End effector and gripping robot

Abstract

The application provides an end gripping device and a gripping robot, and relates to the technical field of photovoltaics. A first gripping component is arranged in a first unit region of a device base, and is configured to grip a target object. A second gripping component is arranged in a second unit region of the device base, and is configured to grip another target object. In the process of synchronously gripping the two target objects by the first and second gripping components, the logic control content such as the movement speed and working step of the gripping robot does not need to be modified, but the gripping efficiency is improved by changing the number of gripping components. Thus, the gripping robot can perform the flower basket gripping action based on the most suitable movement speed and working step, so as to ensure the stability and precision in the gripping process, effectively improve the production capacity and stability of the equipment, and avoid technical problems such as program exception and failure caused by the increase of working speed and the reduction of working steps.

Description

Technical Field

[0001] This application relates to the field of photovoltaic technology, and in particular to end-effector grasping devices and grasping robots. Background Technology

[0002] The manufacturing process of solar cells involves a variety of technologies, among which the process of loading and unloading flower baskets by intelligent robots is indispensable in automation technology. Traditional intelligent robots have single-handed robotic arms, which can only grab one flower basket at a time, resulting in the inability of current photovoltaic industry mass production lines to meet hourly or even daily production capacity standards.

[0003] Based on these conditions, current methods for increasing production capacity generally involve modifying the movement speed and work steps of intelligent robots, thereby increasing the capacity of photovoltaic production lines. However, the increase in work speed and the reduction in process steps can lead to some program anomalies and malfunctions, resulting in a waste of more effort and time. Utility Model Content

[0004] Therefore, it is necessary to provide an end-effector gripping device and a gripping robot to address the aforementioned technical problems.

[0005] This application provides an end effector, the end effector comprising:

[0006] The device base is provided with a first unit area and a second unit area, wherein the device base defines a central virtual reference line, and the first unit area and the second unit area are symmetrically arranged with respect to the central virtual reference line.

[0007] A first grasping component is disposed in a first unit region of the device substrate, and the first grasping component is configured to grasp a target body;

[0008] A second gripping component is disposed in a second unit region of the device substrate, and the second gripping component is configured to grip another target body.

[0009] In one embodiment, the target body is configured as a flower basket; and / or,

[0010] The first grasping component and the second grasping component are symmetrically arranged with respect to the central virtual baseline, and the first grasping component and the second grasping component are configured to simultaneously grasp two target subjects.

[0011] In one embodiment, the device base is provided with a connecting portion, through which a central virtual baseline of the device base passes, and the connecting portion is configured to detachably connect the device base to a robotic arm.

[0012] In one embodiment, the connecting portion is configured as a connecting circular hole formed in the device base, the central virtual reference line of the device base passes through the virtual center of the connecting circular hole, and the connecting circular hole is divided into two symmetrical hole portions by the central virtual reference line.

[0013] In one embodiment, the device base includes:

[0014] A connecting substrate, wherein the connecting portion is disposed on the connecting substrate;

[0015] A first unit substrate, the first unit substrate being connected to the connecting substrate, the first unit region being located on the surface of the first unit substrate, and the first gripping component being disposed on the first unit substrate;

[0016] The second unit substrate is connected to the connecting substrate, the second unit region is located on the surface of the second unit substrate, and the second gripping component is disposed on the second unit substrate. The first unit substrate and the second unit substrate are symmetrically arranged with respect to the connecting substrate.

[0017] In one embodiment, the first gripping component includes a first positioning element and a first telescopic element, the first positioning element and the first telescopic element being disposed on the first unit substrate, wherein the telescopic direction of the first telescopic element is toward the first positioning element; and / or,

[0018] The second gripping component includes a second positioning element and a second telescopic element, which are disposed on the second unit substrate, wherein the telescopic direction of the second telescopic element is toward the second positioning element.

[0019] In one embodiment, the first gripping component further includes a first positioning support and a first telescopic support, the first positioning support and the first telescopic support being disposed on the first unit substrate, the first positioning element being disposed on the first positioning support, and the first telescopic element being disposed on the first telescopic support; and / or,

[0020] The second gripping component further includes a second positioning support and a second telescopic support. The second positioning support and the second telescopic support are disposed on the second unit substrate. The second positioning element is disposed on the second positioning support, and the second telescopic element is disposed on the second telescopic support.

[0021] In one embodiment, the first gripping component further includes at least one first pressure bar gripper disposed on the first telescopic support; and / or,

[0022] The second gripping component further includes at least one second pressure bar gripper, which is disposed on the second telescopic support.

[0023] In one embodiment, both the first positioning support and the first telescopic support are configured as plate-shaped members, and the first positioning support and the first telescopic support are perpendicularly disposed at opposite ends of the first unit substrate; and / or,

[0024] Both the second positioning support and the second telescopic support are configured as plate-shaped members, and the second positioning support and the second telescopic support are vertically disposed at opposite ends of the second unit substrate.

[0025] This application provides a grasping robot, the grasping robot comprising:

[0026] A robotic arm, comprising a number of sequentially connected unit arm segments;

[0027] The end effector is mounted on the far end unit segment of the robotic arm.

[0028] In the aforementioned end-effector grasping device and grasping robot, the end-effector grasping device, by setting two grasping components on the device base—namely, a first grasping component and a second grasping component—can simultaneously grasp two target subjects. During the simultaneous grasping of two target subjects by the first and second grasping components, it is not necessary to modify the logical control content of the grasping robot, such as its movement speed and working steps; instead, the grasping efficiency is improved by changing the number of grasping components.

[0029] Therefore, the grasping robot can perform the flower basket grasping action based on the most suitable movement speed and work steps, ensuring stability and accuracy in the grasping process, and ensuring that the robotic arm of the grasping robot is kept at a safe and permissible speed, effectively improving production capacity and equipment stability, and avoiding technical problems such as program abnormalities and malfunctions caused by increased working speed and reduced process steps. Attached Figure Description

[0030] Figure 1 This is a perspective view of an end-effector gripping device provided in one embodiment of this application.

[0031] Figure 2 This is a perspective view of a grasping robot provided in one embodiment of this application.

[0032] Icon labels:

[0033] 100. End-effector; 200. Robotic arm; 210. Unit arm segment;

[0034] 1000, Device base; 2000, First gripping component; 3000, Second gripping component;

[0035] 1001, Connecting part; 1100, Connecting substrate; 1200, First unit substrate; 1300, Second unit substrate;

[0036] 1210, First positioning element; 1220, First telescopic element; 1230, First positioning support; 1240, First telescopic support; 1250, First pressure bar gripper;

[0037] 1310, Second positioning element; 1320, Second telescopic element; 1330, Second positioning support; 1340, Second telescopic support; 1350, Second pressure bar gripper. Detailed Implementation

[0038] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of this application. Therefore, this application is not limited to the specific embodiments disclosed below.

[0039] In the description of this application, it should be understood that if terms such as "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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.

[0040] Furthermore, where the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, where the term "multiple" appears, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0041] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise expressly limited. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0042] In this application, unless otherwise expressly specified and limited, the use of descriptions such as "above" or "below" the second feature indicates that the first and second features are in direct contact or indirect contact via an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. Similarly, "below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0043] It should be noted that if an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. If an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. If so, the terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used in this application are for illustrative purposes only and do not represent the only possible implementation.

[0044] See Figure 1 As shown, this application provides an end effector 100, which includes a device base 1000. The device base 1000 is provided with a first unit region and a second unit region, wherein the device base 1000 defines a central virtual baseline, and the first unit region and the second unit region are symmetrically arranged with respect to the central virtual baseline. The end effector 100 also includes a first grasping component 2000 and a second grasping component 3000. The first grasping component 2000 is disposed in the first unit region of the device base 1000 and is configured to grasp one target subject. The second grasping component 3000 is disposed in the second unit region of the device base 1000 and is configured to grasp another target subject.

[0045] In one embodiment, the target object is configured as a flower basket. Therefore, the aforementioned end effector 100, by providing two gripping components—a first gripping component 2000 and a second gripping component 3000—on the device base 1000, can simultaneously grip two target objects. During the simultaneous gripping of two target objects by the first gripping component 2000 and the second gripping component 3000, it is not necessary to modify the logical control content such as the movement speed and working steps of the gripping robot; instead, the gripping efficiency is improved by changing the number of gripping components.

[0046] For example, the first gripping component 2000 and the second gripping component 3000 are symmetrically arranged relative to the central virtual baseline, and are configured to simultaneously grip two target entities. Therefore, based on this symmetrical design, when the first gripping component 2000 and the second gripping component 3000 grip the flower basket, collisions that could lead to defects or fragmentation can be avoided. Consequently, the gripping robot can perform the flower basket gripping action based on the most suitable movement speed and work steps, ensuring stability and accuracy during the gripping process, and ensuring that the robotic arm 200 of the gripping robot maintains a safe and permissible speed. This effectively improves productivity and equipment stability, and avoids technical problems such as program abnormalities and malfunctions caused by increased working speed and reduced process steps.

[0047] In one embodiment, the device base 1000 is provided with a connecting portion 1001, the central virtual reference line of the device base 1000 passing through the connecting portion 1001. The connecting portion 1001 is configured to detachably connect the device base 1000 to the robotic arm 200. One or more connecting portions 1001 may be provided, and the connecting portion 1001 may be designed as a hole structure, a snap-fit ​​structure, a threaded structure, etc., without limitation. For example, in one embodiment, the connecting portion 1001 is configured as a connecting circular hole formed in the device base 1000, the central virtual reference line of the device base 1000 passing through the virtual center of the connecting circular hole, and the connecting circular hole being divided into two symmetrical hole portions by the central virtual reference line. This ensures that the first gripping component 2000 and the second gripping component 3000 are symmetrically arranged with respect to the central virtual reference line.

[0048] Regarding the aforementioned device base 1000, in one embodiment, the device base 1000 may include a connecting substrate 1100, a first unit substrate 1200, and a second unit substrate 1300. The connecting portion 1001 is disposed on the connecting substrate 1100. The first unit substrate 1200 is connected to the connecting substrate 1100. The first unit region is located on the surface of the first unit substrate 1200. The first gripping component 2000 is disposed on the first unit substrate 1200. The second unit substrate 1300 is connected to the connecting substrate 1100. The second unit region is located on the surface of the second unit substrate 1300. The second gripping component 3000 is disposed on the second unit substrate 1300.

[0049] The first unit substrate 1200 and the second unit substrate 1300 are symmetrically arranged relative to the connecting substrate 1100. Furthermore, the first unit substrate 1200 and the second unit substrate 1300 can be integrally formed relative to the connecting substrate 1100, or they can be separate structures relative to the connecting substrate 1100, and then assembled by threaded connection, snap-fit, welding, or other methods. Therefore, based on the design of the device base 1000 including the first unit substrate 1200 and the second unit substrate 1300 relative to the connecting substrate 1100, the first gripping component 2000 and the second gripping component 3000 can be spatially separated relative to the robotic arm 200, without interfering with the operation of the gripping robot and avoiding affecting its movement flexibility.

[0050] Regarding the gripping component, in one embodiment, the first gripping component 2000 may include a first positioning element 1210 and a first telescopic element 1220. The first positioning element 1210 and the first telescopic element 1220 are disposed on the first unit substrate 1200, wherein the telescopic direction of the first telescopic element 1220 is towards the first positioning element 1210. Therefore, the first positioning element 1210 can position one location of the flower basket, and the first telescopic element 1220 positions the flower basket at another location by telescopically extending and retracting, thereby realizing the gripping operation of the flower basket. The first positioning element 1210 may be a positioning pin, etc., and the first telescopic element 1220 may be a cylinder, hydraulic cylinder, electric telescopic rod, etc., without limitation.

[0051] The second gripping component 3000 includes a second positioning element 1310 and a second telescopic element 1320. The second positioning element 1310 and the second telescopic element 1320 are disposed on the second unit substrate 1300, wherein the telescopic direction of the second telescopic element 1320 is towards the second positioning element 1310. Therefore, the second positioning element 1310 can position the flower basket at one location, and the second telescopic element 1320 positions the flower basket at another location by telescopic movement, thereby realizing the gripping operation of the flower basket. The second positioning element 1310 can be a positioning pin, etc., and the second telescopic element 1320 can be a cylinder, hydraulic cylinder, electric telescopic rod, etc., without limitation.

[0052] In one embodiment, the first gripping assembly 2000 may further include a first positioning support 1230 and a first telescopic support 1240. In one embodiment, both the first positioning support 1230 and the first telescopic support 1240 are configured as plate-like members, and are vertically disposed at opposite ends of the first unit substrate 1200. The first positioning support 1230 and the first telescopic support 1240 are disposed on the first unit substrate 1200, the first positioning element 1210 is disposed on the first positioning support 1230, and the first telescopic element 1220 is disposed on the first telescopic support 1240. The first gripping assembly 2000 may further include at least one first pressure bar gripper 1250, which is disposed on the first telescopic support 1240.

[0053] The second gripping assembly 3000 further includes a second positioning support 1330 and a second telescopic support 1340, wherein both the second positioning support 1330 and the second telescopic support 1340 are configured as plate-like members, and are vertically disposed at opposite ends of the second unit substrate 1300. The second positioning support 1330 and the second telescopic support 1340 are disposed on the second unit substrate 1300, the second positioning element 1310 is disposed on the second positioning support 1330, and the second telescopic element 1320 is disposed on the second telescopic support 1340. The second gripping assembly 3000 may further include at least one second pressure bar gripper 1350, which is disposed on the second telescopic support 1340.

[0054] See Figure 2As shown, this application provides a grasping robot, which includes a robotic arm 200 and an end effector 100. The robotic arm 200 includes several sequentially connected unit arm segments 210. The end effector 100 is assembled to the farthest unit arm segment 210 of the robotic arm 200. Since the specific structure, functional principle, and technical effects of the end effector 100 have been described in detail above, they will not be repeated here. Any technical details regarding the end effector 100 can be found in the foregoing description.

[0055] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0056] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. An end-effector gripping device, characterized in that, The end-effector includes: The device base is provided with a first unit area and a second unit area, wherein the device base defines a central virtual reference line, and the first unit area and the second unit area are symmetrically arranged with respect to the central virtual reference line. A first grasping component is disposed in a first unit region of the device substrate, and the first grasping component is configured to grasp a target body; A second gripping component is disposed in a second unit region of the device substrate, and the second gripping component is configured to grip another target body.

2. The end-effector gripping device according to claim 1, characterized in that, The target object is configured as a flower basket; and / or, The first grasping component and the second grasping component are symmetrically arranged with respect to the central virtual baseline, and the first grasping component and the second grasping component are configured to simultaneously grasp two target subjects.

3. The end-effector gripping device according to claim 1, characterized in that, The device base is provided with a connecting part, and the central virtual baseline of the device base passes through the connecting part. The connecting part is configured to detachably connect the device base to the robotic arm.

4. The end-effector gripping device according to claim 3, characterized in that, The connecting part is configured as a connecting circular hole opened in the device base, the central virtual reference line of the device base passes through the virtual center of the connecting circular hole, and the connecting circular hole is divided into two symmetrical hole parts by the central virtual reference line.

5. The end-effector gripping device according to claim 3, characterized in that, The device base includes: A connecting substrate, wherein the connecting portion is disposed on the connecting substrate; A first unit substrate, the first unit substrate being connected to the connecting substrate, the first unit region being located on the surface of the first unit substrate, and the first gripping component being disposed on the first unit substrate; The second unit substrate is connected to the connecting substrate, the second unit region is located on the surface of the second unit substrate, and the second gripping component is disposed on the second unit substrate. The first unit substrate and the second unit substrate are symmetrically arranged with respect to the connecting substrate.

6. The end-effector gripping device according to claim 5, characterized in that, The first gripping component includes a first positioning element and a first telescopic element, the first positioning element and the first telescopic element being disposed on the first unit substrate, wherein the telescopic direction of the first telescopic element is toward the first positioning element; and / or, The second gripping component includes a second positioning element and a second telescopic element, which are disposed on the second unit substrate, wherein the telescopic direction of the second telescopic element is toward the second positioning element.

7. The end-effector gripping device according to claim 6, characterized in that, The first gripping component further includes a first positioning support and a first telescopic support, the first positioning support and the first telescopic support being disposed on the first unit substrate, the first positioning element being disposed on the first positioning support, and the first telescopic element being disposed on the first telescopic support; and / or, The second gripping component further includes a second positioning support and a second telescopic support. The second positioning support and the second telescopic support are disposed on the second unit substrate. The second positioning element is disposed on the second positioning support, and the second telescopic element is disposed on the second telescopic support.

8. The end-effector gripping device according to claim 7, characterized in that, The first gripping component further includes at least one first pressure bar gripper, the first pressure bar gripper being disposed on the first telescopic support; and / or, The second gripping component further includes at least one second pressure bar gripper, which is disposed on the second telescopic support.

9. The end-effector gripping device according to claim 7, characterized in that, Both the first positioning support and the first telescopic support are configured as plate-shaped members, and are perpendicularly disposed at opposite ends of the first unit substrate; and / or, Both the second positioning support and the second telescopic support are configured as plate-shaped members, and the second positioning support and the second telescopic support are vertically disposed at opposite ends of the second unit substrate.

10. A grasping robot, characterized in that, The grasping robot includes: A robotic arm, comprising a number of sequentially connected unit arm segments; The end-effector as described in any one of claims 1-9, wherein the end-effector is mounted on the far end unit segment of the robotic arm.

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