A composite work end and collaborative robot

Abstract

The utility model belongs to the field of automobile automation production and manufacturing technology discloses compound work end and cooperation robot. Compound work end is used for taking and placing work piece, material frame and material tray, and compound work end includes body, hooking assembly, magnetic attraction subassembly and sucking disc subassembly. Hooking assembly is used for hooking material frame, magnetic attraction subassembly is equipped in the body, is used for through the magnetic attraction effect and is used for taking or releasing the magnetic attraction effect and releases work piece or hooking assembly, sucking disc subassembly is equipped in the body, is used for taking and placing material tray through adsorption effect. Through the utility model, can significantly improve the adaptability of material, material frame and material tray and catch, reduce the frequency and required time of changing fixture in the automation production line, improve overall production efficiency, reduce equipment investment and maintenance cost, flexible adaptation to a variety of material and process demand, enhance the flexibility and reconfigurability of production line, reduce a large number of change space, improve processing efficiency.

Description

Technical Field

[0001] This utility model relates to the field of automotive automated production and manufacturing technology, and in particular to a composite working end and collaborative robot. Background Technology

[0002] In automotive parts manufacturing plants, mechanical automation has become widespread. A series of processes, including welding, assembly, pressing, gluing, screwing, grinding, cleaning, and loading and unloading machine tools, have all been fully automated. In particular, the application of robots is the most important core technology for achieving automation.

[0003] Currently, collaborative robots have begun to be widely used, effectively improving the safety and stability of human-computer interaction.

[0004] In collaborative robots, the core actuator for automation applications is the working end. Currently, the integration level of the working end is not high, and it is difficult to adapt to the grasping action of various materials, resulting in poor adaptability. Utility Model Content

[0005] The purpose of this invention is to provide a composite working end and collaborative robot to improve adaptability to gripping various workpieces and materials.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A composite working end for picking up and placing workpieces, material frames, and material trays, comprising:

[0008] ontology;

[0009] Hook assembly for hooking the material frame;

[0010] A magnetic attraction component, disposed on the body, is used to attract or release the workpiece or the hook assembly by magnetic attraction;

[0011] A suction cup assembly is provided on the main body and is used to pick up and put down the material tray by suction.

[0012] As an optional solution for a composite working end, the main body includes a first frame and a second frame, the magnetic suction component is disposed on the first frame, and the suction cup component is disposed on the second frame.

[0013] As an optional solution for a composite working end, the magnetic suction assembly includes a connector connected to the first frame and a plurality of magnetic suction elements disposed on the connector, the magnetic suction elements being used to generate magnetic suction force.

[0014] As an optional solution for a composite working end, the connector is provided with two limiting parts facing each other, and a limiting area is formed between the two limiting parts, the limiting area being used to accommodate the workpiece.

[0015] As an optional solution for the composite working end, the connector is equipped with a sensor for detecting the position of the workpiece on the magnetic suction assembly and the hook assembly.

[0016] As an optional solution for a composite workpiece, a first angle is formed between the first frame and the second frame, and the first angle is a right angle or an obtuse angle.

[0017] As an optional solution for a composite working end, the hook assembly includes a connecting plate and multiple hooks disposed on the connecting plate. The magnetic attraction assembly can attract the connecting plate through magnetic attraction or release the connecting plate by demagnetizing it.

[0018] As an optional solution for a composite working end, the suction cup assembly includes multiple connecting plates, and multiple suction elements are spaced apart on the connecting plates. The suction elements are used to attract the material tray.

[0019] A collaborative robot, including a drive unit and a composite working end as described in any of the above solutions, wherein the body and the drive end of the drive unit are detachably connected.

[0020] As an optional solution for collaborative robots, the composite working end also includes a vision component, which is disposed on the body and is used to identify the position of the workpiece. The vision component is signal-connected to the drive component.

[0021] Beneficial effects:

[0022] In the first aspect of this invention, the main body can provide stable support and precise positioning for hook components, magnetic components, and suction cup components. The hook component can directly hook onto the material frame, but it is not directly integrated into the main body; it can be used in conjunction with the magnetic component according to usage requirements. Specifically, in use, the magnetic component first attracts the hook component, and then the hook component directly hooks onto the material frame. Therefore, the hook component and the main body can be separate structures, detached from the main body when not in use, and working in conjunction with the magnetic component when in use. The magnetic component attracts or releases the hook component through magnetic attraction, enabling quick disassembly and detachment. The suction cup component can adsorb the material tray through vacuum adsorption, thereby enabling the picking and placing of the material tray. This composite working end integrates multiple operation methods (such as hooking, magnetic attraction, and vacuum suction) that originally required multiple dedicated tooling into one unit, significantly improving the adaptability to gripping materials, material frames, and material trays. This reduces the frequency and time required for fixture changes in automated production lines, making it particularly suitable for applications where workpieces, material frames, and trays require continuous or alternating operations, thereby significantly improving overall production efficiency and reducing equipment investment and maintenance costs. Furthermore, the magnetic suction component not only picks up workpieces but also serves as a quick-connect interface for hook components. Therefore, by changing different hook components (such as hooks adapted to different sized material frames), the magnetic suction object can be directly adjusted, flexibly adapting to various material and process requirements, enhancing the flexibility and reconfigurability of the production line. Moreover, the integration of the magnetic suction component and suction cup component into the main body, while the hook components are independent of the main body, significantly reduces changeover space and improves processing efficiency compared to existing fully separate structural solutions.

[0023] In a second aspect of this invention, the collaborative robot based on this composite working end can improve its adaptability to grasping different materials and increase work efficiency. Attached Figure Description

[0024] Figure 1 This is a first structural schematic diagram of the composite working end provided in this embodiment of the utility model;

[0025] Figure 2 This is a schematic diagram of the second structure of the composite working end provided in this embodiment of the present invention.

[0026] In the picture:

[0027] 1. Main body; 11. First frame; 12. Second frame;

[0028] 2. Hook assembly; 21. Connecting disc; 22. Hook;

[0029] 3. Magnetic suction assembly; 31. Connector; 311. Limiting part; 312. Limiting area; 32. Magnetic suction component;

[0030] 4. Suction cup assembly; 41. Connecting plate; 42. Adsorption component;

[0031] 5. Sensors;

[0032] 6. Visual components. Detailed Implementation

[0033] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, not the entire structure.

[0034] In the description of this utility model, unless otherwise explicitly specified and limited, the terms "connected," "linked," and "fixed" 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. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0035] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0036] In the description of this embodiment, the terms "upper," "lower," "right," etc., refer to the orientation or positional relationship shown in the accompanying drawings. They are used only for ease of description and simplification of operation, 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. Therefore, they should not be construed as limitations on this utility model. In addition, the terms "first" and "second" are only used for distinction in description and have no special meaning.

[0037] The first aspect of this embodiment relates to a composite working end. This composite working end is used for picking up and placing workpieces, material frames, and material trays.

[0038] It should be noted that the workpieces involved in this embodiment can be disc-shaped (such as gear ring workpieces), block-shaped, or plate-shaped, etc. The material frame is a magnetically attracted metal frame used to hold workpieces or other materials. The material frame has a hollow structure with multiple interconnected metal wires or rods. The material tray (such as a pallet) is a metal tray used to hold workpieces or other materials. The material tray has a flat structure and its interior should have a limiting structure to stably place the workpiece or material on it. This limiting structure can be a limiting protrusion or a limiting groove for accommodating part of the workpiece and material. Furthermore, the application scenarios of this composite working end are not limited to automotive parts manufacturing; it is applicable to all manufacturing production lines using workpieces, material trays, and material frames with the above characteristics.

[0039] Please see the appendix Figure 1 and attached Figure 2 The composite working end is used to pick up and place workpieces, material frames, and material trays, and includes a main body 1, a hook assembly 2, a magnetic suction assembly 3, and a suction cup assembly 4. The hook assembly 2 is used to hook the material frame; the magnetic suction assembly 3 is located on the main body 1 and is used to pick up or release the workpiece or hook assembly 2 by magnetic attraction; the suction cup assembly 4 is located on the main body 1 and is used to pick up and place the material tray by suction.

[0040] Specifically, the main body 1 provides stable support and precise positioning for the hook assembly 2, magnetic assembly 3, and suction cup assembly 4. The hook assembly 2 can directly hook onto the material frame. However, the hook assembly 2 is not directly integrated into the main body 1; it can be used in conjunction with the magnetic assembly 3 as needed. In use, the magnetic assembly 3 first engages with the hook assembly 2, and then the hook assembly 2 directly hooks onto the material frame. Therefore, the hook assembly 2 and the main body 1 can be separate structures. When not in use, it detaches from the main body 1. When in use, it works with the magnetic assembly 3, and the magnetic attraction of the magnetic assembly 3 allows for the quick-release of the hook assembly 2. The suction cup assembly 4 can use vacuum adsorption to attract the material tray, thereby enabling the placement and removal of the material tray.

[0041] In this embodiment, the composite working end integrates multiple operation methods (such as hooking, magnetic attraction, and vacuum suction) that originally required multiple dedicated toolings into one unit, significantly improving its adaptability to material, material frame, and material tray gripping. It also reduces the frequency and time required for changing fixtures in automated production lines, making it particularly suitable for situations where workpieces, material frames, and material trays require continuous or alternating operations, thereby significantly improving overall production efficiency and reducing equipment investment and maintenance costs. Furthermore, the magnetic attraction component 3 not only picks up workpieces but also serves as a quick-connect interface for the hooking component 2. Therefore, by changing different hooking components 2 (such as hooks adapted to different sized material frames), the magnetic attraction object can be directly adjusted, flexibly adapting to various material and process requirements, enhancing the flexibility and reconfigurability of the production line. Further, the magnetic attraction component 3 and suction cup component 4 are integrated into the body 1, while the hooking component 2 is set independently of the body 1. Compared to existing technologies with entirely separate structures, this reduces the changeover space significantly and improves processing efficiency.

[0042] Optionally, the main body 1 includes a first frame 11 and a second frame 12, with the magnetic suction component 3 disposed on the first frame 11 and the suction cup component 4 disposed on the second frame 12.

[0043] Specifically, both the first frame 11 and the second frame 12 are frame structures, with the magnetic suction assembly 3 and the suction cup assembly 4 independently installed in the first frame 11 and the second frame 12, respectively. The magnetic suction assembly 3 and the suction cup assembly 4 are directly connected to the main body 1 by bolts, or they can be indirectly connected through intermediate parts.

[0044] Those skilled in the art will understand that the first frame 11 and the second frame 12 in this embodiment are only set up for positioning and supporting the magnetic suction component 3 and the suction cup component 4. The specific materials, structures and shapes can be selected according to the requirements of usage space, support strength, stability and service life, etc., and this embodiment does not make specific limitations.

[0045] Furthermore, a first included angle is formed between the first frame 11 and the second frame 12, and the first included angle is a right angle or an obtuse angle.

[0046] In this embodiment, the first included angle is a right angle, and the first frame 11 and the second frame 12 are set at the first included angle, which can reduce the space occupied by the main body 1. In use, the positions of the first frame 11 and the second frame 12 can be adjusted. At the same time, the magnetic suction component 3 and the suction cup component 4 are both set on the outside of the main body 1. Combined with the setting of the first included angle, the spatial layout of the magnetic suction component 3 and the suction cup component 4 can be improved, and the space utilization rate can be increased.

[0047] Furthermore, the magnetic attraction assembly 3 includes a connector 31 connected to the first frame 11 and a plurality of magnetic attraction elements 32 disposed on the connector 31, the magnetic attraction elements 32 being used to generate magnetic attraction force.

[0048] Specifically, the connector 31 can adopt a flange structure, the first frame 11 forms a U-shaped structure, and the connector 31 forms a support arm every 90 degrees. Three of the support arms are connected to the first frame 11, and the connection method includes, but is not limited to, threaded connection, welding, or snap-fit. A magnetic suction element 32 is connected to the end of the support arm. In this embodiment, two magnetic suction elements 32 are provided, and the two magnetic suction elements 32 are respectively set at the ends of two side-by-side support arms. The magnetic suction elements 32 can be magnetic cylinders.

[0049] A magnetic cylinder has a set of high-strength permanent magnetic rings (inner magnetic rings) mounted on the piston, and another set of magnetic rings (outer magnetic rings) mounted inside a movable slider (or moving body) outside the cylinder barrel. These two sets of magnetic rings have opposite magnetic properties (i.e., they are each other's N and S poles). Therefore, when passing through a thin-walled cylinder barrel made of non-magnetic materials (such as aluminum alloy or stainless steel), they generate a strong mutual attraction, firmly coupling together and thus producing a magnetic attraction force. The release of the clamped object by the magnetic cylinder can be controlled by a reversing valve, which is the most basic and common method. By controlling the on / off state of the solenoid reversing valve, the direction of compressed air entering the cylinder chamber is changed. When the reversing valve switches, compressed air enters from the other end, and the piston and slider move in the opposite direction; if the reversing valve switches to the neutral position (closing all air passages), the air supply is cut off, and the piston and slider stop or return under the action of external load or their own design (such as with a spring return). Alternatively, the air supply can be cut off. After the air supply is turned off, the pressure in the two chambers of the cylinder is released through the exhaust port, and the piston and the external slider lose their power source and can move freely.

[0050] Furthermore, the connector 31 is provided with two limiting parts 311 opposite to each other, and a limiting area 312 is formed between the two limiting parts 311. The limiting area 312 is used to accommodate the workpiece.

[0051] Specifically, limiting parts 311 are formed or provided at the ends of the other two support arms on the connector 31. The limiting parts 311 are columnar structures, and the space between the two limiting parts 311 forms a limiting area 312. The limiting area 312 can accommodate the workpiece. When the workpiece is attracted by the two magnetic suction parts 32, the workpiece is also placed in the limiting area 312, thereby maintaining the stability and positional accuracy of the workpiece.

[0052] Optionally, a sensor 5 is provided on the connector 31, which is used to detect the position of the workpiece on the magnetic suction assembly 3 and the hook assembly 2.

[0053] Specifically, a sensor 5 is also installed on the connector 31. The sensor 5 can detect the position of the workpiece on the magnetic suction assembly 3 and the hook assembly 2. Before the magnetic attraction, the position of the two can be detected by the sensor 5 to ensure the accuracy of the magnetic attraction assembly 3 at the position of the workpiece and the hook assembly 2.

[0054] Optionally, the hook assembly 2 includes a connecting plate 21 and a plurality of hooks 22 disposed on the connecting plate 21, and the magnetic attraction assembly 3 can attract the connecting plate 21 by magnetic attraction or release the connecting plate 21 by demagnetizing.

[0055] Specifically, the connecting plate 21 has a circular disc structure, and multiple hooks 22 are provided on the connecting plate 21 to accommodate various hooking methods of the material frame. At the same time, the structure of the connecting plate 21 also facilitates attraction and release via the magnetic suction component 3. While ensuring the hooking function is achieved, the entire hooking component 2 is further made more compact.

[0056] Furthermore, the suction cup assembly 4 includes multiple connecting plates 41, and multiple suction elements 42 are spaced apart on the connecting plates 41. The suction elements 42 are used to suction the material tray.

[0057] In this embodiment, an adsorption element 42 is provided at each end of the connecting plate 41, and multiple connecting plates 41 are arranged side by side to ensure sufficient adsorption force. The adsorption element 42 can be a vacuum suction cup to adsorb onto the smooth surface of the material tray, thereby realizing the gripping and transfer of the material tray.

[0058] The second aspect of this embodiment also relates to a collaborative robot, which includes a drive unit and a composite working end, wherein the body 1 is detachably connected to the drive end of the drive unit.

[0059] Specifically, the driving component is used to move and switch the composite working end at different workstations, thereby realizing automated position switching function.

[0060] Collaborative robots based on this composite working end can improve their adaptability to grasping different materials and increase work efficiency.

[0061] Furthermore, the composite working end also includes a vision component 6, which is located on the body 1. The vision component 6 is used to identify the position of the workpiece and is connected to the drive component via signal.

[0062] Specifically, the vision component 6 can use a 3D camera to take pictures of the workpiece, while controlling the drive component to move precisely, so as to achieve precise grasping of the workpiece.

[0063] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make various obvious changes, readjustments, and substitutions without departing from the protection scope of this utility model. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A composite working end for picking up and placing workpieces, material frames, and material trays, characterized in that, include: Ontology(1); Hook assembly (2) is used to hook the material frame; A magnetic suction component (3) is provided on the body (1) for attracting or releasing the workpiece or the hook assembly (2) by magnetic attraction. The suction cup assembly (4) is located on the body (1) and is used to pick up and put down the tray by suction.

2. The composite working terminal according to claim 1, characterized in that, The main body (1) includes a first frame (11) and a second frame (12), the magnetic suction component (3) is disposed on the first frame (11), and the suction cup component (4) is disposed on the second frame (12).

3. The composite working end according to claim 2, characterized in that, The magnetic suction assembly (3) includes a connector (31) connected to the first frame (11) and a plurality of magnetic suction elements (32) disposed on the connector (31), the magnetic suction elements (32) being used to generate magnetic attraction force.

4. The composite working end according to claim 3, characterized in that, The connector (31) has two limiting parts (311) opposite to each other, and a limiting area (312) is formed between the two limiting parts (311), which is used to accommodate the workpiece.

5. The composite working end according to claim 3, characterized in that, The connector (31) is provided with a sensor (5), which is used to detect the position of the workpiece on the magnetic suction assembly (3) and the hook assembly (2).

6. The composite working end according to claim 2, characterized in that, The first frame (11) and the second frame (12) form a first angle, which is a right angle or an obtuse angle.

7. The composite working terminal according to claim 1, characterized in that, The hook assembly (2) includes a connecting plate (21) and a plurality of hooks (22) provided on the connecting plate (21). The magnetic suction assembly (3) can magnetically attract the connecting plate (21) or release the connecting plate (21) by releasing the magnetic attraction.

8. The composite working end according to claim 2, characterized in that, The suction cup assembly (4) includes multiple connecting plates (41), and multiple suction elements (42) are spaced apart on the connecting plates (41). The suction elements (42) are used to suction the material tray.

9. A collaborative robot, characterized in that, Includes a drive unit and a composite working end as described in any one of claims 1-8, wherein the body (1) is detachably connected to the drive end of the drive unit.

10. The collaborative robot according to claim 9, characterized in that, The composite working end also includes a vision component (6), which is disposed on the body (1). The vision component (6) is used to identify the position of the workpiece and is signal-connected to the driving component.

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