End actuating mechanism and manipulator

Abstract

The utility model discloses a tail end executing mechanism and a manipulator, and belongs to the technical field of automation. The tail end executing mechanism comprises a base, two adsorption assemblies and two pressure sensors, the two adsorption assemblies are distributed in the first direction at intervals, the adsorption assemblies are movably arranged on the base in the second direction, the second direction intersects with the first direction, and the adsorption assemblies are used for adsorbing workpieces to be machined; the pressure sensors are in one-to-one correspondence with the adsorption assemblies and are used for obtaining the pressing force of the adsorption assemblies. And better stability and adaptability can be provided, the subsequent carrying precision and efficiency are improved, and the possibility that the surface of the workpiece to be machined is damaged can be reduced.

Description

Technical Field

[0001] This application belongs to the field of automation technology, and in particular relates to an end effector and a robotic arm. Background Technology

[0002] With the development of society and economy, electronic devices (such as mobile phones and tablets) are being used more and more widely. As an important display component in electronic devices, glass screens are currently subject to insufficient handling precision and are easily damaged, which affects production efficiency and the quality of electronic devices. Utility Model Content

[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes an end effector and a robotic arm that not only provides better stability and adaptability, improving subsequent handling accuracy and efficiency, but also reduces the possibility of surface damage to the workpiece.

[0004] In a first aspect, this application provides a terminal actuator, comprising:

[0005] The end effector is characterized by comprising:

[0006] Base;

[0007] Two adsorption components are spaced apart along a first direction, and the adsorption components are movably disposed on the base along a second direction, the second direction intersecting the first direction, the adsorption components being used to adsorb the workpiece to be processed;

[0008] Two pressure sensors, each corresponding to one of the adsorption components, are used to obtain the pressing force of the adsorption components.

[0009] According to the end effector of this application, compared to using grippers to hold workpieces such as glass screens, adsorption components not only reduce the possibility of surface damage but also adapt to workpieces of different shapes and sizes, providing better stability and adaptability. Two adsorption components are spaced apart along a first direction and can move relative to the base along a second direction, simultaneously adsorbing two workpieces to improve subsequent handling efficiency. Simultaneously, the pressure force obtained through a pressure sensor not only precisely controls the proximity of the adsorption components to the workpiece but also ensures the adsorption force of the components, reducing the possibility of surface damage due to excessive adsorption force and minimizing the risk of workpiece detachment due to insufficient adsorption force.

[0010] According to one embodiment of this application, the adsorption component includes:

[0011] The mounting block is movably disposed on the base along the second direction;

[0012] A suction cup, which passes through the mounting block and extends along the second direction, is adapted to adsorb the workpiece to be processed.

[0013] According to one embodiment of this application, a plurality of suction cups are provided, and the plurality of suction cups are spaced apart circumferentially.

[0014] According to one embodiment of this application, the mounting block forms a mounting groove for accommodating the pressure sensor, the opening of the mounting groove is parallel to the second direction, the mounting groove extends through the mounting block along a third direction, and the third direction intersects the first direction and the second direction respectively.

[0015] According to one embodiment of this application, it also includes:

[0016] Two lifting drive components are provided, each corresponding to one of the adsorption components. The fixed end of the lifting drive component is located on the base, and the driving end of the lifting drive component is connected to the pressure sensor. The adsorption component is located on the side of the pressure sensor away from the lifting drive component.

[0017] According to one embodiment of this application, it also includes:

[0018] Two first barcode scanners are provided, each corresponding to one of the adsorption components, and the first barcode scanners are disposed on the base.

[0019] According to one embodiment of this application, the first barcode scanner is positioned along a third direction near the side of the adsorption component; wherein,

[0020] The first barcode scanner is adjustable in position along the first direction, and the third direction intersects the first direction and the second direction respectively; and / or

[0021] The angle of the first barcode scanner is adjustable.

[0022] According to one embodiment of this application, it also includes:

[0023] Two second barcode scanners are provided, each corresponding to one of the adsorption components. The second barcode scanners are disposed on the base, and the first barcode scanner and the second barcode scanner are respectively located near two adjacent sides of the adsorption component.

[0024] According to one embodiment of this application, the second barcode scanner is positioned close to the side of the adsorption assembly along the first direction; wherein,

[0025] The second barcode scanner is adjustable in position along a third direction, which intersects both the first and second directions; and / or

[0026] The angle of the second barcode scanner is adjustable.

[0027] Secondly, this application provides a robotic arm that includes the end effector as described above.

[0028] The robotic arm according to this application not only provides better stability and adaptability, improves handling accuracy and efficiency, but also reduces the possibility of surface damage to the workpiece.

[0029] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0030] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0031] Figure 1 This is one of the structural schematic diagrams of the end effector provided in the embodiments of this application;

[0032] Figure 2 This is the second schematic diagram of the end effector provided in the embodiments of this application;

[0033] Figure 3 This is one of the structural schematic diagrams of the adsorption component and the workpiece to be processed provided in the embodiments of this application.

[0034] Figure label:

[0035] 100. Base;

[0036] 200. Adsorption component; 210. Mounting block; 211. Mounting slot; 220. Suction cup;

[0037] 300. Pressure sensor;

[0038] 400. Lifting drive components;

[0039] 500, First barcode scanner;

[0040] 600. Second barcode scanner;

[0041] 700. First connector; 701. First elongated hole; 702. First arc-shaped hole;

[0042] 800. Second connector; 802. Second arc-shaped hole;

[0043] 900. Parts to be processed. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0045] The following is for reference. Figures 1-3 The end effector provided in the embodiments of this application is described. The end effector includes a base 100, two adsorption components 200 and two pressure sensors 300.

[0046] Two adsorption components 200 are spaced apart along a first direction, and the adsorption components 200 are movably disposed on the base 100 along a second direction. The second direction intersects the first direction. The adsorption components 200 are used to adsorb the workpiece 900 to be processed. The pressure sensor 300 corresponds to the adsorption components 200 one by one and is used to obtain the pressing force of the adsorption components 200.

[0047] Understandably, compared to using grippers to hold workpieces 900 such as glass screens, using the adsorption component 200 not only reduces the possibility of surface damage but also adapts to workpieces 900 of different shapes and sizes, providing better stability and adaptability. Two adsorption components 200 are spaced apart along a first direction and can move relative to the base 100 along a second direction, simultaneously adsorbing two workpieces 900 to improve subsequent handling efficiency. Simultaneously, the pressure force obtained by the pressure sensor 300 not only precisely controls the proximity of the adsorption component 200 to the workpiece 900 but also ensures the adsorption force of the adsorption component 200, reducing the possibility of surface damage to the workpiece 900 due to excessive adsorption force and minimizing the risk of the workpiece 900 falling off due to insufficient adsorption force.

[0048] The end effector provided in the embodiments of this application not only provides better stability and adaptability, and improves subsequent handling accuracy and efficiency, but also reduces the possibility of surface damage to the workpiece 900.

[0049] In this embodiment, as Figure 1 As shown, for ease of understanding, the first direction is parallel to the width direction of the workpiece 900, the second direction is parallel to the thickness direction (i.e., the vertical direction) of the workpiece 900, and the third direction is parallel to the length direction of the workpiece 900.

[0050] In some embodiments, such as Figure 3 As shown, the adsorption assembly 200 includes a mounting block 210 and a suction cup 220. The mounting block 210 is movably disposed on the base 100 along the second direction. The suction cup 220 passes through the mounting block 210 and extends along the second direction. The suction cup 220 is suitable for adsorbing the workpiece 900 to be processed.

[0051] Understandably, the mounting block 210 is movably disposed on the base 100 along the second direction to move closer to or further away from the workpiece 900 for more precise alignment and adsorption of the workpiece 900. The suction cup 220 extends along the second direction, meaning that the surface of the workpiece 900 disposed along the second direction is adsorbed and connected to the suction cup 220, which helps maintain the consistency and stability of the adsorption force. The suction cup 220 passes through the mounting block 210, allowing the entire adsorption assembly 200 to have a compact structure, helping to reduce space occupation.

[0052] In some embodiments, such as Figure 3 As shown, the mounting block 210 forms a mounting groove 211 for accommodating the pressure sensor 300. The opening of the mounting groove 211 is parallel to the second direction, and the mounting groove 211 penetrates the mounting block 210 along a third direction, which intersects with both the first and second directions. It should be noted that the shape and size of the mounting groove 211 can be designed according to actual needs, and this embodiment does not impose specific limitations on this.

[0053] Understandably, the pressure sensor 300 is at least partially located within the mounting slot 211, thereby optimizing the space utilization of the entire end effector and making the entire end effector more compact. Furthermore, the mounting slot 211 extends through the mounting hole in a third direction with its opening facing upwards, facilitating the avoidance of the pressure sensor 300's wires and helping to reduce the possibility of interference.

[0054] In some embodiments, such as Figure 3 As shown, multiple suction cups 220 are provided, and the multiple suction cups 220 are arranged circumferentially at intervals. The number of suction cups 220 can be designed according to actual needs, and this embodiment does not impose a specific limitation on this. For example, each adsorption component 200 is provided with four suction cups 220, which are respectively arranged at the four corners of the mounting block 210.

[0055] Understandably, by setting multiple suction cups 220 circumferentially, a more uniform adsorption force can be provided and it can adapt to workpieces of different sizes 900, thereby improving the stability of adsorption and reducing the risk of damage.

[0056] In some embodiments, such as Figure 1 and Figure 2 As shown, the end effector also includes two lifting drive components 400, which correspond one-to-one with the adsorption assembly 200. The fixed end of the lifting drive component 400 is disposed on the base 100, and the driving end of the lifting drive component 400 is connected to the pressure sensor 300. The adsorption assembly 200 is disposed on the side of the pressure sensor 300 away from the lifting drive component 400. The lifting drive component 400 includes, but is not limited to, a lifting cylinder.

[0057] Understandably, the two lifting drive components 400 correspond to the two adsorption components 200, ensuring that each adsorption component 200 can be controlled independently, improving operational precision and flexibility. Simultaneously, the drive end of the lifting drive component 400 is connected to the pressure sensor 300, meaning that the distance the adsorption component 200 moves along the second direction is adjusted by real-time monitoring of the pressing force, thereby adjusting the distance between it and the workpiece 900. At the same time, the pressure sensor 300 monitors and adjusts the adsorption force in real time.

[0058] In some embodiments, such as Figure 1 and Figure 2 As shown, the end effector also includes two first barcode scanners 500, which correspond one-to-one with the adsorption component 200, and the first barcode scanners 500 are disposed on the base 100.

[0059] Understandably, the first barcode scanner 500 can accurately identify barcodes or QR codes on the workpiece 900, enabling digital management in the automated production process. This is crucial for material tracking, quality control, and inventory management on automated production lines. It also reduces the possibility of human error and improves the accuracy of data collection.

[0060] In some embodiments, such as Figure 1 and Figure 2 As shown, the first barcode scanner 500 is positioned along a third direction near the side of the adsorption assembly 200; wherein,

[0061] The first barcode scanner 500 is adjustable in its mounting position along the first direction, and the third direction intersects with the first and second directions respectively; and / or

[0062] The first barcode scanner has a 500° adjustable angle.

[0063] Understandably, by arranging the first barcode scanner 500 at intervals along a third direction and from the adsorption assembly 200, additional spatial flexibility is provided, allowing the scanner to adapt to different operating environments and the size of the workpiece 900. Simultaneously, by ensuring that the first barcode scanner 500 is adjustable in at least one of the following: its mounting position is adjustable along the first direction, and its angle is adjustable, it can adapt to different scanning angles and the position and size of the workpiece 900, thereby improving scanning accuracy.

[0064] In some embodiments, such as Figure 1 and Figure 2As shown, the end effector also includes two first connectors 700 corresponding one-to-one with the first barcode scanner 500. One of the first connectors 700 and the base 100 is provided with a first elongated hole 701 extending along the first direction, and the other of the first connectors 700 and the base 100 is provided with multiple first mounting holes. That is, by cooperating with the first elongated hole 701 and different first mounting holes, the mounting position of the first barcode scanner 500 along the first direction can be adjusted.

[0065] In some embodiments, such as Figure 1 and Figure 2 As shown, one of the first connector 700 and the first barcode scanner 500 is provided with a first arc-shaped hole 702, and the other of the first connector 700 and the first barcode scanner 500 is provided with a second mounting hole. The axis of the second mounting hole is parallel to the first direction. That is, by cooperating with the second mounting hole and the first arc-shaped hole 702 at different positions, the angle of the first barcode scanner 500 can be adjusted.

[0066] In some embodiments, such as Figure 1 and Figure 2 As shown, the two first connectors 700 are arranged opposite each other and located between the two first barcode scanners 500 to make the structure of the entire end effector more compact.

[0067] In some embodiments, such as Figure 1 and Figure 2 As shown, the end effector also includes two second barcode scanners 600, which correspond one-to-one with the adsorption component 200. The second barcode scanners 600 are disposed on the base 100, and the first barcode scanner 500 and the second barcode scanner 600 are respectively close to the two adjacent sides of the adsorption component 200.

[0068] Understandably, the second barcode scanner 600 can accurately identify barcodes or QR codes on the workpiece 900, enabling digital management in the automated production process. This is crucial for material tracking, quality control, and inventory management on automated production lines. It also reduces the possibility of human error and improves the accuracy of data collection.

[0069] It should be noted that one of the first barcode scanner 500 and the second barcode scanner 600 is used to obtain the processing information of the workpiece 900 to be processed (processing steps, parameter settings, and quality control standards, etc.), and the other of the first barcode scanner 500 and the second barcode scanner 600 is used to obtain the product information of the workpiece 900 to be processed (product serial number, batch number, and traceability code, etc.).

[0070] In some embodiments, such as Figure 1 and Figure 2 As shown, the second barcode scanner 600 is positioned close to the side of the adsorption assembly 200 along the first direction; wherein,

[0071] The second barcode scanner 600 is adjustable in its installation position along a third direction, which intersects with the first and second directions respectively; and / or

[0072] The second barcode scanner has a 600° adjustable angle.

[0073] Understandably, by arranging the second barcode scanner 600 at a distance from the adsorption assembly 200 along the first direction, additional spatial flexibility is provided, allowing the second barcode scanner 600 to adapt to different operating environments and the size of the workpiece 900. Simultaneously, by ensuring that the second barcode scanner 600 is adjustable in at least one of the following: its installation position along a third direction is adjustable, and its angle is adjustable, it can adapt to different scanning angles and the position and size of the workpiece 900, thereby improving scanning accuracy.

[0074] In some embodiments, such as Figure 1 and Figure 2 As shown, the end effector also includes two second connectors 800 corresponding one-to-one with the second barcode scanner 600. One of the second connectors 800 and the base 100 is provided with a second elongated hole extending in a third direction, and the other of the second connectors 800 and the base 100 is provided with a third mounting hole. That is, by cooperating with the third mounting hole and the second elongated hole at different positions, the mounting position of the second barcode scanner 600 in the third direction can be adjusted.

[0075] In some embodiments, such as Figure 1 and Figure 2 As shown, one of the second connector 800 and the second barcode scanner 600 is provided with a second arc-shaped hole 802, and the other of the second connector 800 and the second barcode scanner 600 is provided with a fourth mounting hole. The axis of the fourth mounting hole is parallel to a third direction. That is, by matching the different positions of the fourth mounting hole and the second arc-shaped hole 802, the angle of the second barcode scanner 600 can be adjusted.

[0076] In some embodiments, such as Figure 1 and Figure 2 As shown, one of the first barcode scanners 500 is positioned between the two second barcode scanners 600 along a first direction to make the structure of the entire end effector more compact.

[0077] This application also provides a robotic arm. The robotic arm includes the aforementioned end effector.

[0078] The robotic arm provided according to the embodiments of this application not only provides better stability and adaptability, improves handling accuracy and efficiency, but also reduces the possibility of surface damage to the workpiece 900.

[0079] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0080] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0081] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0082] In the description of this application, "multiple" means two or more.

[0083] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0084] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0085] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. An end effector, comprising: The application relates to a base (100); two adsorption assemblies (200) distributed along a first direction, the adsorption assemblies (200) being movably arranged on the base (100) along a second direction, the second direction intersecting the first direction, and the adsorption assemblies (200) being used for adsorbing workpieces (900) to be processed; and two pressure sensors (300) corresponding to the adsorption assemblies (200) respectively, and used for obtaining the pressing force of the adsorption assemblies (200). The adsorption assembly (200) comprises: a mounting block (210) movably arranged on the base (100) along the second direction; and a suction disc (220) penetrating through the mounting block (210) and extending along the second direction, and the suction disc (220) being suitable for adsorbing the workpiece (900) to be processed. The suction disc (220) is provided with a plurality of suction discs (220) arranged circumferentially and spaced apart. The mounting block (210) forms a mounting groove (211) for accommodating the pressure sensor (300), the groove opening of the mounting groove (211) being parallel to the second direction, and the mounting groove (211) penetrating through the mounting block (210) along a third direction, and the third direction intersecting the first direction and the second direction respectively.

2. The end effector of claim 1, wherein, Further comprising: two lifting driving members (400) corresponding to the adsorption assemblies (200) respectively, the fixed ends of the lifting driving members (400) being arranged on the base (100), the driving ends of the lifting driving members (400) being connected with the pressure sensors (300), and the adsorption assemblies (200) being arranged on the side of the pressure sensors (300) away from the lifting driving members (400). Further comprising: two first code scanners (500) corresponding to the adsorption assemblies (200) respectively, and the first code scanners (500) being arranged on the base (100). The first code scanner (500) is arranged close to the side surface of the adsorption assembly (200) along a third direction; wherein, the mounting position of the first code scanner (500) along the first direction is adjustable, and the third direction intersects the first direction and the second direction respectively; and / or the angle of the first code scanner (500) is adjustable.

3. The end effector of claim 2, wherein, Further comprising: two second code scanners (600) corresponding to the adsorption assemblies (200) respectively, and the second code scanners (600) being arranged on the base (100), and the first code scanners (500) and the second code scanners (600) being arranged close to the adjacent two side surfaces of the adsorption assembly (200) respectively.

4. The end effector of claim 2, wherein, The second code scanner (600) is arranged close to the side surface of the adsorption assembly (200) along the first direction; wherein, the mounting position of the second code scanner (600) along a third direction is adjustable, and the third direction intersects the first direction and the second direction respectively; and / or the angle of the second code scanner (600) is adjustable.

5. The end effector of claim 1, wherein, ​ ​ 6. The end effector of any one of claims 1 to 5, wherein, ​ ​ 7. The end effector of claim 6, wherein, ​ ​ ​ 8. The end effector of claim 6, wherein, ​ ​ 9. The end effector of claim 8, wherein, ​ ​ ​ 10. A robot, characterized in that An end effector comprising any of claims 1 to 9.

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