End effector suitable for processing lenses with different thicknesses

Abstract

The utility model belongs to the technical field of end effectors, and discloses an end effector suitable for processing lenses with different thicknesses, the end effector comprises a main body, two sides of an inner cavity of the main body are respectively provided with a left cavity and a right cavity, the cavity sizes of the left cavity and the right cavity are consistent, and the joint of the opposite ends of the left cavity and the right cavity is provided with a communication port; the inner side of the bottom end of the left cavity is movably sleeved with a sliding column, the sliding column is located below one side of the communicating opening, the outer wall of the sliding column is perpendicularly and fixedly sleeved with two sealing plugs, the outer walls of the middles of the two sealing plugs are attached to the inner wall of the left cavity, and a lower runner is jointly formed in the joint of the bottom end of the left cavity and the bottom end of the body. An upper runner is formed in the joint of the top end of the right cavity and the top end of the main body; by means of the arranged main body, the structure arranged on the main body can be borne, and meanwhile the contact type picking effect on the machined lens is achieved through the arranged suction cup.

Description

Technical Field

[0001] The present application relates to the technical field of end effectors, and more specifically, to an end effector suitable for processing lenses of different thicknesses. Background Art

[0002] Lenses are transparent materials with one or more curved surfaces made of optical materials such as glass or resin. After polishing, they are often assembled with glasses frames to form glasses. They are used to correct the user's vision and obtain a clear field of vision.

[0003] In the prior art, when processing lenses of different thicknesses, a professional robotic arm is required to cooperate with an end effector to perform air pressure adsorption picking and transmission of the lenses. However, the end effector used in the existing lenses has an unstable air pressure value for adsorption of the lenses, which can easily cause the adsorption pressure to be too high and cause damage to the lens and the appearance of the end effector.

[0004] In order to solve the above problems, the present application provides an end effector suitable for processing lenses of different thicknesses. Utility Model Content

[0005] The present application provides an end effector suitable for processing lenses of different thicknesses, which adopts the following technical solution:

[0006] A end effector suitable for processing lenses of different thicknesses comprises a main body, a left cavity and a right cavity are respectively arranged on both sides of the inner cavity of the main body, the cavity sizes of the left cavity and the right cavity are consistent, and a connecting port is arranged at the connection of the opposite ends of the left cavity and the right cavity, the inner side of the bottom end of the left cavity is movably sleeved with a sliding column, the sliding column is located below one side of the connecting port, and the outer wall of the sliding column is vertically fixedly sleeved with two groups of sealing plugs, the outer walls of the middle parts of the two groups of sealing plugs are both fitted with the inner wall of the left cavity, a lower flow channel is jointly provided at the connection between the bottom end of the left cavity and the bottom end of the main body, an upper flow channel is jointly provided at the connection between the top end of the right cavity and the top end of the main body, and a side opening is jointly provided at the connection between one side of the bottom end of the right cavity and the outer wall of one side of the main body, and the side opening is located below the side of the connecting port away from the sliding column.

[0007] Through the above technical solution, the sealing sleeve is used to ensure the sealing contact between the sliding column and the inner wall of the left cavity.

[0008] Furthermore, a bottom column is fixedly installed at the center position of the bottom of the main body, a first inner hole is opened in the central inner cavity of the bottom column, and a suction cup is fixedly installed at the bottom of the bottom column.

[0009] Through the technical solution, the provided suction cup is utilized to achieve the contact effect on lenses of different thicknesses.

[0010] Furthermore, the top end of the first inner hole is connected to the bottom end of the lower flow channel, and the bottom end of the first inner hole is connected to the central inner cavity at the top end of the suction cup.

[0011] Through the above technical solution, the gas communication between the lower flow channel and the suction cup can be achieved by utilizing the first inner hole.

[0012] Furthermore, a top column is fixedly installed at the central position of the top of the main body, and a second inner hole is opened in the central inner cavity of the top column, and the bottom end of the second inner hole is connected to the top end of the upper flow channel.

[0013] Through the above technical solution, the second inner hole is utilized to achieve the communication between the upper flow channel and the external robot arm gas suction terminal channel.

[0014] Furthermore, an auxiliary mechanism is provided on an outer wall of one side of the main body close to the side opening, and the auxiliary mechanism includes an external block, and the external block is fixedly installed on the outer wall of the main body.

[0015] Through the above technical solution, the peripheral block is utilized to carry out the work of the structure above it.

[0016] Furthermore, a receiving groove is provided in the central inner cavity on the side of the peripheral block facing away from the main body, a main channel is provided on the side of the receiving groove facing the main body, the end of the main channel facing away from the receiving groove is connected to the side opening, and two groups of secondary channels are symmetrically provided on both sides of the middle of the main channel, and the ends of the two groups of secondary channels away from the main channel are respectively connected to the inside of both sides of the receiving groove.

[0017] Through the above technical solution, the main flow channel is used to achieve a four-way connection between the side opening, the receiving groove 17 and the two groups of secondary flow channels.

[0018] Furthermore, a movable block is provided inside the side of the accommodating groove away from the main flow channel, and a sealing sleeve is fixedly sleeved on the outer wall of the movable block. The outer wall of the sealing sleeve fits with the inner wall of the accommodating groove, and the outer walls of the sealing sleeve are respectively in contact with one end of the two groups of secondary flow channels, and springs are fixedly installed on both sides of the connection between the side wall of the movable block facing the main flow channel and the inner wall of one side of the accommodating groove.

[0019] Through the above technical solution, the provided spring is utilized to achieve the connection and reset function of the movable block.

[0020] In summary, this application includes the following beneficial technical effects:

[0021] The main body is provided so as to receive the structure provided thereon and, at the same time, utilize the suction cup to perform contact-type picking up of the processed lens. The left cavity, right cavity, connecting port, sliding column, sealing plug, lower flow channel and upper flow channel provided inside the main body make it possible to cooperate with the bottom column, the first inner hole and the top column and the second inner hole to achieve a stabilizing effect on the air pressure inside the cavity where the lens is acted upon when the suction cup performs contact-type air pressure adsorption on the lens, thereby preventing damage to the lens and the appearance of the main body caused by high adsorption air pressure. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of this application;

[0023] Figure 2 It is a side cross-sectional view of the interior of the main body of this application;

[0024] Figure 3 This is a top-down cross-sectional view of the internal structure of the auxiliary mechanism of this application;

[0025] Figure 4 This is a schematic diagram of the three-dimensional structure of the sliding column of the present application.

[0026] Description of the numbers in the figure:

[0027] 1. Main body; 2. Left cavity; 3. Right cavity; 4. Connecting port; 5. Sliding column; 6. Sealing plug; 7. Downstream channel; 8. Upstream channel; 9. Side port; 10. Bottom column; 11. First inner hole; 12. Suction cup; 13. Top column; 14. Second inner hole; 15. Auxiliary mechanism; 16. External block; 17. Receiving groove; 18. Main channel; 19. Secondary channel; 20. Movable block; 21. Sealing sleeve; 22. Spring. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application; obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application without making creative work are within the scope of protection of the present application.

[0029] In the description of the present application, it should be noted that the terms "upper", "lower", "inner", "outer", "top / bottom" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present application. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0030] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "provided with", "set / connected", "connected", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0031] Example:

[0032] The present application embodiment discloses an end effector suitable for processing lenses of different thicknesses. Figure 1 , Figure 2 and Figure 4 , including a main body 1, a left cavity 2 and a right cavity 3 are respectively arranged on both sides of the inner cavity of the main body 1, the cavity sizes of the left cavity 2 and the right cavity 3 are consistent, and a connecting port 4 is arranged at the connection of the opposite ends of the left cavity 2 and the right cavity 3, a sliding column 5 is movably sleeved on the inner side of the bottom end of the left cavity 2, the sliding column 5 is located below one side of the connecting port 4, and the outer wall of the sliding column 5 is vertically fixedly sleeved with two groups of sealing plugs 6, the outer walls of the middle parts of the two groups of sealing plugs 6 are both in contact with the inner wall of the left cavity 2, the provided sealing plug 6 is designed in an annular structure of a rubber material, and the sealing plug The vertical cross-section of the side end of 6 is in the shape of two isosceles trapezoids designed in back-to-back directions. The outer end portion of the sealing plug 6 is exposed to the outside of the sliding column 5, and the inner end portion of the sealing plug 6 is embedded in the inner cavity of the outer wall of the sliding column 5. A lower flow channel 7 is provided at the connection between the bottom end of the left cavity 2 and the bottom end of the main body 1, an upper flow channel 8 is provided at the connection between the top end of the right cavity 3 and the top end of the main body 1, and a side opening 9 is provided at the connection between one side of the bottom end of the right cavity 3 and the outer wall of one side of the main body 1. The side opening 9 is located below the side of the connecting port 4 away from the sliding column 5.

[0033] See also Figure 1 and Figure 2 A bottom column 10 is fixedly installed at the center position of the bottom of the main body 1, and a first inner hole 11 is opened in the central inner cavity of the bottom column 10, and a suction cup 12 is fixedly installed at the bottom of the bottom column 10, the top end of the first inner hole 11 is connected to the bottom end of the lower flow channel 7, and the bottom end of the first inner hole 11 is connected to the central inner cavity of the top end of the suction cup 12, and a top column 13 is fixedly installed at the center position of the top of the main body 1, and a second inner hole 14 is opened in the central inner cavity of the top column 13, and the bottom end of the second inner hole 14 is connected to the top of the upper flow channel 8. The lower flow channel 7 and the upper flow channel 8 are both "Z"-shaped hole structures. The design of the two structures is convenient to ensure that the first inner hole 11 and the second inner hole 14 are respectively located at the center positions of the upper and lower ends of the main body 1.

[0034] See also Figure 1 , Figure 2 and Figure 3 The main body 1 is provided with an auxiliary mechanism 15 on the outer wall of one side near the side opening 9. The auxiliary mechanism 15 includes an external block 16. The external block 16 is fixedly mounted on the outer wall of the main body 1. A receiving groove 17 is provided in the central inner cavity of the side of the external block 16 away from the main body 1. A main flow channel 18 is provided on the side of the receiving groove 17 facing the main body 1. The end of the main flow channel 18 away from the receiving groove 17 is connected to the side opening 9, and two groups of secondary flow channels 19 are symmetrically provided on both sides of the middle of the main flow channel 18. The two groups of secondary flow channels 19 are far away from the main body 1. One end away from the main flow channel 18 is respectively connected with the inside of the two sides of the accommodating groove 17. A movable block 20 is provided inside the side of the accommodating groove 17 away from the main flow channel 18. The outer wall of the movable block 20 is fixedly sleeved with a sealing sleeve 21. The outer wall of the sealing sleeve 21 fits with the inner wall of the accommodating groove 17, and the outer walls of the sealing sleeve 21 are respectively in contact with one end of the two groups of secondary flow channels 19. Springs 22 are fixedly installed on both sides of the connection between the side wall of the movable block 20 facing the main flow channel 18 and the inner wall of one side of the accommodating groove 17.

[0035] The implementation principle of this embodiment is: when in use, the overall end effector is in a fully assembled state, and is fixedly connected to the external transmission robot arm by using the top column 13, and is connected to the channel of the air pressure suction terminal in the external robot arm through the second inner hole 14;

[0036] While the external robotic arm drives the overall end effector to move, the bottom of the suction cup 12 contacts the surface of the lens to be picked up and transmitted, and then the air pressure absorption terminal in the robotic arm absorbs the gas, and the second inner hole 14 and the upper flow channel 8 are connected to form a negative pressure state inside the right chamber 3, and the connecting port 4 is used to act on the inside of the left chamber 2. At this time, due to the pressure difference between the upper and lower sides of the sliding column 5 and the sealing plug 6, the two move vertically upward until the connecting port 4 is blocked. At the same time, due to the sealed upward movement of the sliding column 5 and the sealing plug 6, negative pressure is formed below the two and the lower flow channel 7, the first inner hole 11, and the suction cup 12, thereby realizing a stable picking and adsorption pressure for the lens, and at this time, the pressure difference formed inside the right chamber 3 no longer acts on the inside of the left chamber 2, thereby realizing the adsorption-type picking and transmission of lenses of different thicknesses by the robotic arm and the end effector;

[0037] Due to the blocking effect of the slide column 5 and the sealing plug 6 on the communication port 4 during the lens transmission process, the pressure inside the right chamber 3 continues to increase. At this time, the gas inside the main channel 18, the receiving groove 17 and the two groups of auxiliary flow channels 19 continues to move into the right chamber 3 by utilizing the communication effect between the main channel 18 and the side port 9 on the external block 16. When the pressure inside the receiving groove 17 close to the main channel 18 is relatively high, a pressure difference is formed with the environment outside the movable block 20, so that the movable block 20 and the sealing sleeve 21 move horizontally toward the main channel 18, and the two groups of springs 22 are squeezed and deformed. When the two side walls of the movable block 20 and the sealing sleeve 21 are separated from one end of the two groups of auxiliary flow channels 19, the gas in the environment outside the movable block 20 can be indirectly circulated to the inside of the right chamber 3 by utilizing the two groups of auxiliary flow channels 19, thereby compensating for the pressure difference generated inside the right chamber 3, thereby preventing the internal pressure from being too high and causing the concave and damage to the appearance of the main body 1. Figure 2 , Figure 3 As shown in the figure, the direction indicated by the black arrow is the direction of passive flow of gas;

[0038] When the air pressure suction terminal in the external robot arm stops absorbing gas, it indicates that the transmission work of the lens has been completed. At this time, the movable block 20 and the sealing sleeve 21 are reset under the action of the two sets of springs 22, and the sliding column 5 and the sealing plug 6 are reset under the action of the air pressure difference on the upper and lower sides.

[0039] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. An end effector suitable for processing lenses of different thicknesses, comprising a main body (1), characterized in that: A left cavity (2) and a right cavity (3) are respectively arranged on both sides of the inner cavity of the main body (1); the cavity sizes of the left cavity (2) and the right cavity (3) are consistent, and a connecting port (4) is arranged at the connection between the opposite ends of the left cavity (2) and the right cavity (3); a sliding column (5) is movably sleeved on the inner side of the bottom end of the left cavity (2); the sliding column (5) is located below one side of the connecting port (4), and two groups of sealing plugs (6) are vertically fixedly sleeved on the outer wall of the sliding column (5); the two groups of sealing plugs (6) are The outer wall of the middle part of the plug (6) is in contact with the inner wall of the left cavity (2); a lower flow channel (7) is provided at the connection between the bottom end of the left cavity (2) and the bottom end of the main body (1); an upper flow channel (8) is provided at the connection between the top end of the right cavity (3) and the top end of the main body (1); and a side opening (9) is provided at the connection between one side of the bottom end of the right cavity (3) and the outer wall of one side of the main body (1); the side opening (9) is located below the side of the connecting port (4) facing away from the sliding column (5).

2. The end effector suitable for processing lenses of different thicknesses according to claim 1, characterized in that: A bottom column (10) is fixedly mounted at the center of the bottom of the main body (1), a first inner hole (11) is provided in the center inner cavity of the bottom column (10), and a suction cup (12) is fixedly mounted at the bottom of the bottom column (10).

3. The end effector suitable for processing lenses of different thicknesses according to claim 2, characterized in that: The top end of the first inner hole (11) is connected to the bottom end of the lower flow channel (7), and the bottom end of the first inner hole (11) is connected to the central inner cavity at the top end of the suction cup (12).

4. The end effector suitable for processing lenses of different thicknesses according to claim 1, characterized in that: A top column (13) is fixedly installed at the center position of the top of the main body (1), and a second inner hole (14) is opened in the central inner cavity of the top column (13), and the bottom end of the second inner hole (14) is connected to the top end of the upper flow channel (8).

5. The end effector suitable for processing lenses of different thicknesses according to claim 1, characterized in that: An auxiliary mechanism (15) is provided on the outer wall of one side of the main body (1) close to the side opening (9); the auxiliary mechanism (15) comprises an external block (16); and the external block (16) is fixedly mounted on the outer wall of the main body (1).

6. The end effector suitable for processing lenses of different thicknesses according to claim 5, characterized in that: A receiving groove (17) is provided in the central inner cavity on the side of the peripheral block (16) facing away from the main body (1), and a main flow channel (18) is provided on the side of the receiving groove (17) facing the main body (1). The end of the main flow channel (18) facing away from the receiving groove (17) is connected to the side opening (9), and two groups of secondary flow channels (19) are symmetrically provided on both sides of the middle of the main flow channel (18), and the ends of the two groups of secondary flow channels (19) away from the main flow channel (18) are respectively connected to the inside of the two sides of the receiving groove (17).

7. The end effector suitable for processing lenses of different thicknesses according to claim 6, characterized in that: A movable block (20) is provided inside the side of the containing groove (17) away from the main flow channel (18); a sealing sleeve (21) is fixedly sleeved on the outer wall of the movable block (20); the outer wall of the sealing sleeve (21) fits the inner wall of the containing groove (17), and the outer wall of the sealing sleeve (21) contacts one end of the two groups of secondary flow channels (19) respectively; springs (22) are fixedly installed on both sides of the connection between the side wall of the movable block (20) facing the main flow channel (18) and the inner wall of one side of the containing groove (17).

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