes through the guide hole and can slide relative to the rear cover 13. The rear cover 13 plays a guiding and supporting role for the piston rod 21.

[0039] The lower end face of the rear cover 13, the inner peripheral wall of the cylinder 10, and the upper end face of the first piston 22 together form a sealed first movable cavity. A first air inlet 11 is provided on the cylinder 10. One end of the first air inlet 11 is connected to an external air source, and the other end is connected to the first movable cavity, allowing external compressed gas to enter the first movable cavity through the first air inlet 11 and push the first piston 22 downward. Simultaneously, the upper end face of the adsorption end cover 40, the second piston 23, the inner peripheral wall of the cylinder 10, and the fixing frame 32 together form a sealed second movable cavity. A second air inlet 12 is also provided on the cylinder 10. One end of the second air inlet 12 is connected to an external air source, and the other end is connected to the second movable cavity, allowing external compressed gas to enter the second movable cavity through the second air inlet 12 and push the second piston 23 upward.

[0040] During operation, when air enters through the first air inlet 11, the pressure inside the first active chamber increases, pushing the first piston 22, piston rod 21, and second piston 23 downward as a whole, and the permanent magnet 31 approaches the adsorption end cover 40 to achieve adsorption; when air enters through the second air inlet 12, the pressure inside the second active chamber increases, pushing the second piston 23, piston rod 21, and first piston 22 upward as a whole, and the permanent magnet 31 moves away from the adsorption end cover 40 to achieve adsorption release.

[0041] In other words, the first active chamber, which is connected to the first air inlet 11, is formed by the rear cover 13, the cylinder 10, and the first piston 22, and the second active chamber, which is connected to the second air inlet 12, is formed by the adsorption end cover 40, the second piston 23, the cylinder 10, and the fixing frame 32. This realizes two independent pneumatic drive chambers, so that the bidirectional movement of the piston assembly 20 is controlled by two independent air holes, which do not interfere with each other, thus ensuring the reliability and response speed of the adsorption and de-adsorption actions.

[0042] See Figures 2 to 3 As shown, in one embodiment, the permanent magnet assembly 30 further includes a fixing frame 32, the permanent magnet 31 is disposed on the fixing frame 32, and the magnetic conductive element includes a first magnetic conductive element and a second magnetic conductive element. The first magnetic conductive element and the second magnetic conductive element are respectively attached to the two poles of the permanent magnet 31. The fixing frame 32 constitutes the first magnetic conductive element, and the second piston 23 constitutes the second magnetic conductive element.

[0043] Specifically, the mounting bracket 32 ​​is fixed to the end of the piston rod 21 via a threaded connection. A permanent magnet 31 is disposed on the outer periphery of the mounting bracket 32. The magnetic conductors include a first magnetic conductor and a second magnetic conductor, wherein the first magnetic conductor is the mounting bracket 32 ​​itself, and the second magnetic conductor is part of the second piston 23. The permanent magnet 31 is radially magnetized, meaning the inner side of the permanent magnet 31 is the N pole and the outer side is the S pole (or vice versa). The mounting bracket 32 ​​is made of a highly permeable material (such as electrical pure iron), and its outer wall is tightly fitted to the inner magnetic pole (N pole) of the permanent magnet 31, thus forming the first magnetic conductor; the lower part of the second piston 23 is also made of a highly permeable material (such as electrical pure iron), and its inner wall is tightly fitted to the outer magnetic pole (S pole) of the permanent magnet 31, thus forming the second magnetic conductor. In this way, the fixing frame 32 and the second piston 23 tightly wrap around and contact the two magnetic poles of the permanent magnet 31 from the inner and outer sides, respectively, efficiently gathering and guiding the magnetic field generated by the permanent magnet 31 to the lower adsorption end cap 40. At the same time, the fixing frame 32 is fixedly connected to the piston rod 21 by threads, and the second piston 23 is also fixedly connected to the piston rod 21, so that the two can move synchronously with the piston rod 21.

[0044] In other words, the first magnetic conductive element is formed by the fixing frame 32 and the second magnetic conductive element is formed by the second piston 23. The two are tightly attached to the two poles of the permanent magnet 31, so that the magnetic field of the permanent magnet 31 is directly contacted and guided by the high magnetic permeability material, avoiding the loss of magnetic field diffusion in the air and improving the magnetic circuit transmission efficiency from the permanent magnet 31 to the adsorption end cap 40.

[0045] See Figures 2 to 3As shown, in one embodiment, there are multiple permanent magnets 31, and an installation cavity is formed between the fixing frame 32 and the second piston 23. The multiple permanent magnets 31 are arranged at intervals along the circumference of the fixing frame 32 in the installation cavity.

[0046] Specifically, the number of permanent magnets 31 is multiple, specifically 6, 8, or 10, and in this embodiment, 6 is preferred. An annular mounting cavity is formed between the fixing frame 32 and the second piston 23, and this mounting cavity surrounds the circumference of the fixing frame 32. Multiple permanent magnets 31 are evenly spaced within this mounting cavity along the circumference of the fixing frame 32, i.e., the multiple permanent magnets 31 are arranged in a circular array. Each permanent magnet 31 is radially magnetized, and the inner magnetic poles of each permanent magnet 31 are attached to the outer wall of the fixing frame 32, while the outer magnetic poles are attached to the inner wall of the second piston 23. The permanent magnets 31 are assembled in the mounting cavity by the fixing frame 32. The fixing frame 32 and the second piston 23 clamp and fix the multiple permanent magnets 31 from both the inner and outer sides, ensuring that the permanent magnets 31 do not loosen or shift during the reciprocating movement of the piston assembly 20.

[0047] In other words, by setting multiple permanent magnets 31 arranged circumferentially in the mounting cavity formed between the fixed frame 32 and the second piston 23, the magnetic fields of the multiple permanent magnets 31 can be gathered and superimposed by the magnetic conductive component, which enhances the total magnetic flux at the adsorption end cap 40 and further improves the adsorption force.

[0048] See Figures 2 to 3 As shown, in one embodiment, the adsorption end cap 40 includes a first front cap 41, a second front cap 42, and a third front cap 43. The first front cap 41 and the second front cap 42 are made of a highly magnetically permeable material, and the third front cap 43 is disposed between the first front cap 41 and the second front cap 42 and is made of a non-magnetically permeable material. The first front cap 41 is disposed opposite to the second piston 23, and the second front cap 42 is disposed opposite to the fixing frame 32.

[0049] Specifically, the first front cover 41, the second front cover 42, and the third front cover 43 are separate structures that are combined to form the adsorption end cover 40. The first front cover 41 is located on the outside of the adsorption end cover 40 (near the second piston 23), the second front cover 42 is located on the inside of the adsorption end cover 40 (near the fixing frame 32), and the third front cover 43 is disposed between the first front cover 41 and the second front cover 42 to connect the first front cover 41 and the second front cover 42.

[0050] Both the first front cover 41 and the second front cover 42 are made of highly permeable materials (such as electrical pure iron), which have high magnetic permeability and can efficiently conduct magnetic flux. The third front cover 43 is made of a non-magnetic material (such as stainless steel) and is placed between the magnetically permeable first front cover 41 and the second front cover 42 to isolate the magnetic field, preventing the first front cover 41 and the second front cover 42 from directly contacting each other and forming a magnetic short circuit, thereby ensuring that the magnetic field lines must form a closed loop through the attracted object. The first front cover 41 and the second piston 23 are arranged vertically opposite each other. When the piston assembly 20 moves downward into position, the side end face of the second piston 23 is in contact with the side end face of the first front cover 41, and the magnetic flux is directly transmitted from the second piston 23 to the first front cover 41. The second front cover 42 and the fixing frame 32 are arranged vertically opposite each other. When the piston assembly 20 moves downward into position, the side end face of the fixing frame 32 is in contact with the side end face of the second front cover 42, and the magnetic flux is directly transmitted from the fixing frame 32 to the second front cover 42.

[0051] In other words, by setting the adsorption end cap 40 as a first front cover 41 and a second front cover 42 made of highly magnetic permeable material and a third front cover 43 made of non-magnetic permeable material, the magnetic field can be efficiently conducted to the adsorption surface of the adsorption end cap 40. At the same time, the non-magnetic permeable characteristic of the third front cover 43 avoids the magnetic short circuit between the first front cover 41 and the second front cover 42, ensuring that the magnetic field lines must form a complete circuit through the adsorbed object, thereby improving the adsorption efficiency.

[0052] See Figure 2 As shown, in one embodiment, when gas is introduced into the first air inlet 11 to move the permanent magnet assembly 30 toward the adsorption end cap 40 to the adsorption position, the second piston 23 is connected to the first front cover 41, and the fixing frame 32 is connected to the second front cover 42 to form a magnetic circuit closed loop from the second front cover 42 through the adsorbed object to the first front cover 41.

[0053] Specifically, when compressed gas is introduced into the first movable chamber through the first air inlet 11, causing the piston assembly 20 to drive the permanent magnet assembly 30 to move towards the adsorption end cover 40 to the adsorption position, the stroke of the piston assembly 20 reaches its lower limit position. At this time, the side end face of the second piston 23 is tightly connected with the side end face of the first front cover 41, both of which are made of highly permeable magnetic materials, forming a good magnetic flux conduction interface; at the same time, the side end face of the fixing bracket 32 ​​is tightly connected with the side end face of the second front cover 42, both of which are also made of highly permeable magnetic materials, forming a good magnetic flux conduction interface.

[0054] In this state, the magnetic field of the permanent magnet 31 is conducted to the first front cover 41 via the second magnetic conductor (second piston 23), and simultaneously to the second front cover 42 via the first magnetic conductor (fixed frame 32). When the second front cover 42 of the adsorption end cover 40 contacts the upper surface of the adsorbed object (ferromagnetic workpiece), the magnetic field lines enter the adsorbed object from the second front cover 42, pass through the interior of the adsorbed object, exit from the first front cover 41, and then return to the permanent magnet 31 via the second piston 23 and the fixed frame 32, forming a complete magnetic circuit closed loop.

[0055] In other words, by docking the second piston 23 with the first front cover 41 and the fixing frame 32 with the second front cover 42 at the adsorption position, a closed magnetic circuit is formed from the second front cover 42 through the adsorbed object to the first front cover 41. This allows most of the magnetic field lines to propagate through the highly permeable material and the adsorbed object without passing through the air gap, thereby minimizing the air magnetic resistance in the magnetic circuit, achieving efficient utilization of magnetic energy, and improving the effective adsorption force at the adsorption end cover 40.

[0056] See Figures 1 to 3 As shown, in one embodiment, the piston rod 21 is further fitted with a guide sleeve 14 and an adjusting nut assembly 50. The guide sleeve 14 is engaged with the rear cover 13, and the adjusting nut assembly 50 is used to adjust the travel of the piston assembly 20. The distance between the adjusting nut assembly 50 and the guide sleeve 14 is adjustable to limit the travel of the piston rod 21 when it moves toward the adsorption end cover 40.

[0057] Specifically, a guide sleeve 14 and an adjusting nut assembly 50 are fitted onto the upper end of the piston rod 21. The guide sleeve 14 is positioned above the rear cover 13 and is securely connected to the rear cover 13, which is fixed inside the cylinder body 10 by a retaining ring or interference fit. A guide hole is provided in the center of the guide sleeve 14, through which the piston rod 21 passes. The guide sleeve 14 serves to guide, center, and support the piston rod 21 during its reciprocating motion, preventing radial displacement of the piston rod 21 and ensuring the linearity and smoothness of the piston assembly 20's movement.

[0058] The adjusting nut assembly 50 includes a first adjusting nut 51 and a second adjusting nut 52, both threadedly connected to the upper end of the piston rod 21, with the first adjusting nut 51 positioned above the second adjusting nut 52. The adjusting nut assembly 50 is located above the guide sleeve 14, with its lower end face opposite to the upper end face of the guide sleeve 14. The distance between the adjusting nut assembly 50 and the guide sleeve 14 can be adjusted by turning the first adjusting nut 51 and the second adjusting nut 52.

[0059] When adjusting the adsorption force, first, put the device in the adsorption release state (i.e., the permanent magnet assembly 30 is close to the back cover 13). Then, turn the first adjusting nut 51 and the second adjusting nut 52 clockwise to move the adjusting nut assembly 50 downward along the piston rod 21, reducing the distance between the lower end face of the adjusting nut assembly 50 and the upper end face of the guide sleeve 14. In this way, when the first air inlet 11 vents and pushes the piston rod 21 downward, the adjusting nut assembly 50 will abut against the guide sleeve 14 earlier, thereby limiting the movement of the piston rod 21 towards the adsorption end cover 40, increasing the distance between the permanent magnet 31 and the adsorption end cover 40, and reducing the adsorption force. Conversely, turn the adjusting nut assembly 50 counterclockwise to move it upward along the piston rod 21, increasing the distance between the adjusting nut assembly 50 and the guide sleeve 14, making the downward stroke of the piston rod 21 longer, decreasing the distance between the permanent magnet 31 and the adsorption end cover 40, and increasing the adsorption force.

[0060] In other words, by setting a guide sleeve 14 and an adjusting nut assembly 50 fitted onto the piston rod 21, and making the distance between the adjusting nut assembly 50 and the guide sleeve 14 adjustable, the travel distance of the piston assembly 20 towards the adsorption end cap 40 is limited. This allows for convenient and quick adjustment of the distance between the permanent magnet 31 and the adsorption end cap 40, thereby achieving manual stepless adjustment of the adsorption force without the need for an additional motor drive structure, simplifying the device structure and reducing costs.

[0061] See Figure 3 As shown, in one embodiment, the adjusting nut assembly 50 includes a first adjusting nut 51 and a second adjusting nut 52, the first adjusting nut 51 and the second adjusting nut 52 being threadedly connected to the piston rod 21 and abutting against each other.

[0062] Specifically, both the first adjusting nut 51 and the second adjusting nut 52 are provided with internal threads, and the upper end of the piston rod 21 is provided with external threads. The first adjusting nut 51 and the second adjusting nut 52 are respectively fitted onto the upper end of the piston rod 21 by means of threaded connection. The first adjusting nut 51 is located above the second adjusting nut 52, and the two are arranged along the axial direction of the piston rod 21.

[0063] After adjustment, tighten the first adjusting nut 51 and the second adjusting nut 52 in opposite directions, that is, tighten the first adjusting nut 51 upward and tighten the second adjusting nut 52 downward, so that the two are pressed against each other. Using the double nut anti-loosening principle, the axial force between the two nuts locks the adjustment nut assembly 50 to prevent it from loosening due to vibration or impact during operation, thereby ensuring that the set stroke and adsorption force remain unchanged.

[0064] In other words, by setting the first adjusting nut 51 and the second adjusting nut 52 to be threadedly connected to the piston rod 21 and to abut against each other, the double nut anti-loosening structure effectively prevents the adjusting nut assembly 50 from loosening due to vibration during operation, thus ensuring the stability and reliability of the adsorption force adjustment.

[0065] See Figures 2 to 3 As shown, in one embodiment, the cylinder 10 is also connected to a mounting cover 15 at one end near the adsorption end cap 40. The mounting cover 15 is used to fix the adsorption end cap 40 to the cylinder 10. The bottom of the mounting cover 15 is also provided with a gasket 16, which is sleeved on the adsorption end cap 40 and used to contact the surface of the adsorbed object.

[0066] Specifically, a mounting cover 15 is connected to one end (i.e., the lower end) of the cylinder body 10 near the adsorption end cover 40. The mounting cover 15 is used to fix the adsorption end cover 40 to the lower end of the cylinder body 10. The mounting cover 15 is sleeved on the outer periphery of the adsorption end cover 40 and is fixedly connected to the cylinder body 10 by screws. The lower end of the mounting cover 15 extends inward to form a limiting flange, which is used to axially limit the adsorption end cover 40 at the lower end of the cylinder body 10 and prevent the adsorption end cover 40 from coming out of the cylinder body 10.

[0067] The bottom of the mounting cover 15 is also provided with a washer 16, which is preferably made of PU (polyurethane). The washer 16 is fitted around the outer periphery of the adsorption end cover 40, and the lower end face of the washer 16 is slightly lower than the lower end face of the adsorption end cover 40. The washer 16 is used to directly contact the upper surface of the object being adsorbed during adsorption, which plays a role in anti-slip and shock absorption, while preventing the metal part of the adsorption end cover 40 from directly and rigidly contacting the object being adsorbed and damaging the surface of the workpiece.

[0068] In other words, by setting the mounting cover 15 to fix the adsorption end cover 40 to the cylinder body 10, the firmness of the adsorption end cover 40 is ensured. In addition, by setting a gasket 16 at the bottom of the mounting cover 15 and making the gasket 16 fit over the adsorption end cover 40, the gasket 16 comes into contact with the surface of the adsorbed object during the adsorption process, which plays a role in anti-slip, protecting the surface of the workpiece and buffering, thereby improving the safety and adaptability of the device.

[0069] The present invention also discloses a robot, including the robot end effector as described above.

[0070] Specifically, by integrating the aforementioned end effector, and utilizing the magnetic conductor to tightly adhere to the magnetic poles of the permanent magnet 31 to construct a low-resistivity, high-efficiency magnetic circuit, the common problems of high magnetic flux loss and low magnetic energy utilization caused by the air closure of the magnetic circuit in existing technologies are effectively overcome. This allows the robot end effector to output a greater attraction force with the same permanent magnet 31 volume, or to significantly reduce the volume and weight of the end effector with the same attraction force. This greatly reduces the inertial load during robot movement and improves its flexibility and accessibility, better adapting to the operational needs of industrial robotic arms and humanoid robots in confined spaces or under heavy-duty conditions. Simultaneously, the device independently drives the piston assembly 20 through dual air inlets to allow the permanent magnet assembly 30 to approach or move away from the adsorption end cap 40. Even if the air supply is interrupted during the adsorption state, the permanent magnet 31 can maintain the gripping effect through the magnetic attraction formed by the magnetic guide, avoiding the safety hazard of workpiece falling due to accidental interruption of the air supply. This gives the robot a fall prevention redundancy capability of self-holding in the event of an air supply interruption. The robot end effector has comprehensive performance advantages of high magnetic energy utilization, small size and lightweight, and safety and reliability, which improves the robot's adaptability and operational stability in diverse operation scenarios such as metal workpiece handling and assembly.

[0071] The above embodiments are preferred implementations of the present invention. In addition, the present invention can be implemented in other ways. Any obvious substitutions without departing from the concept of the present technical solution are within the protection scope of the present invention.

Claims

1. A robot end effector, characterized in that, include: Cylinder block; A piston assembly, which is reciprocally disposed within the cylinder body; A permanent magnet assembly is connected to the piston assembly and moves synchronously with the piston assembly. The permanent magnet assembly includes a permanent magnet and a magnetic conductor. The magnetic conductor is attached to the magnetic pole of the permanent magnet and is connected to the piston assembly. An adsorption end cap is disposed at one end of the cylinder and is used to contact the adsorbed object; When the piston assembly drives the permanent magnet assembly to move closer to the adsorption end cap, the magnetic conductor guides the magnetic field of the permanent magnet to the adsorption end cap, so as to generate an adsorption force at the adsorption end cap. When the piston assembly drives the permanent magnet assembly to move away from the adsorption end cap, the adsorption force at the adsorption end cap is released. The cylinder body is provided with a first air inlet and a second air inlet, which are used to introduce gas to drive the piston assembly to move. The piston assembly includes a piston rod, a first piston, and a second piston. The first piston and the second piston are respectively connected to the piston rod. The cylinder body is provided with a rear cover at the end away from the adsorption end cap. The rear cover is sleeved on the piston rod and fixedly connected to the cylinder body. The rear cover, the cylinder body, and the first piston enclose to form a first movable cavity, which is in communication with the first air inlet. The adsorption end cap, the second piston, the cylinder body, and the permanent magnet assembly enclose to form a second movable cavity, which is in communication with the second air inlet.

2. The robotic end effector of claim 1, wherein, The permanent magnet assembly further includes a fixing frame, the permanent magnet is disposed on the fixing frame, the magnetic conductive component includes a first magnetic conductive component and a second magnetic conductive component, the first magnetic conductive component and the second magnetic conductive component are respectively attached to the two poles of the permanent magnet, the fixing frame forms the first magnetic conductive component, and the second piston forms the second magnetic conductive component.

3. The robotic end effector of claim 2, wherein, The number of permanent magnets is multiple, and an installation cavity is formed between the fixing frame and the second piston. The multiple permanent magnets are arranged at intervals along the circumference of the fixing frame in the installation cavity.

4. The robotic end effector of claim 2, wherein, The adsorption end cap includes a first front cover, a second front cover, and a third front cover. The first front cover and the second front cover are made of a highly magnetically permeable material. The third front cover is disposed between the first front cover and the second front cover and is made of a non-magnetically permeable material. The first front cover is disposed opposite to the second piston, and the second front cover is disposed opposite to the fixing frame.

5. The robotic end effector of claim 4, wherein, When gas is introduced into the first air inlet, causing the permanent magnet assembly to move toward the adsorption end cap to the adsorption position, the second piston is in contact with the first front cover, and the fixing bracket is in contact with the second front cover to form a magnetic circuit closed loop from the second front cover through the adsorbed object to the first front cover.

6. The robotic end effector of claim 1, wherein, The piston rod is also fitted with a guide sleeve and an adjusting nut assembly. The guide sleeve is engaged with the rear cover, and the adjusting nut assembly is used to adjust the travel of the piston assembly. The distance between the adjusting nut assembly and the guide sleeve is adjustable to limit the travel of the piston rod when it moves toward the adsorption end cap.

7. The robotic end effector of claim 6, wherein, The adjusting nut assembly includes a first adjusting nut and a second adjusting nut, which are threadedly connected to the piston rod and abut against each other.

8. The robotic end effector of claim 1, wherein, The cylinder body is also connected to a mounting cover at one end near the adsorption end cap. The mounting cover is used to fix the adsorption end cap to the cylinder body. The bottom of the mounting cover is also provided with a gasket. The gasket is fitted onto the adsorption end cap and is used to contact the surface of the object being adsorbed.

9. A robot, characterized in that Includes the robot end effector as described in any one of claims 1 to 8.

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