End effector capable of stably and accurately moving

Abstract

The utility model relates to an end effector capable of moving stably and accurately, which comprises a mounting seat, and is characterized by further comprising a first driving source, a second driving source, a third driving source, a fourth driving source, a fourth driving source and a fourth driving source, and the first driving source is fixedly arranged at the top of the mounting seat and used for providing locking driving force; the angle free adjusting mechanism is movably inserted into the mounting seat; the first driving source can lock, clamp and fix the angle free adjusting mechanism; and the suction cup assembly and the output end of the free angle adjusting mechanism are coaxially arranged, and the free angle adjusting mechanism can enable negative pressure adsorption to be formed between the suction cup assembly and a contact part. The manipulator can accurately grab and carry parts, can be widely applied to the industries such as mechanical manufacturing, electronic assembly and logistics, and improves the automation degree and the working efficiency in the production process.

Description

TECHNICAL FIELD

[0001] The utility model relates to negative pressure equipment technical field especially relates to a motion stable accurate end effector. BACKGROUND

[0002] In modern industrial automation production, the end effector is the key component of the robot or automation equipment and workpiece direct contact and complete operation task. The traditional end effector has some deficiencies in motion stability and grasping precision. For example, when grasping parts of different shapes and surface characteristics, it is difficult to quickly adjust to the appropriate grasping angle, resulting in unstable grasping or grasping failure. Moreover, when the end effector moves to the specified height position for grasping operation, it is easy to shake or displace, affecting the accuracy of grasping. In addition, the traditional end effector is not ideal when adsorbing parts, and cannot ensure firm adsorption, which is prone to problems such as part falling during handling. Therefore, it has important practical significance to develop an end effector with stable motion and accurate adsorption. SUMMARY

[0003] The utility model aims at providing a kind of motion stable accurate end effector that can realize accurate grasping and handling of parts, can be widely applied in mechanical manufacturing, electronic assembly, automobile assembly, logistics and other industries, improve the degree of automation and work efficiency of production process, to solve the above technical problems.

[0004] To achieve the above technical scheme, the technical scheme of the utility model is as follows: a kind of motion stable accurate end effector mainly by mounting seat, first driving source, angle free adjustment mechanism and suction disc assembly. The mounting seat is the basic installation structure of the whole end effector, and provides a stable support platform for other components. The first driving source is fixed on the top of the mounting seat, and provides a dead drive for the angle free adjustment mechanism, to ensure that the position of the angle free adjustment mechanism can be fixed at a certain moment. The angle free adjustment mechanism is movably inserted in the mounting seat, and its output end is coaxially arranged with the suction disc assembly, which can realize the free angle adjustment of the suction disc assembly within a certain range to adapt to the part grasping requirements of different shapes and placement angles, and can be clamped and fixed by the first driving source after adjusting to the appropriate angle. The suction disc assembly can form a negative pressure adsorption when contacting with the part under the action of the angle free adjustment mechanism, so as to firmly grasp the part and carry it.

[0005] Further, the first driving source adopts a shaft rod locking cylinder, which has the characteristics of compact structure and stable driving force. The shaft rod locking cylinder is fixed on the top of the mounting seat, and one end of the angle free adjustment mechanism is movably and penetratingly arranged on the shaft rod locking cylinder. When the end effector moves to the predetermined height position, the gas inlet of the shaft rod locking cylinder is turned on, the gas enters the inside of the cylinder, the pressure in the cylinder is increased, and then the shaft rod locking claw is tilted to tightly hold the angle free adjustment mechanism, so that the precise locking positioning of the angle free adjustment mechanism is realized, the accidental rotation of the angle free adjustment mechanism during the part grabbing process is prevented, and the stability and accuracy of the grabbing action are ensured.

[0006] Further, the shaft rod is provided with a penetrating angle swing head locking gas supply hole for transmitting pressure to the angle adjustment seat component when needed to achieve the locking control of the angle swing head. A reset spring is arranged on the shaft rod, which can help the shaft rod to return to the initial position when the shaft rod locking cylinder is released, so as to prepare for the next angle adjustment. One end of the shaft rod is sealingly screwed on the angle adjustment seat component to ensure the sealed transmission of the gas between the shaft rod and the angle adjustment seat component.

[0007] The angle adjustment seat component includes an adjustment base, and a slope base is movably arranged in the inside of the adjustment base. The slope base can produce corresponding displacement when subjected to pressure from the angle swing head locking gas supply hole, so as to achieve the locking or unlocking of the angle swing head. An unlocking spring is arranged on the adjustment base and abuts against the slope base at one end. When the angle swing head locking gas supply hole stops supplying gas, the unlocking spring pushes the slope base to return to the original position to release the locking of the angle swing head. A dustproof cover is telescopically arranged at one end of the adjustment base, which effectively prevents dust and other impurities from entering the inside of the angle adjustment seat component and affecting its normal work. The adjustment base is also provided with a detection instrument interface for conveniently connecting detection equipment to monitor and debug the working state of the angle free adjustment mechanism.

[0008] The angle swing head is sealingly and swingably arranged at the output end of the angle adjustment seat component, and the one end of the angle swing head is provided with a spherical surface which is a mirror surface. This design makes the friction resistance of the angle swing head small during the swinging process, so that the angle swing head can be quickly and smoothly adjusted to the appropriate angle. The angle swing head is provided with a penetrating airflow hole in the axial direction, which is communicated with the negative pressure assembly. When the negative pressure assembly works, the negative pressure adsorption force is formed at the suction cup assembly through the airflow hole. The other end of the angle swing head is detachably provided with a clamping shoulder matched with the suction cup assembly, which facilitates the replacement of different specifications of the suction cup assembly according to different grabbing requirements.

[0009] The negative pressure assembly is a vacuum generator, which has the advantages of fast response speed, large suction force and simple structure.

[0010] Further, the suction disc assembly is connected with the angle swing head through the clamping shoulder, the clamping shoulder comprises a suction disc seat in sealing connection with one end of the angle swing head, and the suction disc seat is fixed on the angle swing head through the locking head, so that the firmness and sealing property of the connection are ensured.

[0011] Compared with the prior art, the utility model has the advantages of the following beneficial effects:

[0012] 1) The shaft rod is locked by air flow of the first driving source, that is, the workpiece profiling purpose is achieved by stopping at any position.

[0013] 2) The angle swing head is locked, that is, the workpiece profiling purpose is achieved by stopping at any angle.

[0014] 3) The built-in vacuum generating device can realize the purpose of not needing an external pump station.

[0015] 4) The non-threaded quick-change interface can realize the function of quickly replacing the suction disc without tools, and improve the production efficiency of the production line.

[0016] 5. The utility model not only makes the installation and maintenance more convenient, but also ensures that the whole machine is lighter, smaller and more stable and accurate in movement. BRIEF DESCRIPTION OF DRAWINGS

[0017] To further illustrate the embodiments, the utility model provides drawings. These drawings are part of the disclosure of the utility model, mainly used to illustrate the embodiments, and can explain the operation principle of the embodiments in cooperation with the related description of the specification. With reference to these contents, those skilled in the art should understand other possible embodiments and the advantages of the utility model. The components in the drawings are not drawn according to scale, and similar component symbols are usually used to represent similar components.

[0018] Fig. 1 Front view of the motion stable and accurate end effector;

[0019] Fig. 2 Three-dimensional view of the motion stable and accurate end effector. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to 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. Based on the embodiments in the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0021] In order for those skilled in the art to better understand the technical solutions of the present application, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0022] Please refer to the drawings Figs. 1-2 As shown in the drawings: a motion stable and accurate end effector, comprising a mounting seat 1, the motion stable and accurate end effector further comprises:

[0023] A first driving source 2 is fixedly arranged on the top of the mounting seat 1, and is used for providing a clamping driving force;

[0024] An angle free adjustment mechanism 3 is movably inserted into the mounting seat 1; the first driving source 2 can perform spring self-adaptive clamping and fixing of the angle free adjustment mechanism 3 at any height position; and

[0025] A suction cup assembly 4 is coaxially arranged at the output end of the angle free adjustment mechanism 3, and a vacuum generator is built in the angle free adjustment mechanism 3 to form a negative pressure adsorption between the suction cup assembly 4 and a contact part.

[0026] The design of the angle free adjustment mechanism enables the suction cup assembly to be quickly adjusted to a suitable grabbing angle. In actual operation, the operator only needs to simply control the related gas circuit or signal, so as to realize the free swing and clamping operation of the angle swing head. This convenient operation mode saves the adjustment time and improves the work efficiency, and is especially suitable for the scene of quickly grabbing and carrying various parts in the automatic production line

[0027] On the basis of the above-mentioned embodiments, the first driving source 2 is a shaft locking cylinder; one end of the angle free adjustment mechanism 3 is movably arranged and penetrates through the shaft locking cylinder;

[0028] Wherein: the end effector height position is connected to the shaft locking cylinder gas supply port after positioning; the pressure inside the shaft locking cylinder increases, which in turn drives the shaft locking claw to tilt and adjust the angle freely. The first driving source adopts a shaft locking cylinder. After the end effector moves to the specified height position, the inside pressure of the cylinder is increased by connecting the gas supply port, which drives the shaft locking claw to tilt and adjust the angle freely. This precise clamping action ensures the accuracy of the height position of the end effector when grabbing parts, effectively preventing grabbing failure or part damage due to end effector shaking or displacement. Specifically, in the assembly process of electronic components, the accurate height position control can ensure that the parts are accurately installed at the predetermined position, improving the assembly quality and production efficiency of the products.

[0029] On the basis of the above embodiment, the angle free adjustment mechanism 3 comprises:

[0030] A shaft 31 is provided with a through angle swing head locking gas supply hole;

[0031] An angle adjustment seat component 32 is fixedly arranged at the end of the shaft 31 and communicates with the angle swing head locking gas supply hole;

[0032] An angle swing head 33 is sealingly and swingably inserted into the output end of the angle adjustment seat component 32, and the angle swing head 33 is provided with a negative pressure flow channel; and

[0033] A negative pressure assembly 34 is detachably inserted into the angle adjustment seat component 32 and is in communication with the negative pressure flow channel on the angle swing head 33;

[0034] Wherein: when the angle swing head 33 freely swings to the appropriate angle relative to the angle adjustment seat component 32 during grabbing, the angle swing head locking gas supply hole is connected to apply pressure to the angle adjustment seat component 32, thereby locking the angle swing head 33. The angle free adjustment mechanism can freely adjust the suction cup assembly according to the shape and placement angle of the parts. The angle swing head on the shaft can flexibly swing within a certain range to find the best grabbing angle. When adjusted to the appropriate angle, the angle swing head locking gas supply hole on the shaft applies pressure to the angle adjustment seat component, locking the angle swing head, so that the suction cup assembly maintains a stable angle during grabbing and carrying. This design greatly improves the adaptability of the end effector to parts of different shapes and postures. Whether it is a flat part or a part with a certain arc or inclined surface, precise grabbing can be achieved, reducing the problem of parts slipping or not being grabbed firmly due to improper grabbing angle.

[0035] On the basis of the above-mentioned embodiment, the shaft 31 is sleeved with a reset spring 311; one end of the shaft 31 is sealingly and rotatably connected to the angle adjusting seat component 32;

[0036] The angle adjusting seat component 32 comprises an adjusting base 321; the inside of the adjusting base 321 is sealingly and movably provided with a slope plate seat 322; the adjusting base 321 is provided with an unlocking spring 323, one end of the unlocking spring 323 abutting against the slope plate seat 322; one end of the adjusting base 321 is telescopically provided with a dustproof cover 324;

[0037] The angle adjusting seat component is provided with a detection instrument interface, which is convenient for connecting various detection devices such as pressure sensors and angle sensors, so as to monitor and debug the working state of the angle free adjustment mechanism in real time. If there is a problem during the operation of the equipment, the fault point can be quickly located through the detection instrument, and timely maintenance can be carried out. In addition, the dustproof cover telescopically arranged at one end of the adjusting base can effectively prevent dust and other impurities from entering the inside of the angle adjusting seat component, reducing the wear and failure of the components caused by dust accumulation, and reducing the maintenance frequency and cost of the equipment. At the same time, the reset spring sleeved on the shaft and the unlocking spring in the angle adjusting seat component and other components make the whole mechanism have a certain self-recovery ability during the working process, further improving the reliability and stability of the equipment, facilitating long-term stable operation and maintenance,

[0038] The angle swing head 33 is provided with a spherical surface at one end, and the spherical surface is a mirror surface; the angle swing head 33 is provided with a through airflow hole in the axial direction; the other end of the angle swing head 33 is detachably provided with a clamping shoulder 5 matched with the suction cup assembly 4;

[0039] The negative pressure assembly 34 is a vacuum generator. The vacuum generator is selected for the negative pressure assembly, which has the characteristics of quickly generating high negative pressure. When it is necessary to grab a part, the vacuum generator works quickly, and through the communication with the negative pressure flow channel and the airflow hole of the angle swing head, a strong negative pressure adsorption force is formed at the suction cup assembly. This strong adsorption force can firmly adsorb parts of various materials and surface characteristics, ensuring that the parts will not fall during the carrying process. For example, when carrying metal parts with smooth surfaces or plastic parts with light texture, the stable adsorption force provided by the vacuum generator can effectively overcome the interference of gravity and external force, ensuring the safe carrying of the parts.

[0040] On the basis of the above-mentioned embodiment, the clamping shoulder 5 comprises a suction cup seat 51 sealingly connected to one end of the angle swing head 33; the suction cup seat 51 is fixedly arranged on the angle swing head 33 through a locking head.

[0041] The adjusting base 321 is provided with a detection instrument interface 3211.

[0042] On the basis of the above-mentioned embodiment, the chuck seat 51 is provided with a first positioning shoulder on the inner side along the axis; the chuck seat 51 is provided with a second positioning shoulder concave in the radial direction; the first positioning shoulder and the second positioning shoulder are arranged perpendicular to each other. The chuck seat of the chuck assembly is firmly connected with the angle swing head through the locking head, ensuring the stability of the connection. The chuck seat is provided with a first positioning shoulder on the inner side along the axis, and a second positioning shoulder concave in the radial direction, and the first positioning shoulder and the second positioning shoulder are arranged perpendicular to each other. This structure design makes the chuck be accurately positioned during installation, ensures that the chuck fully contacts the surface of the part and uniformly distributes the adsorption force, thereby improving the adsorption effect. At the same time, during long-term use, the stable chuck structure can reduce the problem of adsorption force decline caused by loose or offset of the chuck, prolong the service life of the chuck assembly, and reduce the maintenance cost.

[0043] During the operation of the automatic production line, when it is necessary to grab a part, the control system obtains the position and shape information of the part according to the vision system or the preset program, and then controls the robot or the automatic equipment to move the end effector above the part. First, the angle free adjustment mechanism is in a state of not being clamped, and adjusts the angle of the chuck assembly according to the shape of the part, so that the chuck assembly can better fit the surface of the part. When the end effector moves to the predetermined height position, the control system controls the shaft locking cylinder to supply gas, clamps the angle free adjustment mechanism, and fixes the angle of the chuck assembly. Then, the vacuum generator works to generate negative pressure adsorption force, and the chuck assembly firmly adsorbs the part. Then, the robot or the automatic equipment carries the part to the specified position, such as a machining station, an assembly station or a storage area. During the carrying process, due to the clamping action of the first driving source and the stable adsorption of the chuck assembly, the part can move smoothly and accurately, avoiding shaking and falling. When reaching the specified position and needing to put down the part, the control system first controls the vacuum generator to stop working to release the adsorption force of the chuck assembly on the part. Then, the shaft locking cylinder is controlled to exhaust to loosen the clamping of the angle free adjustment mechanism. The end effector is ready for the next grabbing operation, and the cycle is repeated to realize the efficient and stable operation of the automatic production line. During the entire production process, the end effector is regularly maintained and inspected, and the dust and stains on the surface of the chuck assembly and other parts are cleaned. The connection of each part is checked whether it is loose, especially the fasteners of the shaft locking cylinder and the connection parts of the chuck seat and the angle swing head. The working state of the vacuum generator is checked to ensure that it can normally generate and release negative pressure. If problems such as unsmooth movement of the end effector, insufficient adsorption force or inaccurate angle adjustment are found, the end effector is repaired or adjusted in time, and the damaged parts are replaced to ensure the normal working performance of the end effector.

[0044] The above merely describes preferred embodiments of the present application, and is not intended to limit the present application in any form. Although the present application has been disclosed with the preferred embodiments as above, it is not intended to limit the present application. Any person skilled in the art, without departing from the technical solution of the present application, can make some changes or modifications to the above disclosed technical content to make equivalent embodiments with equivalent changes, but as long as it does not deviate from the technical solution of the present application, any modification, equivalent change and modification of the above embodiments according to the technical essence of the present application are still within the scope of the technical solution of the present application.

Claims

1. A motion-smoothed precision end effector comprising a mounting base (1), characterized in that, The motion stable and precise end effector further comprises: A first driving source (2) fixed on the top of the mounting base (1) for providing clamping driving force; An angle free adjustment mechanism (3) movably inserted into the mounting base (1); the first driving source (2) can spring-adaptively clamp and fix the angle free adjustment mechanism (3) at any height position; and A suction cup assembly (4) coaxially arranged at the output end of the angle free adjustment mechanism (3), and a vacuum generator arranged in the angle free adjustment mechanism (3) can form negative pressure adsorption between the suction cup assembly (4) and a contact part.

2. The motion-stable precision end effector of claim 1, wherein: The first driving source (2) is a shaft locking cylinder; one end of the angle free adjustment mechanism (3) is movably and penetratingly inserted into the shaft locking cylinder; Wherein: the shaft locking cylinder air supply port is connected after the end effector reaches the height position; the pressure inside the shaft locking cylinder is increased, and the shaft locking claw is tilted to clamp the angle free adjustment mechanism (3).

3. The motion-smoothed precision end effector of claim 2, wherein: The angle free adjustment mechanism (3) comprises: A shaft (31) provided with a penetrating angle swing head locking air supply hole; An angle adjustment seat component (32) fixed at the end of the shaft (31) and communicated with the angle swing head locking air supply hole; An angle swing head (33) sealingly and swingably inserted into the output end of the angle adjustment seat component (32), the angle swing head (33) is provided with a negative pressure flow channel; and A negative pressure assembly (34) detachably inserted into the angle adjustment seat component (32) and communicated with the negative pressure flow channel of the angle swing head (33); Wherein: when the angle swing head (33) swings freely to a suitable angle relative to the angle adjustment seat component (32) during grabbing, the angle swing head locking air supply hole is connected to apply pressure to the angle adjustment seat component (32) to clamp the angle swing head (33).

4. The motion-smoothed precision end effector of claim 3, wherein: A reset spring (311) is sleeved on the shaft (31); one end of the shaft (31) is sealingly screwed into the angle adjustment seat component (32); The angle adjustment seat component (32) comprises an adjustment base (321); the inside of the adjustment base (321) is sealingly and movably provided with an inclined plate seat (322); the adjustment base (321) is provided with an unlocking spring (323), one end of the unlocking spring (323) abuts against the inclined plate seat (322); one end of the adjustment base (321) is provided with a dustproof shield (324); One end of the angle swing head (33) is provided with a spherical surface, and the spherical surface is a mirror surface; the angle swing head (33) is provided with a penetrating air flow hole in the axial direction; the other end of the angle swing head (33) is detachably provided with a clamping shoulder (5) matched with the suction cup assembly (4); The negative pressure assembly (34) is a vacuum generator.

5. The motion-smoothed precision end effector of claim 4, wherein: The clamping shoulder (5) comprises a suction cup seat (51) sealingly connected with one end of the angle swing head (33); the suction cup seat (51) is fixed on the angle swing head (33) through a locking head (52). The adjusting base (321) is provided with a detection instrument interface (3211).

6. The motion-smoothed precision end effector of claim 5, wherein: The suction cup seat (51) is provided with a first positioning shoulder on the inner side along the axis; the suction cup seat (51) is provided with a second positioning shoulder concave along the radial direction; and the first positioning shoulder and the second positioning shoulder are arranged perpendicularly to each other.

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