A robot end effector and control method for a filter

Abstract

This invention discloses a robot end effector and control method for a filter, belonging to the technical field of robot end effectors. The filter chassis has multiple docking ports. The robot end effector includes a horizontally positioned main support, a floating module connected above the main support, a mounting frame located below the main support, and an adjustment mechanism. The floating module connects to the robot end effector via a quick-change disc. The mounting frame has insert arms corresponding to the docking ports. The adjustment mechanism adjusts the distance between adjacent insert arms to accommodate docking ports with different spacings. This invention achieves filter lifting and handling by inserting the insert arms into the docking ports, eliminating the need for clamping and preventing damage to the casing. The adjustment mechanism allows the actuator to adapt to different filter models. The floating module achieves rigid locking during handling and flexible floating during installation, compensating for robot positioning errors. The rotary drive component enables automatic switching of the filter's posture, improving handling efficiency and installation quality.

Description

Technical Field

[0001] This invention relates to the field of robot end effector technology, and in particular to a robot end effector and control method for a filter. Background Technology

[0002] New energy storage converters are core components of energy storage systems. They require internal filters to suppress harmonics and improve power quality. These filters typically consist of a chassis and the filter body mounted on it, making them quite heavy. Installation within the energy storage converter cabinet demands high precision in both handling and positioning.

[0003] In existing technologies, filters are typically handled and installed using the following two methods: One method involves manual handling and installation. Installers manually move the filter to the energy storage converter cabinet, then locate and install it within the cabinet. Due to the filter's weight, manual handling is labor-intensive and inefficient, and manual positioning makes it difficult to guarantee installation accuracy, easily leading to installation misalignment or damage to the filter housing.

[0004] Secondly, filters are gripped and transported using robotic end effectors. Existing robotic grippers typically employ interlocking chucks, using friction between the chucks and the filter housing to hold the filter, which is then transported to the installation location by the robot's end effector. However, this gripping method has the following problems: Firstly, due to the filter's weight, if the gripping force is too small, the filter is prone to slipping during transport, posing a safety hazard; if the gripping force is too large, it can cause deformation or damage to the filter housing, affecting the filter's performance and appearance. Secondly, different filter models have different dimensions and structures, and existing gripping fixtures cannot adapt to these size variations. Changing filter models during production requires replacing the corresponding fixture, leading to reduced production efficiency and increased equipment costs. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a robot end effector and control method for a filter, so as to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the present invention first proposes a robot end effector for a filter, wherein the filter includes a chassis and a filter body mounted on the chassis, and the chassis is provided with a plurality of parallel docking ports; the robot end effector includes: The main support frame is set horizontally. A floating module is connected to the top of the main support, and the floating module is connected to the end effector of the robot via a quick-change disc; A mounting bracket is provided below the main support, and the mounting bracket is provided with a plug arm corresponding to the docking port; An adjustment mechanism is provided to adjust the distance between adjacent plug arms to adapt to the distance between corresponding adjacent mating ports.

[0007] As a further embodiment of the present invention, two docking ports and two insert arms are provided, with the two docking ports symmetrically arranged on both sides of the center of gravity of the chassis, and the two insert arms can move along the length direction of the mounting frame.

[0008] As a further aspect of the present invention, the adjusting mechanism includes: A linear drive unit, wherein the fixed end and the driving end of the linear drive unit are respectively connected to a plug arm to drive the two plug arms to move relative to each other; A first positioning element is provided on the mounting bracket and arranged along the length of the mounting bracket. There are two first positioning elements located between the insert arms. The contact ends of the two first positioning elements point to one of the insert arms respectively. At least one of the two first positioning elements can be adjusted in position along its length. The second positioning members are arranged on both sides of the mounting bracket along the length of the mounting bracket, and the contact ends of the two second positioning members respectively point to one of the insert arms. At least one of the two second positioning members can be adjusted in position along its length. A first elastic buffer and a second elastic buffer are used in conjunction with the first positioning member and the second positioning member, respectively; the contact end of the first elastic buffer extends forward in the direction pointing to the corresponding insertion arm relative to the contact end of the first positioning member; the contact end of the second elastic buffer extends forward in the direction pointing to the corresponding insertion arm relative to the contact end of the second positioning member.

[0009] As a further embodiment of the present invention, the chassis is a hollow structure with an open bottom, and the docking port includes a first port and a second port respectively opened on two opposite sides of the chassis, and the plug arm is provided with a slot corresponding to the position of the first port and the second port.

[0010] As a further embodiment of the present invention, the insert arm is provided with a locking member, and the chassis is provided with a locking hole adapted to the locking member. The locking member enters the locking hole to constrain the relative movement of the chassis and the insert arm in the horizontal plane. The insert arm is provided with a support block to support the chassis when the locking member enters the locking hole.

[0011] As a further embodiment of the present invention, the main support is provided with a rotary drive component, the output end of which faces vertically downward and is connected to the mounting frame to drive the mounting frame to rotate around a vertical axis.

[0012] As a further embodiment of the present invention, the main support is provided with two third positioning members, the positions of which can be adjusted along their length; the mounting bracket is provided with a positioning plate, when the positioning plate abuts against the contact end of one of the third positioning members, the insert arm is perpendicular to the main support; when the positioning plate abuts against the contact end of the other third positioning member, the insert arm is parallel to the main support and their vertical projections do not coincide. It also includes a third elastic buffer member used in conjunction with the third positioning member, wherein the contact end of the third elastic buffer member extends forward toward the positioning plate in a direction relative to the contact end of the third positioning member.

[0013] As a further embodiment of the present invention, the floating module has a locked state and an unlocked state; in the locked state, the main support is rigidly connected to the robot end effector; in the unlocked state, the main support has a horizontal and vertical floating gap relative to the robot end effector.

[0014] A control method for controlling a robot end effector for a filter as described above includes the following steps: S1, the distance between adjacent plug arms is adjusted by the adjustment mechanism to adapt to the distance between corresponding adjacent mating plugs; S2, the robot end effector moves to the material picking position and inserts the insertion arm into the corresponding docking port; S3, the robot's end effector moves the filter to the installation location; S4, filter installation complete, insert arm withdrawn from docking port.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention features a docking port on the filter's chassis and corresponding insert arms on the robot's end effector mounting bracket. During transport, the insert arms are inserted into the docking port, lifting or suspending the chassis to move the filter. Compared to existing technologies that rely on friction between the gripper and the filter housing for clamping and transport, this invention eliminates the need for clamping force on the filter housing. This fundamentally avoids the safety hazard of the filter slipping due to insufficient clamping force, and also avoids the problem of deformation or damage to the filter housing due to excessive clamping force, making the transport process safer and more reliable.

[0016] 2. This invention, by incorporating an adjustment mechanism, can adjust the distance between adjacent insert arms according to the spacing of the mating connectors on the chassis of the filter to be transported, allowing the insert arms to adapt to the varying spacing of the mating connectors on different filter models. Compared to existing technologies that require changing different fixtures for different filter models, this invention can adapt to multiple filter models with a single adjustment, eliminating the need for machine downtime to change fixtures, significantly improving the changeover efficiency of the production line and reducing equipment investment costs. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of a robot end effector used for a filter; Figure 2 This is a schematic diagram of the filter structure; Figure 3 This is a schematic diagram of the structure above the mounting bracket; Figure 4 This is a schematic diagram of the structure below the mounting bracket; Figure 5 A schematic diagram for adjusting the arm distance; Figure 6 A schematic diagram of the structure below the main support; Figure 7 This is a schematic diagram of the structure when the insert arm is parallel to the main support; Figure 8 This is a schematic diagram of the structure when the insert arm is perpendicular to the main support.

[0018] Reference numerals: 1-Filter, 11-Chassis, 12-Filter body, 13-Mating port, 13a-First port, 13b-Second port, 2-Main bracket, 21-Rotation drive, 22-Third positioning component, 23-Positioning plate, 24-Third elastic buffer, 3-Floating module, 31-Quick change plate, 4-Mounting bracket, 41-Plug arm, 411-Slot, 412-Locking component, 413-Locking hole, 414-Support block, 51-Linear drive, 52-First positioning component, 53-Second positioning component, 54-First elastic buffer, 55-Second elastic buffer. Detailed Implementation

[0019] To facilitate understanding of the present invention, a more comprehensive description will be given below with reference to specific embodiments. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the present invention.

[0020] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0021] Example 1 like Figures 1-3As shown, this embodiment discloses a robotic end effector for a filter 1, which is suitable for the automated handling and installation of the filter 1 in an energy storage converter or other power equipment. The filter 1 typically includes a chassis 11 and a filter body 12 mounted on the chassis 11.

[0022] To accommodate the robot end effector in this embodiment, the chassis 11 is provided with a plurality of parallel docking ports 13.

[0023] The robot end effector includes a main support 2, a floating module 3, a mounting bracket 4, and an adjustment mechanism.

[0024] The main support 2 is the basic load-bearing component of the entire end effector. It is horizontally set and can be in the form of a rectangular flat plate structure or a frame structure.

[0025] The floating module 3 is connected to the robot's end effector via a quick-change disc 31. Specifically, the floating module 3 is located on the upper part of one end of the main support 2. In one feasible implementation, the floating module 3 uses a pneumatic or electrically controlled floating unit, such as the XYR9000 series floater, which has a locked state and an unlocked state. In the locked state, the pneumatic or mechanical locking mechanism inside the floating module 3 activates, making the main support 2 rigidly connected to the robot's end effector, thereby ensuring that the end effector will not shake or shift during handling. In the unlocked state, the airbag or spring structure inside the floating module 3 functions, giving the main support 2 a preset floating gap in both the lateral and longitudinal directions relative to the robot's end effector in the horizontal plane. This allows the end effector to adaptively fine-tune with the installation position of the filter 1 during filter 1 installation, compensating for the robot's end effector's repetitive positioning error.

[0026] A mounting bracket 4 is provided below the main support 2, and the mounting bracket 4 is also arranged horizontally. The mounting bracket 4 is provided with a plug arm 41 corresponding to the docking port 13. It is used to extend into the docking port 13 of the filter 1 chassis 11. In one specific implementation, the plug arm 41 is a slender plate-shaped or rod-shaped member.

[0027] In one specific embodiment of this example, there are two docking ports 13 and two plug arms 41. The two docking ports 13 are symmetrically arranged on both sides of the center of gravity of the chassis 11, making the transport of the filter 1 more stable. Correspondingly, the two plug arms 41 are also arranged parallel to each other on the mounting frame 4.

[0028] In order to accommodate filters 1 of different models or specifications, especially the spacing of the mating ports 13 on chassis 11 of different sizes, the adjustment mechanism is used to adjust the distance between adjacent plug arms 41.

[0029] The two insert arms 41 can move along the length of the mounting bracket 4 to adjust the distance between the two insert arms 41; specifically, the insert arms 41 are slidably connected to the slide rails at the bottom of the mounting bracket 4 via sliders, and there are two slide rails arranged in parallel, with two sliders fixed on each insert arm 41.

[0030] The adjustment mechanism is used to adjust the distance between the two plug arms 41 so that the distance between the two plug arms 41 is equal to the distance between the mating ports 13.

[0031] Example 2 The difference from Embodiment 1 is that this embodiment discloses the specific technical features of the adjustment mechanism.

[0032] like Figures 3-5 As shown, the adjustment mechanism includes a linear drive member 51, a first positioning member 52, a second positioning member 53, a first elastic buffer member 54, and a second elastic buffer member 55.

[0033] The linear drive 51 can be a pneumatic cylinder, an electric cylinder, or a hydraulic cylinder, etc. Specifically, in this embodiment, the linear drive 51 is a pneumatic cylinder. Its cylinder body is fixedly connected to one of the insert arms 41 through a support plate, and its piston rod head is fixedly connected to the other insert arm 41 through the support plate. When the piston rod of the pneumatic cylinder extends or retracts, the distance between the two insert arms 41 changes accordingly.

[0034] To determine the endpoint of the movement of the insertion arms 41 so that the distance between the insertion arms 41 matches the mating socket 13, a first positioning element 52 and a second positioning element 53 are provided.

[0035] When the two insert arms 41 are close to each other and contact the corresponding first positioning member 52, there is a first distance between the insert arms 41; when the two insert arms 41 are far apart from each other and contact the corresponding second positioning member 53, there is a second distance between the insert arms 41. Through reasonable design, the first distance and the second distance can be adapted to different models of filters 1, that is, the handling of two different models of filters 1 can be realized simultaneously through a robot end effector.

[0036] Taking the adjustment of the insert arm 41 as the first distance as an example, when the linear drive member 51 shortens, the two insert arms 41 move closer to each other. When one of the insert arms 41 contacts the first positioning member 52, the insert arm 41 stops until the other insert arm 41 contacts the other first positioning member 52. At this time, the distance between the two insert arms 41 is the first distance.

[0037] To make the positioning of the insert arm 41 more accurate, at least one of the two first positioning members 52 can be adjusted in position along its length; at least one of the two second positioning members 53 can be adjusted in position along its length.

[0038] Specifically, the two first positioning elements 52 are connected to the mounting bracket 4 by angle steel, and at least one first positioning element 52 is bolted and threaded to the angle steel. The position of the first positioning element 52 can be adjusted by rotating it, thereby adjusting the distance between the contact ends of the two first positioning elements 52.

[0039] Similarly, at least one of the second positioning elements 53 also uses bolts that are threadedly connected to the mounting bracket 4.

[0040] Of course, both first positioning elements 52 and both second positioning elements 53 can be bolts.

[0041] To prevent the insertion arm 41 from directly colliding rigidly with the first positioning member 52 and the second positioning member 53 during movement, thus avoiding impact or damage, a first elastic buffer 54 and a second elastic buffer 55 are provided, which are respectively paired with the first positioning member 52 and the second positioning member 53. The contact end of the first elastic buffer 54 extends forward in the direction pointing to the corresponding insertion arm 41 compared to the contact end of the first positioning member 52. That is, when the insertion arm 41 moves inward, it will first contact the first elastic buffer 54 for buffering and deceleration, and then be limited by the first positioning member 52. The contact end of the second elastic buffer 55 extends forward in the direction pointing to the corresponding insertion arm 41 compared to the contact end of the second positioning member 53. That is, when the insertion arm 41 moves outward, it will first contact the second elastic buffer 55, and then be limited by the second positioning member 53.

[0042] The first elastic buffer 54 and the second elastic buffer 55 can specifically be polyurethane buffers, spring buffers, or hydraulic buffers. Specifically, in this embodiment, the first elastic buffer 54 and the second elastic buffer 55 are buffers of model ACA-1007 or RB0805.

[0043] Example 3 This embodiment further defines the mating structure of the chassis 11 and the insert arm 41.

[0044] like Figure 2 and Figure 3 As shown, the chassis 11 has a hollow structure with an open bottom to reduce the overall weight and save material costs; the docking port 13 includes a first port 13a and a second port 13b respectively opened on two opposite sides of the chassis 11, and the plug arm 41 has a slot 411 opened at the position corresponding to the first port 13a and the second port 13b.

[0045] When the insert arm 41 is inserted into the corresponding first socket 13a and second socket 13b, the upper part of the first socket 13a and the second socket 13b enters the corresponding slot 411, forming a straddle-type fit, which improves the stability during the handling process.

[0046] To prevent relative sliding between the chassis 11 and the insert arm 41 in the horizontal plane during transportation, a locking element 412 is provided on the insert arm 41. The locking element 412 is specifically a vertically arranged positioning pin, and a locking hole 413 adapted to the locking element 412 is provided on the chassis 11.

[0047] The size of the mating socket 13 is larger than the cross-sectional size of the insert arm 41. When the insert arm 41 enters the mating socket 13, it can move up, down, left, and right. By moving the insert arm 41 left and right, the locking member 412 is aligned with the locking hole 413. By moving the insert arm 41 upward, the locking member 412 is inserted into the locking hole 413. At this time, the support block 414 contacts the chassis 11 and supports the chassis 11.

[0048] Example 4 Please see Figures 6-8 To accommodate potential posture differences between the material handling position and the installation position of the filter 1, a rotary drive component 21 is provided on the main support 2. The rotary drive component 21 can be a rotary cylinder, a stepper motor, or a servo motor. The output end of the rotary drive component 21 faces vertically downward and is connected to the mounting frame 4 to drive the mounting frame 4 to rotate around a vertical axis.

[0049] To accurately position the rotation angle of the mounting bracket 4, the main support 2 is equipped with two third positioning elements 22. The two third positioning elements 22 are arranged at 90° around the rotation center of the mounting bracket 4. The mounting bracket 4 is equipped with a positioning plate 23. When the mounting bracket 4 rotates, it drives the positioning plate 23 to rotate. When the positioning plate 23 contacts the positioning element, it stops rotating, so that the mounting bracket 4 and the insertion arm 41 can rotate within the range of 0-90°. By arranging the position of the third positioning elements 22, it can be achieved that: when the positioning plate 23 abuts against the contact end of one of the third positioning elements 22, the insertion arm 41 is perpendicular to the main support 2; when the positioning plate 23 abuts against the contact end of the other third positioning element 22, the insertion arm 41 is parallel to the main support 2 and their vertical projections do not coincide.

[0050] To achieve precise angle control, the position of the third positioning element 22 is fine-tuned. Specifically, the third positioning element 22 is connected to the mounting base on the mounting bracket 4. Alternatively, the third positioning element 22 can be bolted and threadedly connected to the mounting base. A third elastic buffer element 24, used in conjunction with the third positioning element 22, is also included. The contact end of the third elastic buffer element 24 extends forward relative to the contact end of the third positioning element 22, moving closer to the positioning plate 23. That is, during rotation, the positioning plate 23 first contacts the third elastic buffer element 24 for cushioning before contacting the third positioning element 22 to achieve rigid limiting. The third elastic buffer element 24 can also be a buffer of model ACA-1007 or RB0805.

[0051] Example 5 This embodiment proposes a control method for controlling the robot end effector used for filter 1 as described above, including the following steps: S1, the distance between adjacent plug arms 41 is adjusted by the adjustment mechanism to adapt to the distance between corresponding adjacent mating plugs 13.

[0052] Specifically, based on the model of filter 1, it is determined whether the insert arm 41 needs to be at the first distance or the second distance; if the insert arm 41 needs to be at the first distance, the side of the two insert arms 41 that is close to each other contacts the first positioning member 52; conversely, if the insert arm 41 needs to be at the second distance, the side of the two insert arms 41 that is far from each other contacts the second positioning member 53.

[0053] The distance between the two insert arms 41 is adjusted by controlling the linear drive component 51.

[0054] S2, the robot end effector moves to the material picking position and inserts the insertion arm 41 into the corresponding docking port 13.

[0055] Specifically, the robot end effector is connected to the floating module 3 via a quick-change disc 31, which drives the entire end effector to move horizontally, so that the two insertion arms 41 are respectively aligned with the two docking ports 13 on the chassis 11 and inserted. After the insertion arms 41 are inserted into place, the robot end effector is lifted upward, and the locking member 412 on the insertion arm 41 enters the locking hole 413 on the chassis 11. At the same time, the support block 414 on the insertion arm 41 contacts the chassis 11 to achieve locking and support.

[0056] S3, the robot's end effector moves filter 1 to the installation position.

[0057] The floating module 3 is locked to ensure that the filter 1 is stable and does not shake during transportation. When the filter 1 reaches the installation position, the floating module 3 is switched to the unlocked state. At this time, the main support 2 has a horizontal and vertical floating gap relative to the robot end effector, and the filter 1 can automatically make fine adjustments according to the installation position. If it is necessary to adjust the posture of the filter 1, the rotary drive 21 is controlled to rotate during transportation or after reaching the installation position, driving the mounting frame 4 to rotate around the vertical axis, for example, from the material picking posture (the insert arm 41 is parallel to the main support 2) to the installation posture (the insert arm 41 is perpendicular to the main support 2). During the rotation, the positioning plate 23 contacts and buffers the third elastic buffer 24, and finally abuts against the third positioning member 22 to achieve precise positioning.

[0058] S4, filter 1 installation complete, plug arm 41 exits docking port 13.

[0059] Specifically, after the filter 1 is placed in the installation station in the cabinet, the robot end effector moves down, the locking part 412 exits the locking hole 413, the support block 414 disengages from the chassis 11, and then the insertion arm 41 moves horizontally backward to be pulled out of the docking port 13, completing the entire handling and installation process.

[0060] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0061] The above embodiments merely illustrate several implementation methods of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A robot end effector for a filter, the filter (1) comprising a chassis (11) and a filter body (12) mounted on the chassis (11), characterized in that, The chassis (11) is provided with multiple parallel docking ports (13); the robot end effector includes: Horizontally set main support (2); A floating module (3) is connected above the main support (2), and the floating module (3) is connected to the end of the robot via a quick-change plate (31); A mounting bracket (4) is provided below the main bracket (2), and the mounting bracket (4) is provided with a plug arm (41) corresponding to the docking port (13). An adjustment mechanism is provided for adjusting the distance between adjacent plug arms (41) to adapt to the distance between corresponding adjacent mating ports (13).

2. A robot end effector for a filter according to claim 1, characterized in that, The docking ports (13) and the insert arms (41) are each provided in twos. The two docking ports (13) are symmetrically arranged on both sides of the center of gravity of the chassis (11), and the two insert arms (41) can move along the length of the mounting frame (4).

3. A robot end effector for a filter according to claim 2, characterized in that, The adjustment mechanism includes: A linear drive (51) has a fixed end and a drive end connected to a plug arm (41) respectively, so as to drive the two plug arms (41) to move relative to each other; A first positioning member (52) is provided on the mounting bracket (4) and arranged along the length direction of the mounting bracket (4). There are two first positioning members (52) and they are located between the insert arms (41). The contact ends of the two first positioning members (52) point to one of the insert arms (41) respectively. At least one of the two first positioning members (52) can be adjusted in position along its length direction. The second positioning members (53) are arranged on both sides of the mounting bracket (4) along the length direction of the mounting bracket (4), and the contact ends of the two second positioning members (53) respectively point to one of the insert arms (41). At least one of the two second positioning members (53) can be adjusted in position along its length direction. A first elastic buffer (54) and a second elastic buffer (55) are used in conjunction with the first positioning member (52) and the second positioning member (53), respectively. The contact end of the first elastic buffer (54) extends forward in the direction pointing to the corresponding insertion arm (41) relative to the contact end of the first positioning member (52). The contact end of the second elastic buffer (55) extends forward in the direction pointing to the corresponding insertion arm (41) relative to the contact end of the second positioning member (53).

4. A robot end effector for a filter according to claim 1, characterized in that, The chassis (11) is a hollow structure with an open bottom. The docking port (13) includes a first port (13a) and a second port (13b) respectively opened on two opposite sides of the chassis (11). The plug arm (41) has a slot (411) at the position corresponding to the first port (13a) and the second port (13b).

5. A robot end effector for a filter according to claim 4, characterized in that, The insert arm (41) is provided with a locking element (412), and the chassis (11) is provided with a locking hole (413) adapted to the locking element (412). The locking element (412) enters the locking hole (413) to constrain the relative movement of the chassis (11) and the insert arm (41) in the horizontal plane. The insert arm (41) is provided with a support block (414) to support the chassis (11) when the locking element (412) enters the locking hole (413).

6. A robot end effector for a filter according to claim 1, characterized in that, The main support (2) is provided with a rotary drive (21), the output end of which is vertically downward and connected to the mounting frame (4) to drive the mounting frame (4) to rotate around a vertical axis.

7. A robot end effector for a filter according to claim 6, characterized in that: The main support (2) is provided with two third positioning parts (22), and the position of the third positioning parts (22) can be adjusted along its length direction; the mounting bracket (4) is provided with a positioning plate (23), and when the positioning plate (23) abuts against the contact end of one of the third positioning parts (22), the insert arm (41) is perpendicular to the main support (2); when the positioning plate (23) abuts against the contact end of the other third positioning part (22), the insert arm (41) is parallel to the main support (2) and the vertical projection does not coincide; It also includes a third elastic buffer (24) used in conjunction with the third positioning member (22), the contact end of the third elastic buffer (24) extending forward toward the positioning plate (23) relative to the contact end of the third positioning member (22).

8. A robot end effector for a filter according to claim 1, characterized in that, The floating module (3) has a locked state and an unlocked state; in the locked state, the main support (2) is rigidly connected to the robot end; in the unlocked state, the main support (2) has a horizontal and vertical floating gap relative to the robot end.

9. A control method, characterized in that, For controlling a robot end effector for a filter as described in any one of claims 1-8, the method includes the following steps: S1, the distance between adjacent plug arms (41) is adjusted by the adjustment mechanism to adapt to the distance between corresponding adjacent mating plugs (13); S2, the robot end effector moves to the material picking position and inserts the insertion arm (41) into the corresponding docking port (13). S3, the robot end effector moves the filter (1) to the installation position; S4, filter (1) installation completed, plug arm (41) exits the docking port (13).

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