A high-wear-resistant multifunctional end effector

Abstract

The application belongs to the field of automatic grabbing equipment, and particularly relates to a high-wear-resistance multifunctional end effector. In view of the problems that existing unilateral mechanical clamping of fixed materials is prone to slippage and misplacement during material transfer start-stop and movement, long-term friction between the materials and the clamping structure aggravates component wear and reduces the service life of the equipment, the following scheme is proposed, which comprises a connecting seat, two penetrating guide rods are fixedly installed between the two sides of the connecting seat, two symmetrically arranged sliding frames are slidingly installed between the two guide rods, and clamping portions are arranged at the bottom of the sliding frames for clamping materials. The clamping portion comprises a fixing frame fixed at the bottom of the sliding frame, a clamping plate fixedly installed on one side of the fixing frame, two penetrating slideways arranged on one side of the clamping plate, and sliding blocks slidingly installed in the slideways. The device can realize double fixation of materials, reduce structural wear, adapt to various working condition material grabbing operations, and improve the material transfer stability and the equipment application range.

Description

Technical Field

[0001] This invention relates to the field of automated gripping equipment technology, and in particular to a highly wear-resistant, multifunctional end effector. Background Technology

[0002] In automated production lines, end effectors, as the final execution components of industrial robots, are widely used for tasks such as material gripping, handling, and stacking. Common end effectors often employ pneumatic grippers, suction cups, or clamps to hold materials in place.

[0003] Existing end effectors rely solely on single-sided mechanical clamping to hold materials in practical use. This leads to slippage and misalignment during material transfer, start-up, and movement. Long-term friction between the material and the clamping structure exacerbates component wear and reduces equipment lifespan. Furthermore, for loose materials, conventional clamping structures cannot effectively support and limit the bottom of the material, causing it to easily open, slip, and scatter during transfer. This results in poor material transfer stability, material loss, and disruption of production continuity. To address these issues, this invention proposes a highly wear-resistant, multi-functional end effector. Summary of the Invention

[0004] This invention provides a highly wear-resistant, multi-functional end effector that solves the problems of existing technologies that rely on single-sided mechanical clamping to fix materials, which can easily lead to slippage and misalignment during material transfer, start-up, and movement. Furthermore, long-term friction between the material and the clamping structure can exacerbate component wear and reduce the service life of the equipment.

[0005] This invention provides the following technical solution: A highly wear-resistant multi-functional end effector includes a connecting base, two through guide rods fixedly installed between the two sides of the connecting base, and two symmetrically arranged sliding frames slidably installed between the two guide rods. Each sliding frame has a clamping part at its bottom for clamping materials. The clamping part includes a fixed frame, which is fixed to the bottom of the sliding frame. A clamping plate is fixedly installed on one side of the fixed frame. Two through slides are provided on one side of the clamping plate. A slider is slidably installed in each slide. Multiple first suction cups are fixedly installed on one side of each slider for adsorbing materials. An adjustment component is provided between the sliders for adjusting the height of the sliders. The bottom of each fixing frame is equipped with an auxiliary clamping part to help fix the material.

[0006] Furthermore, the adjustment assembly includes a connecting frame and a screw. The connecting frame is U-shaped and fixed between two sliders. The screw is rotatably mounted on the bottom of the clamping plate, and the screw thread passes through the connecting frame.

[0007] Furthermore, a locking nut is installed on the circumferential thread of the screw.

[0008] Furthermore, a gasket is fixedly installed on one side of each clamping plate.

[0009] Furthermore, the auxiliary clamping part includes an L-frame. Two slide rods are fixedly installed on the bottom surface of the L-frame. The top of each slide rod slides through a fixed frame above it and is fixedly installed with a limiting end. A spring is sleeved on the outer periphery of each slide rod. The two ends of the spring abut against the fixed frame and the L-frame respectively through spring seats. A rotating shaft is rotatably installed at the bottom of the L-frame. A base frame is fixedly installed at the bottom of the rotating shaft. Multiple brackets are fixedly installed on one side of the base frame. A drive rod is fixedly installed on one side of the rotating shaft. A second cylinder is rotatably installed between the end of the drive rod and the side of the L-frame.

[0010] Furthermore, each bracket has a mounting plate fixedly installed at its bottom, and a second suction cup is fixedly installed on one side of each mounting plate.

[0011] Furthermore, each adjacent bracket is rotatably mounted with a fixed shaft, and each fixed shaft is fixedly mounted with a support plate on its outer periphery. A counterweight is fixedly mounted on one end of each support plate.

[0012] Furthermore, a horizontal plate is fixedly installed between multiple mounting plates, and a tension spring is fixedly installed between the support plate and the horizontal plate.

[0013] Furthermore, an end seat is fixedly installed between the two ends of the guide rod, and a first cylinder is fixedly installed on one side of each end seat. One end of the piston rod of the first cylinder is fixed to a sliding frame on one side of the first cylinder.

[0014] It should be understood that the above general description and the following detailed description are merely exemplary and do not limit the invention.

[0015] In this invention, by combining the clamping plate, the gasket and the first suction cup, the device can form a dual fixing structure of mechanical extrusion and negative pressure adsorption during material clamping operations. This can limit the positional displacement during material transfer and start-up / stop processes, reduce structural wear caused by material misalignment friction, improve the overall wear resistance of the end effector, and ensure the stability of conventional material clamping and transfer. In this invention, the height of the slider and the first suction cup can be adjusted and stably locked by the cooperation of the screw, the connecting frame and the locking nut. The adsorption position can be flexibly adjusted according to the specifications and size of different materials, adapting to the clamping requirements of materials of various heights and sizes, and effectively improving the versatility and adaptability of the end effector. In this invention, the combination of the second cylinder, bracket, support plate and second suction cup can form an adaptive support and negative pressure adsorption structure for the bottom of the material, which can fix high-profile and easily loose materials in all directions, prevent the bottom of the material from opening and slipping, and improve the overall stability of material transfer under special working conditions. Attached Figure Description

[0016] Figure 1 A three-dimensional structural schematic diagram of a highly wear-resistant multifunctional end effector provided in an embodiment of the present invention; Figure 2 A cross-sectional view of a highly wear-resistant, multifunctional end effector provided in an embodiment of the present invention; Figure 3 This is a schematic cross-sectional view of the clamping plate structure of a high wear-resistant multifunctional end effector provided in an embodiment of the present invention; Figure 4 This is a cross-sectional view of the clamping plate of a high wear-resistant multifunctional end effector provided in an embodiment of the present invention. Figure 5 This is a partial cross-sectional view of a highly wear-resistant, multifunctional end effector provided in an embodiment of the present invention. Figure 6 A highly wear-resistant, multi-functional end effector provided in this embodiment of the invention. Figure 5 Enlarged structural diagram of section A in the middle.

[0017] Figure label: 1. Connecting seat; 2. Guide rod; 3. End seat; 4. Clamping part; 5. Sliding frame; 6. First cylinder; 7. Fixed frame; 8. Clamping plate; 9. Gasket; 10. L-frame; 11. Slide rail; 12. Slider; 13. First suction cup; 14. Connecting frame; 15. Screw; 16. Locking nut; 17. Slide rod; 18. Spring; 19. Rotating shaft; 20. Base frame; 21. Bracket; 22. Drive rod; 23. Second cylinder; 24. Mounting plate; 25. Second suction cup; 26. Fixed shaft; 27. Support plate; 28. Counterweight; 29. ​​Cross plate; 30. Tension spring. Detailed Implementation

[0018] The embodiments of the present invention will now be described with reference to the accompanying drawings.

[0019] In the description of the embodiments of the present invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connection" and "installation" should be interpreted broadly. For example, "connection" can be a detachable connection or a non-detachable connection; it can be a direct connection or an indirect connection through an intermediate medium. Furthermore, "connection" can be a direct connection or an indirect connection through an intermediate medium. "Fixed" means that the devices are connected to each other and their relative positional relationship remains unchanged after the connection. The directional terms mentioned in the embodiments of the present invention, such as "inner," "outer," "top," and "bottom," are only for reference to the directions in the accompanying drawings. Therefore, the directional terms used are for better and clearer explanation and understanding of the embodiments of the present invention, and are not intended to 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 the embodiments of the present invention.

[0020] References to "one embodiment" or "some embodiments" as used in this specification mean that a particular feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of the invention. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless otherwise specifically emphasized. Example 1

[0021] Reference Figures 1-6 A highly wear-resistant, multi-functional end effector includes a connecting base 1 for docking with the end of an automated robotic arm to achieve follow-up operation of the entire end effector. Two transversely arranged guide rods 2 are fixedly installed between the left and right sides of the connecting base 1. End seats 3 are fixedly mounted between the left and right ends of the two guide rods 2, providing fixed limits to the ends of the guide rods 2. Simultaneously, first cylinders 6 are fixedly installed on the outer end faces of the end seats 3, with the two first cylinders 6 arranged symmetrically. Two symmetrically arranged sliding frames 5 are slidably mounted on the rods of the two guide rods 2. The top of each sliding frame 5 has a through-hole matching the guide rod 2, allowing the sliding frame 5 to slide smoothly with the guide rod 2 through the hole. The piston rod ends of the two first cylinders 6 are fixedly connected to the sliding frame 5 on the same side. When the first cylinder 6 extends or retracts, it directly drives the corresponding sliding frame 5 to slide horizontally along the rod of the guide rod 2. The two sliding frames 5 move synchronously relative to each other or in opposite directions, thereby achieving the clamping and releasing of materials.

[0022] Each sliding frame 5 is fixedly equipped with a clamping part 4 at its bottom for clamping and fixing materials. The clamping part 4 includes a fixing frame 7, which is fixed to the bottom end face of the sliding frame 5 by bolts and moves synchronously with the sliding frame 5. A vertically arranged clamping plate 8 is fixedly installed on the outer side wall of the fixing frame 7. The clamping plate 8 is a rectangular plate structure. A gasket 9 is fixedly installed on the outer contact surface of the clamping plate 8. The gasket 9 is the same shape as the clamping plate 8 and is made of wear-resistant rubber material, which can increase the friction between the clamping plate 8 and the material contact surface, while buffering the clamping pressure, reducing the hard friction wear between the clamping plate 8 and the material, and improving the overall wear resistance. Two through slides 11 are opened on the plate body of the clamping plate 8. A slider 12 that can slide along the slide 11 is embedded in the interior of the two slides 11. Multiple first suction cups 13 are fixedly installed on one side of the slider 12. The first suction cups 13 are connected to a negative pressure air supply device through a negative pressure pipeline, which can generate negative pressure adsorption force simultaneously during the clamping of materials. When the equipment clamps and transfers materials, the two first cylinders 6 start simultaneously, and the piston rods extend to push the two sliding frames 5 on the left and right to slide relative to each other along the guide rod 2, causing the clamping plates 8 on both sides to move closer to each other. The gaskets 9 press against and squeeze the outer walls of the material on both sides to complete the mechanical clamping of the material. At the same time, the first suction cup 13 simultaneously activates the negative pressure adsorption function, tightly adsorbing onto the surface of the material side wall, forming a secondary fixation of the material, preventing the material from shifting or sliding during transfer and start-up / stop, reducing the wear problem of the gaskets 9 caused by material misalignment and friction, and ensuring the stability of the clamping operation.

[0023] An adjustment assembly is installed between the two sliders 12, which can adjust the installation height of the sliders 12 and the first suction cup 13 according to the suitable adsorption position of the material, adapting to the adsorption and clamping requirements of materials of different specifications. The adjustment assembly includes a connecting frame 14 and a screw 15. The connecting frame 14 adopts a U-shaped one-piece molding structure. The left and right ends of the connecting frame 14 are fixedly connected to the two sliders 12 respectively. The screw 15 is vertically rotated and installed at the bottom of the clamping plate 8. The rod of the screw 15 extends vertically upward through the bottom plate of the connecting frame 14 and is threadedly engaged with the connecting frame 14. A locking nut 16 is threaded on the circumference of the screw 15 and is fitted against the surface of the connecting frame 14. During actual adjustment, rotating the screw 15 causes it to rotate relative to the clamping plate 8. This rotation, via threaded transmission, drives the connecting frame 14 to rise and fall vertically along the screw 15, which in turn drives the two sliders 12 to slide up and down synchronously along the slide rail 11. This completes the height adjustment of the first suction cup 13. After adjusting to the appropriate position, tightening the locking nut 16 presses the locking nut 16 against the connecting frame 14. The threaded locking force is used to fix the relative position of the connecting frame 14 and the screw 15, locking the height of the slider 12 and preventing the slider 12 from shifting during operation. Example 2

[0024] Reference Figures 1-6Based on Embodiment 1, an improved high-wear-resistant multi-functional end effector is proposed. Each fixed frame 7 is equipped with an auxiliary clamping part at its bottom. This auxiliary clamping part, in conjunction with the clamping part 4, completes omnidirectional material fixation, improving the clamping stability of large-sized, high-profile materials and preventing loosening and slippage during material transfer. The auxiliary clamping part includes an L-frame 10, which is fixed below the fixed frame 7. Two vertically symmetrically distributed slide rods 17 are fixedly installed on the bottom horizontal plate of the L-frame 10. The top ends of both slide rods 17 slide vertically upwards through the upper plate of the fixed frame 7. A limiting end is fixedly installed at the top end of each slide rod 17. The outer diameter of the limiting end is larger than the sliding hole diameter of the fixed frame 7, which limits the maximum downward stroke of the slide rod 17 and prevents it from detaching from the fixed frame 7. Each slide rod 17 is fitted with a spring 18 on its outer periphery. Both the upper and lower ends of the spring 18 are equipped with spring seats. The upper end of the spring 18 abuts against the lower surface of the fixed frame 7 through the spring seat, and the lower end of the spring 18 abuts against the upper surface of the L frame 10 through the spring seat. When the L frame 10 is subjected to an upward compressive force, it can drive the slide rod 17 to slide upward along the fixed frame 7, while compressing the spring 18. After the external force is removed, the elastic restoring force of the spring 18 can push the L frame 10 to automatically fall back to its original position.

[0025] A horizontally arranged rotating shaft 19 is rotatably mounted on the inner side of the bottom horizontal section of the L-frame 10. A horizontally arranged base frame 20 is fixedly connected to the bottom of the rotating shaft 19. The base frame 20 can rotate synchronously with the rotating shaft 19. Multiple parallel brackets 21 are fixedly installed on one side of the base frame 20. The brackets 21 are long support structures that can be used to support the bottom of materials. An outwardly extending drive rod 22 is fixedly installed at the outer end of the rotating shaft 19. A second cylinder 23 is rotatably mounted between the end of the drive rod 22 and the outer wall of the L-frame 10. The tail of the second cylinder 23 is hinged to the L-frame 10, and the piston rod end of the second cylinder 23 is hinged to the drive rod 22. When clamping materials, after the material is lifted, the second cylinder 23 can be activated. The piston rod of the second cylinder 23 extends and retracts, pushing the drive rod 22 to swing. The drive rod 22 drives the rotating shaft 19 to rotate relative to the L frame 10. During the rotation of the rotating shaft 19, the base frame 20 and the overall bracket 21 are rotated synchronously, causing the bracket 21 to rotate and move closer to the bottom of the material, so that the bracket 21 fits against the lower side of the material. With the lateral clamping of the clamping plate 8, the anti-slip performance and overall stability of the material are improved.

[0026] Each bracket 21 has a vertically downward mounting plate 24 fixedly mounted on its bottom end face. A second suction cup 25 is fixedly mounted on the side wall of each mounting plate 24. The second suction cup 25 is also connected to an external negative pressure device, which can simultaneously generate negative pressure adsorption force. When clamping materials, the second suction cup 25 can be used to adhere to the bottom surface of the material and activate negative pressure adsorption, adsorbing and fixing the material from the side. This forms a multi-directional fixing structure with the lateral first suction cup 13 and clamping plate 8, further preventing material slippage and displacement, suitable for taller materials. During the material handling process, when the mounting plate 24 contacts the material placement table, the reverse pressure of the table pushes the L-frame 10 upwards. The L-frame 10 drives the slide rod 17 to slide upwards along the fixed frame 7 and compress the spring 18. After the material leaves the table, the second cylinder 23 can be activated to push the bracket 21 to rotate. The bracket 21 drives multiple support plates 27 to approach the bottom of the material, and the support plates 27 rotate and adhere to the bottom of the material after contact, providing support for the bottom of the material.

[0027] Each pair of adjacent brackets 21 is rotatably fitted with a horizontally arranged fixed shaft 26. A support plate 27 is fixed to the outer periphery of the fixed shaft 26, and a counterweight 28 is fixedly installed at one end of the support plate 27. The counterweight 28 can maintain the initial downward posture of the support plate 27 by its own weight. A horizontal plate 29 is fixedly fitted between the inner sides of multiple mounting plates 24. A tension spring 30 is fixedly connected between the horizontal plate 29 and the inner wall of each support plate 27. The tension spring 30 is in a normally stretched state and can provide a continuous pulling and limiting effect on the support plate 27. After the material leaves the table, the second cylinder 23 continuously pushes the bracket 21 toward the bottom of the material. The top of the support plate 27 first contacts the bottom surface of the material. Then, the support plate 27 adaptively rotates around the fixed shaft 26 to fit the bottom of the material. Multiple sets of support plates 27 together form support for the bottom of the material, which can prevent the bottom of the loose material from opening and deforming, maintain the overall stability of the material, and prevent the bottom of the material from slipping and scattering during the transfer process. However, as is well known to those skilled in the art, the working principles and wiring methods of the first cylinder 6, the second cylinder 23, the first suction cup 13, and the second suction cup 25 are commonplace and are all conventional methods or common knowledge. They will not be described in detail here. Those skilled in the art can make any selections according to their needs or convenience.

[0028] The working principle and usage process of this technical solution are as follows: The actuator is connected to the robotic arm through the connecting seat 1. When clamping the material, the two first cylinders 6 are started, which pushes the two clamping plates 8 to move closer to each other to clamp and transfer the material. When the clamping plates 8 clamp the material, the first suction cup 13 is started to adsorb the material, forming a secondary fixation of the material, effectively preventing the material from shifting during the transfer process and causing wear on the pad 9. When clamping materials, the second cylinder 23 can be activated. The second cylinder 23 drives the drive rod 22 to rotate the rotating shaft 19. The rotating shaft 19 drives the base frame 20, bracket 21 and second suction cup 25 to rotate. The second suction cup 25 approaches the material and adsorbs the material, thus maintaining a good anti-slip effect and keeping the material stable even when facing tall materials. When the mounting plate 24 contacts the platform on which the material is placed, the L-frame 10 as a whole can also move upward under the guidance of the slide rod 17. After the material leaves the platform, the second cylinder 23 can be activated to push the bracket 21 to rotate. The bracket 21 drives multiple support plates 27 to approach the bottom of the material. After the support plates 27 contact the bottom of the material, they rotate and fit against the bottom of the material, forming a support for the bottom of the material, preventing the bottom of the material from spreading out, maintaining the stability of the material transfer, and preventing slippage.

[0029] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. In the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A highly wear-resistant, multi-functional end effector, characterized in that, include: Connecting seat (1), two through guide rods (2) are fixedly installed between the two sides of the connecting seat (1), and two symmetrically arranged sliding frames (5) are slidably installed between the two guide rods (2). The bottom of each sliding frame (5) is provided with a clamping part (4) for clamping materials. The clamping part (4) includes a fixing frame (7), which is fixed to the bottom of the sliding frame (5). A clamping plate (8) is fixedly installed on one side of the fixing frame (7). Two through slides (11) are provided on one side of the clamping plate (8). A slider (12) is slidably installed in each slide (11). Multiple first suction cups (13) are fixedly installed on one side of each slider (12) for adsorbing materials. An adjustment component is provided between the sliders (12) for adjusting the height of the sliders (12). The bottom of each fixing frame (7) is provided with an auxiliary clamping part to help fix the material.

2. The highly wear-resistant multifunctional end effector according to claim 1, characterized in that, The adjustment assembly includes a connecting frame (14) and a screw (15). The connecting frame (14) is U-shaped and fixed between two sliders (12). The screw (15) is rotatably mounted on the bottom of the clamp (8). The screw (15) is threaded through the connecting frame (14).

3. The highly wear-resistant multifunctional end effector according to claim 2, characterized in that, The screw (15) is threaded with a locking nut (16).

4. The highly wear-resistant multifunctional end effector according to claim 1, characterized in that, Gaskets (9) are fixedly installed on one side of each clamp (8).

5. A highly wear-resistant, multi-functional end effector according to claim 1, characterized in that, The auxiliary clamping part includes an L-frame (10). Two slide rods (17) are fixedly installed on the bottom surface of the L-frame (10). The top of each slide rod (17) slides through the fixed frame (7) above it and is fixedly installed with a limit end. Springs (18) are sleeved on the outer periphery of each slide rod (17). The two ends of the springs (18) abut against the fixed frame (7) and the L-frame (10) respectively through spring seats. A rotating shaft (19) is rotatably installed at the bottom of the L-frame (10). A base frame (20) is fixedly installed at the bottom of the rotating shaft (19). Multiple brackets (21) are fixedly installed on one side of the base frame (20). A drive rod (22) is fixedly installed on one side of the rotating shaft (19). A second cylinder (23) is rotatably installed between the end of the drive rod (22) and the side of the L-frame (10).

6. A highly wear-resistant, multi-functional end effector according to claim 5, characterized in that, Each bracket (21) has a mounting plate (24) fixedly installed at its bottom, and a second suction cup (25) is fixedly installed on one side of each mounting plate (24).

7. A highly wear-resistant, multi-functional end effector according to claim 6, characterized in that, Each of the adjacent brackets (21) is rotatably mounted with a fixed shaft (26), and a support plate (27) is fixedly mounted on the outer periphery of the fixed shaft (26). A counterweight (28) is fixedly mounted on one end of the support plate (27).

8. A highly wear-resistant, multi-functional end effector according to claim 7, characterized in that, A horizontal plate (29) is fixedly installed between multiple mounting plates (24), and a tension spring (30) is fixedly installed between the support plate (27) and the horizontal plate (29).

9. A highly wear-resistant, multi-functional end effector according to claim 1, characterized in that, The guide rod (2) is fixedly installed with end seats (3) at both ends. A first cylinder (6) is fixedly installed on one side of the end seat (3). One end of the piston rod of the first cylinder (6) is fixed to the sliding frame (5) on one side of the first cylinder (6).

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