A robotic end effector device

Abstract

The utility model discloses a kind of robot end fixing devices, belong to mechanical hand technical field.The device is used to fix V-shaped liquid cooling secondary panel, including main frame, floating mechanism and the fixed mechanism being set to the width direction both sides of main frame.The main frame is horizontally suspended in the upper of liquid cooling secondary panel and with its length direction consistent;Floating mechanism is connected between main frame and robot end;The fixed mechanism of both sides is respectively used to fix the two inner sides of liquid cooling secondary panel, and fixed mechanism includes rotating part, positioning assembly, driving part and suction accessory, rotating part can rotate in the plane perpendicular to the inner side of liquid cooling secondary panel, positioning assembly is used to fix when rotating part rotates to predetermined angle, driving part drives suction accessory to approach or away from corresponding inner side, and suction accessory is used to generate adsorption force.The utility model has realized the bilateral adsorption fixation of V-shaped panel, and can be adapted to panel of different folding angle.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, and in particular to a robot end effector fixing device. Background Technology

[0002] In the automated assembly process of equipment such as power transformers and energy storage converters, liquid-cooled secondary panels, as the core component of liquid-cooled heat dissipation modules, need to be handled and fixedly installed by industrial robots and their end effectors.

[0003] Liquid-cooled secondary panels are typically V-shaped, with their two inner surfaces serving as the working surfaces that need to be adsorbed and fixed.

[0004] Existing technologies include adsorption devices for the end effectors of industrial robots. For example, Chinese utility model patent CN223519696U discloses a vacuum suction cup device for adsorbing irregularly shaped parts, comprising a fixed frame, a forward and reverse motor, a threaded rod, a threaded seat, a movable rod, and a suction cup body. This device uses a motor to drive the threaded rod to rotate, which in turn moves the threaded seat and the suction cup body to adjust the adsorption position.

[0005] However, it has the following problems: Firstly, since there is only one suction cup, it can only adsorb and fix one position of the workpiece. For the V-shaped liquid-cooled secondary panel, it cannot adsorb and fix the two inner sides at the same time, resulting in unstable fixation of the liquid-cooled secondary panel.

[0006] Secondly, the suction surface of the existing device has a relatively fixed orientation, making it impossible to adapt to the actual tilt angle of the workpiece surface. Because the two inner sides of the V-shaped liquid-cooled secondary panel have specific angles, and the angles vary between different models of liquid-cooled secondary panels, the existing robot's end effector can only accommodate panels with a single angle. When the production line changes to a different model of liquid-cooled secondary panel, the entire end effector must be replaced, and the robot's end effector trajectory must be recalibrated, resulting in long production line downtime and low assembly efficiency. Utility Model Content

[0007] Therefore, the purpose of this utility model is to provide a robot end effector fixing device to solve the problems mentioned in the background art.

[0008] This utility model proposes a robot end effector for fixing a V-shaped liquid-cooled secondary panel. The robot end effector includes: When fixing the liquid-cooled secondary panel, the main frame is horizontally suspended above the liquid-cooled secondary panel and the length direction of the main frame is consistent with that of the liquid-cooled secondary panel. A floating mechanism that connects the main frame and the robot end effector to enable a floating connection between the main frame and the robot end effector; Fixing mechanisms are provided on both sides of the main frame in the width direction, and the fixing mechanisms on both sides are used to fix the two inner sides of the liquid-cooled secondary panel respectively; the fixing mechanisms include: A rotating component connected to the main frame, the rotating component being able to rotate in a plane perpendicular to the inner side of the liquid-cooled secondary panel; A positioning component is used to fix the rotating part when it rotates to a predetermined angle; Drive components connected to rotating components; An adsorption element is connected to the output end of a driving element. The output end of the driving element drives the adsorption element to move so that the adsorption element moves closer to or away from the inner side of the liquid-cooled secondary panel. The adsorption element is used to generate an adsorption force to adsorb and fix the inner side of the liquid-cooled secondary panel.

[0009] As a further embodiment of this utility model, a set of multiple fixing mechanisms is provided on each side of the main frame in the width direction, and the multiple fixing mechanisms in each set are distributed at equal intervals along the length direction of the main frame.

[0010] As a further embodiment of this utility model, the distance between the two most distant fixed mechanisms in each group of fixed mechanisms is L1, and the length of the liquid-cooled secondary panel is L2, then 0.8×L2≤L1<L2.

[0011] As a further embodiment of this utility model, the positioning component includes a first positioning screw that is threadedly connected to the main frame body, and the rotating part is provided with an arc-shaped groove, through which the first positioning screw passes, and the center of the arc-shaped groove coincides with the rotation center of the rotating part.

[0012] As a further embodiment of this utility model, the positioning component includes a second positioning screw, a bracket is provided on the main frame, the second positioning screw is threadedly connected in the bracket, the tail of the second positioning screw faces the rotating part, and the second positioning screw is arranged on both sides of the rotating part in the rotation direction.

[0013] As a further embodiment of this invention, the driving component is a cylinder.

[0014] As a further embodiment of this invention, the cylinder has an adjustable stroke.

[0015] As a further embodiment of this invention, the adsorption element is an electromagnet.

[0016] As a further embodiment of this invention, the floating mechanism includes: The fastener that connects to the robot's end effector; A floating component that is connected to the main frame and parallel to the fixed component; Multiple guide members are connected between the fixed member and the floating member to constrain the vertical relative movement of the fixed member and the floating member.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This utility model has fixing mechanisms on both sides of the main frame in the width direction. The fixing mechanisms on both sides can respectively adsorb and fix the two inner sides of the liquid-cooled secondary panel, realizing the simultaneous adsorption of both sides of the V-shaped structure. Compared with the single-point adsorption and fixing device in the prior art, it effectively improves the stability and reliability of the fixation, and avoids the problem of tilting, shaking or even falling off the panel due to uneven force when adsorbing on one side.

[0018] 2. By setting up a rotating component and a positioning assembly, the adsorption surface of the adsorption component can be adjusted to be parallel to the inner surface of the liquid-cooled secondary panel, and then fixed in place by the positioning assembly. Compared with the existing adsorption devices where the adsorption surface orientation is fixed and cannot be adjusted, this invention can adapt to liquid-cooled secondary panels of different angle models. When the production line changes to different models of panels, there is no need to stop the machine and disassemble the entire end fixing device; only the angle of the rotating component needs to be adjusted to complete the switch, significantly shortening the production line downtime. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the working state of this utility model; Figure 2 This is an isometric view of the present invention; Figure 3 Axonometric view of the driving and adsorption components; Figure 4 Left view of the drive unit and the adsorption unit.

[0020] Reference numerals: 1-Liquid-cooled secondary panel, 2-Main frame, 3-Floating mechanism, 31-Fixing component, 32-Floating component, 33-Guide component, 4-Fixing mechanism, 41-Rotating component, 42-Positioning component, 421-First positioning screw, 422-Arc groove, 423-Second positioning screw, 424-Bracket, 43-Drive component, 44-Adsorption component. Detailed Implementation

[0021] To facilitate understanding of this invention, a more comprehensive description of the invention will be provided below with reference to specific embodiments. However, this invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to enable a more thorough and complete understanding of the disclosure of this invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0023] Example 1 like Figure 1 and Figure 2 As shown, this embodiment proposes a robot end effector for fixing a V-shaped liquid-cooled secondary panel 1, which includes a main frame 2, a floating mechanism 3 and a fixing mechanism 4.

[0024] The main frame 2 is the main supporting structure of the entire device, and is made of a metal material with certain rigidity and strength, such as aluminum alloy or stainless steel. The main frame 2 has a long strip-shaped plate structure, and its length direction is consistent with the length direction of the liquid-cooled secondary panel 1 to be fixed. When fixing the liquid-cooled secondary panel 1, the main frame 2 is horizontally suspended above the liquid-cooled secondary panel 1.

[0025] Compared to traditional single-point adsorption fixation, this application uses a fixing mechanism 4 to fix the two inner sides of the liquid-cooled secondary panel 1, which can improve the stability of the fixation.

[0026] A floating mechanism 3 connects the main frame 2 and the robot end effector, enabling a floating connection between them. The floating mechanism 3 includes a fixed component 31, a floating component 32, and multiple guide components 33. The fixed component 31 is connected to the robot end effector and can be fixedly connected to the robot end effector interface via bolts or quick-connect couplings. The floating component 32 is fixedly connected to the main frame 2 and is arranged parallel to the fixed component 31. Multiple guide components 33 connect the fixed component 31 and the floating component 32, constraining the vertical relative movement of the fixed component 31 and the floating component 32, thereby creating a certain vertical floating clearance between the main frame 2 and the robot end effector.

[0027] When fixing the liquid-cooled secondary panel 1, the movement trajectory of the robot end is relatively fixed, that is, the height of the main frame 2 is fixed. If there is a vertical deviation between the fixing mechanism 4 and the liquid-cooled secondary panel 1, the vertical deviation can be compensated by the floating mechanism 3 so that the fixing mechanism 4 can accurately fix the two inner sides of the liquid-cooled secondary panel 1.

[0028] Specifically, in this application, the fixing member 31 and the floating member 32 are rectangular plates, and the guide member 33 is arranged in a rectangular array at the four corners of the fixing member 31 and the floating member 32 so that the main frame 2 is subjected to uniform force when it floats vertically; the guide member 33 can be any component that can achieve vertical guidance, including telescopic rods and guide rods, etc.

[0029] In this embodiment, the guide member 33 is a guide rod, one end of which is fixedly connected to the fixing member 31, and the other end is provided with a radial protrusion. The rod body of the guide rod is slidably connected in the floating member 32. A spring can also be sleeved on the guide rod to buffer the relative movement between the fixing member 31 and the floating member 32.

[0030] like Figures 2-4 As shown, each of the fixing mechanisms 4 includes a rotating component 41, a positioning component 42, a driving component 43, and an adsorption component 44.

[0031] The rotating component 41 is connected to the main frame 2 and can rotate in a plane perpendicular to the inner side of the liquid-cooled secondary panel 1. Specifically, the rotating component 41 is a plate, and its side near the main frame 2 is rotatably connected to the main frame 2 via a pivot. By rotating the rotating component 41, the orientation of the adsorption surface of the adsorption component 44 can be adjusted so that it is parallel to the corresponding inner side of the liquid-cooled secondary panel 1.

[0032] The positioning assembly 42 is used to fix the rotating component 41 when it rotates to a predetermined angle. The positioning assembly 42 includes a first positioning screw 421 that is threadedly connected to the main frame 2. The rotating component 41 is provided with an arc-shaped groove 422, through which the first positioning screw 421 passes, and the center of the arc-shaped groove 422 coincides with the rotation center of the rotating component 41. When the rotating component 41 rotates to the predetermined angle, the first positioning screw 421 is tightened, so that its nut presses against the rotating component 41, thereby fixing the rotating component 41.

[0033] When the first positioning screw 421 is turned, the rotating part 41 may deviate from its predetermined position due to vibration. Therefore, a bracket 424 is provided on the main frame 2, and a second positioning screw 423 is threaded into the bracket 424. The tail of the second positioning screw 423 faces the rotating part 41, and the second positioning screw 423 is located on both sides of the rotation direction of the rotating part 41. By turning the second positioning screw 423 so that its tail abuts against the rotating part 41, the angle of the rotating part 41 can be fixed, and then double positioning is achieved by the first positioning screw 421.

[0034] The driving component 43 is connected to the rotating component 41 to rotate together with the rotating component 41, and the driving component 43 is used to output linear driving force. As an optional embodiment, the driving component 43 is a cylinder. Further, the cylinder has an adjustable stroke. Specifically, the cylinder can be a TCMJ model cylinder, which has a stroke adjustment limit bolt. By adjusting the stroke adjustment limit bolt, the maximum extension length of the cylinder piston rod can be changed, thereby adapting to liquid-cooled secondary panels 1 of different sizes and specifications, ensuring that the adsorption component 44 can fully fit the inner side of the panel.

[0035] The adsorption member 44 is connected to the output end of the driving member 43, so that the driving member 43 can move the adsorption member 44 closer to or further away from the corresponding inner surface of the liquid-cooled secondary panel 1. The adsorption member 44 is used to generate an adsorption force to adsorb and fix the inner surface of the liquid-cooled secondary panel 1. As an optional embodiment, the adsorption member 44 is an electromagnet. When the electromagnet is energized, it generates a magnetic attraction force to adsorb and fix the inner surface of the liquid-cooled secondary panel 1; when the electromagnet is de-energized, the magnetic attraction force disappears, and the liquid-cooled secondary panel 1 is released. The electromagnet is fixed to the output end of the driving member 43 by a mounting bracket and moves together with the output end of the driving member 43.

[0036] As another alternative implementation, the adsorption element 44 can also be a vacuum suction cup. The vacuum suction cup is connected to an external vacuum source through a pipe, and the vacuum source generates negative pressure to achieve adsorption and fixation of the inner surface of the liquid-cooled secondary panel 1.

[0037] The working process of the robot end effector in this embodiment is as follows: According to the angle of the liquid-cooled secondary panel 1 to be fixed, the rotating parts 41 of each fixing mechanism 4 are adjusted to a predetermined angle so that the adsorption surface of the adsorption member 44 is parallel to the inner side of the corresponding liquid-cooled secondary panel 1, and the rotating parts 41 are fixed by the positioning component 42.

[0038] At this time, the driving component 43 drives the adsorption component 44 to move towards the inner side of the liquid-cooled secondary panel 1, and the adsorption component 44 generates an adsorption force to adsorb and fix the liquid-cooled secondary panel 1.

[0039] As the robot end effector moves along a predetermined trajectory, it reaches a fixed height above the liquid-cooled secondary panel 1. However, for different models of liquid-cooled secondary panels 1, the adsorption component 44 needs to move different distances under the action of the drive component 43. The cylinder can only move according to a predetermined stroke. Therefore, the maximum extension length of the cylinder piston rod can be changed by adjusting the stroke limit bolt to adjust the predetermined stroke of the cylinder, thereby adapting to liquid-cooled secondary panels 1 of different sizes and specifications, and ensuring that the adsorption component 44 can fully fit the inner side of the panel.

[0040] Example 2 The difference between this embodiment and Embodiment 1 lies in the number and distribution of the fixing mechanisms 4.

[0041] like Figure 2 As shown, a set of fixing mechanisms 4 is provided on each side of the main frame 2 in the width direction, and each set of fixing mechanisms 4 includes multiple fixing mechanisms 4. Specifically, the multiple fixing mechanisms 4 in each set are distributed at equal intervals along the length direction of the main frame 2. By providing multiple fixing mechanisms 4 in the length direction of the main frame 2, multiple adsorption points can be formed in the length direction of the liquid-cooled secondary panel 1, so that the adsorption force is more evenly distributed over the entire length range of the panel, avoiding uneven force and tilting and shaking caused by concentrated adsorption force.

[0042] Furthermore, the distance between the two furthest fixing mechanisms 4 in each group of fixing mechanisms 4 is L1, and the length of the fixed liquid-cooled secondary panel 1 is L2. Therefore, 0.8 × L2 ≤ L1 < L2. By limiting the distance between the two furthest fixing mechanisms 4 within the above range, the adsorption points can cover most of the length of the liquid-cooled secondary panel 1, avoiding the concentration of adsorption points in local areas of the panel, thereby further improving the stability and reliability of adsorption fixation.

[0043] Specifically, in this embodiment, two fixing mechanisms 4 are provided on each side of the main frame 2 in the width direction, so as to perform two-point adsorption fixation on both inner sides of the liquid-cooled secondary panel 1.

[0044] 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.

[0045] The above embodiments only illustrate several implementation methods of this utility model, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model patent should be determined by the appended claims.

Claims

1. A robot end effector for fixing a V-shaped liquid-cooled secondary panel (1), characterized in that, The robot end effector includes: When the main frame (2) is fixed to the liquid-cooled secondary panel (1), the main frame (2) is horizontally suspended above the liquid-cooled secondary panel (1) and the length direction of the main frame (2) is consistent with that of the liquid-cooled secondary panel (1). A floating mechanism (3) is connected between the main frame (2) and the robot end to enable the main frame (2) to float and connect with the robot end. Fixing mechanisms (4) are provided on both sides of the main frame (2) in the width direction. The fixing mechanisms (4) on both sides are used to fix the two inner sides of the liquid-cooled secondary panel (1); the fixing mechanisms (4) include: A rotating component (41) connected to the main frame (2) is rotatable in a plane perpendicular to the inner side of the liquid-cooled secondary panel (1); Positioning component (42) is used to fix the rotating component (41) when it rotates to a predetermined angle; A drive unit (43) connected to the rotating component (41); An adsorption element (44) is connected to the output end of a drive element (43). The output end of the drive element (43) drives the adsorption element (44) to move so that the adsorption element (44) moves closer to or further away from the inner side of the liquid-cooled secondary panel (1). The adsorption element (44) is used to generate an adsorption force to adsorb and fix the inner side of the liquid-cooled secondary panel (1).

2. The robotic end effector of claim 1, wherein, On each side of the width direction of the main frame (2), a set of multiple fixing mechanisms (4) are provided, and the multiple fixing mechanisms (4) in each set are distributed at equal intervals along the length direction of the main frame (2).

3. The robot end effector fixing device according to claim 1, characterized in that, The distance between the two furthest fixed mechanisms (4) in each group of fixed mechanisms (4) is L1, and the length of the liquid-cooled secondary panel (1) is L2. Then 0.8×L2≤L1<L2.

4. The robot end effector fixing device according to claim 1, characterized in that, The positioning component (42) includes a first positioning screw (421) threadedly connected to the main frame (2). The rotating part (41) is provided with an arc groove (422). The first positioning screw (421) passes through the arc groove (422). The center of the arc groove (422) coincides with the rotation center of the rotating part (41).

5. The robot end effector fixing device according to claim 1, characterized in that, The positioning component (42) includes a second positioning screw (423), and a bracket (424) is provided on the main frame (2). The second positioning screw (423) is threadedly connected in the bracket (424), and the tail of the second positioning screw (423) faces the rotating part (41). The second positioning screw (423) is located on both sides of the rotation direction of the rotating part (41).

6. The robotic end effector device of claim 1, wherein, The driving component (43) is a cylinder.

7. A robot end effector fixing device according to claim 6, characterized in that, The cylinder has an adjustable stroke.

8. The robot end effector fixing device according to claim 1, characterized in that, The adsorption element (44) is an electromagnet.

9. A robot end effector fixing device according to claim 1, characterized in that, The floating mechanism (3) includes: A fastener (31) that connects to the end effector of the robot. A floating component (32) that is connected to the main frame (2) and parallel to the fixing component (31); Multiple guides (33) are connected between the fixed member (31) and the floating member (32) to constrain the vertical relative movement of the fixed member (31) and the floating member (32).

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