End effector mechanism suitable for robot grabbing

Abstract

The utility model relates to an end effector mechanism suitable for robot grabbing, which belongs to the technical field of robot end effectors and comprises an end effector A1 and an end effector A2. The end effector A1 comprises finger air cylinder clamping jaws at the two ends, a telescopic air cylinder in the middle and a vacuum support connected with the telescopic air cylinder, the end effector A2 comprises a suction cup device at the right end, a telescopic air cylinder on the upper portion and a finger air cylinder clamping jaw at the front end, and the suction cup device is used for sucking a main board and replacing traditional manual grabbing, paper tearing and buckling operation. Personal errors are reduced, and production efficiency is improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot end effectors, and specifically relates to an end effector mechanism suitable for robot grasping. Background Art

[0002] In the production process of electronic devices such as mobile phones, the assembly of RF cables (radio frequency antennas) is an important link. The traditional RF cable assembly method usually adopts manual operation, which has problems such as low efficiency, poor accuracy, and high labor intensity. With the development of robot technology, more and more enterprises begin to use robots to complete the assembly work of RF cables. However, due to the relatively fine structure of RF cables and the need to complete multiple actions such as grasping, peeling off the release paper, and crimping during the assembly process, the existing robot end effectors are difficult to meet the requirements of these complex actions, resulting in low assembly efficiency and quality. Therefore, it is urgent to design an end effector mechanism suitable for robot grasping of RF cables to improve the assembly efficiency and quality of RF cables. Content of the Utility Model

[0003] The purpose of the utility model is to solve the problem that the existing robot end effectors are difficult to meet the assembly of RF cables.

[0004] To achieve the above purpose, the technical solution provided by the utility model is as follows:

[0005] An end effector mechanism suitable for robot grasping of the utility model includes end effector A1 and end effector A2;

[0006] End effector A1 includes first finger cylinder grippers at both ends, a telescopic cylinder in the middle, and a vacuum support connected to the telescopic cylinder. The first finger cylinder grippers are used to grip the radio frequency antenna, and the telescopic cylinder is used to control the vacuum support to adsorb the surface of the release paper;

[0007] End effector A2 includes a suction cup device at the right end, a telescopic cylinder at the upper part, and a second finger cylinder gripper at the front end. The suction cup device is used to adsorb the main board, the telescopic cylinder is used to complete the crimping action of the male and female heads of the radio frequency antenna, and the second finger cylinder gripper is used to complete the action of tearing off the release paper.

[0008] Preferably, end effector A1 further includes an end effector base, a telescopic cylinder fixing bracket, and a finger cylinder fixing bracket. The telescopic cylinder fixing bracket and the finger cylinder fixing bracket are installed on the end effector base, the telescopic cylinder is installed on the telescopic cylinder fixing bracket, and the first finger cylinder grippers are installed on the finger cylinder fixing bracket.

[0009] Preferably, the end effector A1 further includes a vacuum support connecting plate, and the vacuum support is connected to the telescopic cylinder through the vacuum support connecting plate.

[0010] Preferably, the end effector A1 further includes a sponge, and the sponge is arranged on the vacuum support.

[0011] Preferably, the end effector A2 further includes an elastomer and a plunger. The elastomer is arranged at the end of the telescopic cylinder, and the plunger is connected to the elastomer.

[0012] Preferably, the end effector A2 further includes a suction cup base, and the suction cup device is installed on the suction cup base.

[0013] Adopting the technical solution provided by the present invention, compared with the prior art, it has the following beneficial effects:

[0014] The end effector mechanism suitable for robot grasping of the present invention replaces traditional manual grasping, paper tearing and buckling operations, reduces human errors and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the end effector mechanism suitable for robot grasping of the present invention;

[0016] Figure 2 It is a schematic diagram of the structure of the end effector A1 of the end effector mechanism suitable for robot grasping of the present invention;

[0017] Figure 3 It is a schematic diagram of the structure of the end effector A2 of the end effector mechanism suitable for robot grasping of the present invention.

[0018] Explanation of the reference numerals in the schematic diagram:

[0019] 100. End effector A1; 110. First finger cylinder gripper; 120. Telescopic cylinder; 130. Vacuum support; 140. End effector base; 150. Telescopic cylinder fixing bracket; 160. Finger cylinder fixing bracket; 170. Vacuum support connecting plate; 180. Sponge;

[0020] 200. End effector A2; 210. Suction cup device; 220. Elastomer; 230. Plunger; 240. Suction cup base; 250. Second finger cylinder gripper. DETAILED DESCRIPTION OF THE INVENTION

[0021] To enable those skilled in the art to better understand the solution of this application, the following will clearly and completely describe the technical solution in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of this application.

[0022] It should be noted that, without conflict, the embodiments in this application and the features in the embodiments can be combined with each other. The following will detail this application with reference to the drawings and in combination with the embodiments.

[0023] Referring to the attached Figure 1 - attached Figure 3 , an end effector mechanism applicable to robot grasping in this embodiment includes an end effector A1 100 and an end effector A2 200;

[0024] The end effector A1 100 includes first finger cylinder grippers 110 at both ends, a telescopic cylinder 120 in the middle, and a vacuum support 130 connected to the telescopic cylinder 120. The first finger cylinder grippers 110 are used to grip the RF antenna, and the telescopic cylinder 120 is used to control the vacuum support 130 to adsorb the surface of the release paper.

[0025] The end effector A2 200 includes a suction cup device 210 at the right end, a telescopic cylinder 120 at the upper part, and a second finger cylinder gripper 250 at the front end. The suction cup device 210 is used to adsorb the main board, the telescopic cylinder 120 is used to complete the buckling action of the male and female heads of the RF antenna, and the second finger cylinder gripper 250 is used to complete the action of tearing off the release paper.

[0026] The end effector A1 100 of this embodiment further includes an end effector base 140, a telescopic cylinder fixing bracket 150, and a finger cylinder fixing bracket 160. The telescopic cylinder fixing bracket 150 and the finger cylinder fixing bracket 160 are installed on the end effector base 140. The telescopic cylinder 120 is installed on the telescopic cylinder fixing bracket 150, and the first finger cylinder grippers 110 are installed on the finger cylinder fixing bracket 160.

[0027] The end effector A1 100 of this embodiment further includes a vacuum support connecting plate 170. The vacuum support 130 is connected to the telescopic cylinder 120 through the vacuum support connecting plate 170.

[0028] The end effector A1 100 of this embodiment further includes a sponge 180, and the sponge 180 is arranged on the vacuum support 130.

[0029] The end effector A2200 of this embodiment further includes an elastomer 220 and a plunger 230. The elastomer 220 is arranged at the end of the telescopic cylinder 120, and the plunger 230 is connected to the elastomer 220.

[0030] The end effector A2200 of this embodiment further includes a suction cup base 240, and the suction cup device 210 is installed on the suction cup base 240.

[0031] This end effector mechanism is applied to the assembly of mobile phone RF cables (radio frequency antennas). Through the coordinated operation of the end effector A1100 and the end effector A2200, actions such as automatic grasping, peeling off the release paper, and crimping are realized. The working process and principle are as follows:

[0032] Disassembly of the working process

[0033] 1. The first step: Grasp the RF cable and position it on the motherboard;

[0034] Actions of the end effector A1100:

[0035] The manipulator A1 controls the end effector A1100 to move above the tray (the tray for holding RF cables). The first finger cylinder jaws 110 at both ends open and then close to precisely grasp the radio frequency antenna. At this time, the telescopic cylinder 120 in the middle is in a contracted state, and the vacuum support 130 does not contact the release paper.

[0036] Actions of the end effector A2200:

[0037] The manipulator A2 controls the end effector A2200 to move above the motherboard. The suction cup device 210 at the right end adsorbs the motherboard (by the principle of vacuum adsorption), and then places the motherboard at the specified position on the working platform.

[0038] 2. The second step: Peel off the release paper;

[0039] Actions of the end effector A2200:

[0040] The second finger cylinder jaw 250 at the front end of the end effector A2200 moves to the edge of the release paper of the RF cable, the jaw closes to clamp the release paper, and the release paper is peeled off from the radio frequency antenna by mechanical tension. At this time, the end effector A1100 maintains the state of grasping the radio frequency antenna, and the release paper surface was originally adsorbed by the vacuum support 130 (in the first step, the telescopic cylinder 120 may have extended to make the vacuum support 130 contact the release paper to provide support for paper peeling).

[0041] 3. The third step: Position the radio frequency antenna;

[0042] Actions of the end effector A1100:

[0043] The manipulator A1 controls the movement of the end effector A1 100, and accurately places the clamped RF antenna directly above the motherboard installation position to prepare for subsequent crimping.

[0044] 4. Step 4: Crimping of the male and female connectors;

[0045] Actions of the end effector A2 200:

[0046] The telescopic cylinder 120 at the upper part of the end effector A2 200 is activated, and the plunger 230 extends downward under the push of the telescopic cylinder 120. Since the end of the plunger 230 is connected to an elastomer 220 (such as a spring), the elastomer 220 provides a buffering force to smoothly press the male terminal of the RF antenna into the female terminal of the motherboard, completing the electrical connection. After the crimping is completed, the telescopic cylinder 120 retracts and the plunger 230 returns to its original position.

[0047] The key structure and principle of the end effector A1 100 in this embodiment are described as follows:

[0048] The first finger cylinder jaw 110:

[0049] Drives the jaws to open and close through the change of air pressure in the cylinder, and uses mechanical clamping force to fix the RF antenna. It is suitable for grasping fine parts with high precision and stable clamping.

[0050] The telescopic cylinder 120 and the vacuum support 130:

[0051] The telescopic cylinder 120 drives the piston rod to extend and retract through air pressure, driving the vacuum support 130 to move up and down. The vacuum support 130 is internally connected to a vacuum pipeline. When it contacts the surface of the release paper, the vacuum system is activated to form a negative pressure, adsorbing the release paper to prevent the RF antenna from shifting during paper tearing (providing a reaction force support for the paper tearing action).

[0052] The sponge 180 (set on the vacuum support 130):

[0053] It plays a buffering and sealing role, avoiding the direct hard contact between the vacuum support 130 and the release paper, and at the same time enhancing the sealing of the vacuum adsorption to ensure stable adsorption force.

[0054] The key structure and principle of the end effector A2 200 in this embodiment are described as follows:

[0055] The suction cup device 210 and the suction cup base 240:

[0056] The suction cup device 210 adsorbs the motherboard through vacuum negative pressure, and the suction cup base 240 fixes the position of the suction cup to ensure the stability of the motherboard during handling. It is suitable for grasping objects with a flat surface.

[0057] Second Finger Cylinder Jaw 250 (for peeling off release paper):

[0058] It has the same jaw principle as the end effector A1 100 and achieves precise grasping through cylinder drive. Considering the thin characteristics of the release paper, the jaw design may pay more attention to friction and clamping accuracy.

[0059] Telescopic Cylinder 120, Elastic Body 220 and Plunger 230:

[0060] When the telescopic cylinder 120 drives the plunger 230 to move downward, the elastic body 220 (such as a spring) compresses to generate a buffering force, preventing the plunger 230 from directly hitting the male and female connectors hard and causing part damage. The buffering effect of the elastic body 220 ensures uniform buckling force. At the same time, the precise displacement of the plunger 230 is controlled by the stroke of the cylinder to ensure that the male and female connectors are buckled in place (such as the insertion depth meets the design requirements).

[0061] The overall collaborative working logic of this embodiment is described as follows:

[0062] Division of labor and cooperation among multiple actuators:

[0063] The end effector A1 100 focuses on grasping the RF cable and adsorbing the release paper, and the end effector A2 200 is responsible for motherboard handling, paper peeling and buckling. The two achieve action timing coordination through the motion control of the manipulator (such as PLC or robot control system) to form an assembly line operation.

[0064] Integration of pneumatic and vacuum systems:

[0065] The entire mechanism relies on the pneumatic system to drive the cylinders to act (such as jaw opening and closing, telescoping of the plunger 230), and at the same time the vacuum system is used to adsorb the release paper and the motherboard. The two power systems are controlled by components such as solenoid valves to ensure precise action switching.

[0066] Key points of precision control:

[0067] The stroke and air pressure of the finger cylinder need to be precisely adjusted to avoid damaging the RF cable or the motherboard.

[0068] The displacement accuracy of the telescopic cylinder 120 determines the adsorption position and buckling depth of the vacuum support 130, and needs to be monitored in real time through sensors (such as displacement sensors).

[0069] The motion trajectory planning of the manipulator (such as moving speed, positioning accuracy) directly affects the assembly efficiency and quality.

[0070] The technical advantages and application value of the equipment in this embodiment are described as follows:

[0071] Automation replaces manual labor:

[0072] Replace the traditional manual grasping, paper tearing and buckling operations, reduce human errors and improve production efficiency (for example, the single-station assembly time can be shortened to the second level).

[0073] Fine motion adaptability:

[0074] For the fine structure of the RF cable (such as the insertion and extraction force of the male and female connectors is sensitive, and the release paper is easily damaged), through the design of cylinders, vacuum adsorption and elastic buffering, ensure that each action is stable and reliable.

[0075] Modular design:

[0076] The end effectors A1 100 and A2 can be independently maintained or replaced, which is convenient for the upgrade of the production line and is applicable to the assembly scenarios of different models of RF cables (by adjusting parameters such as jaw size, vacuum adsorption force, etc.).

[0077] The above-described embodiments only represent certain implementation manners of the present invention, and their descriptions are relatively specific and detailed, but should not be construed as limiting the scope of the patent of the present invention; it should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention; therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. An end effector mechanism suitable for robot grasping, characterized in that, It includes an end effector A1 (100) and an end effector A2 (200); The end effector A1 (100) includes first finger cylinder grippers (110) at both ends, a telescopic cylinder (120) in the middle, and a vacuum support (130) connected to the telescopic cylinder (120). The first finger cylinder grippers (110) are used to grip the RF antenna, and the telescopic cylinder (120) is used to control the vacuum support (130) to adsorb the surface of the release paper; The end effector A2 (200) includes a suction cup device (210) at the right end, a telescopic cylinder (120) at the upper part, and a second finger cylinder gripper (250) at the front end. The suction cup device (210) is used to adsorb the main board, the telescopic cylinder (120) is used to complete the buckling action of the male and female heads of the RF antenna, and the second finger cylinder gripper (250) is used to complete the action of tearing off the release paper.

2. The end effector mechanism applicable to robot grasping according to claim 1, characterized in that, The end effector A1 (100) further includes an end effector base (140), a telescopic cylinder fixing bracket (150), and a finger cylinder fixing bracket (160). The telescopic cylinder fixing bracket (150) and the finger cylinder fixing bracket (160) are installed on the end effector base (140). The telescopic cylinder (120) is installed on the telescopic cylinder fixing bracket (150), and the first finger cylinder grippers (110) are installed on the finger cylinder fixing bracket (160).

3. The end effector mechanism applicable to robot grasping according to claim 1, characterized in that, The end effector A1 (100) further includes a vacuum support connection plate (170). The vacuum support (130) is connected to the telescopic cylinder (120) through the vacuum support connection plate (170).

4. The end effector mechanism applicable to robot grasping according to claim 1, characterized in that, The end effector A1 (100) further includes a sponge (180). The sponge (180) is arranged on the vacuum support (130).

5. The end effector mechanism applicable to robot grasping according to claim 1, characterized in that, The end effector A2 (200) further includes an elastomer (220) and a plunger (230). The elastomer (220) is arranged at the end of the telescopic cylinder (120), and the plunger (230) is connected to the elastomer (220).

6. The end effector mechanism applicable to robot grasping according to claim 1, characterized in that, The end effector A2 (200) further includes a suction cup base (240). The suction cup device (210) is installed on the suction cup base (240).

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