Compact lateral size based on built-in position detection components

Abstract

The utility model discloses a kind of transverse size compact type grab end effector based on built-in position detection component, including cylinder and position detection device, cylinder is equipped with sliding slot, sliding block is slidably connected in sliding slot, position detection device includes servo detection unit and position sensor;The lower part of sliding block is equipped with recessed inductive piece installation groove, servo detection unit is installed in inductive piece installation groove and follows sliding block synchronous motion;Servo detection unit includes: inductive head, adjusting screw and fixed head;Fixed head is fixedly connected with sliding block, inductive head is sleeved in adjusting screw outside, and both are screw thread connection, one end of adjusting screw is rotatably connected with fixed head;Position sensor is installed in the lower part outside of cylinder, for cooperating with inductive head, the position information of sliding block is detected.Compared with prior art, the position detection device in the utility model is built-in structure, does not increase the transverse size of end effector after installation, and inductive head position can be flexibly adjusted, and application is convenient.

Description

Technical Field

[0001] This utility model belongs to the field of industrial robot technology, and in particular relates to a compact gripper end effector with a built-in position detection component. Background Technology

[0002] The gripping robot includes multiple gripping fingers for jointly gripping and holding workpieces. Each gripping finger is connected to a telescopic slider. In order to detect and control the opening and closing position of the gripping fingers, corresponding position detection components need to be designed into the robot.

[0003] In related technologies, Chinese Patent No. 202521800196.2 describes a centering adsorption manipulator with a single-power drive and multiple positioning claw units that synchronously retract obliquely (e.g. Figure 1 The device includes a cylinder and multiple sets of positioning claw units that are slidably connected to the cylinder. A magnet 012 is provided on the outer side of one end of the inclined rod in any one of the positioning claw units. The centering and adsorption manipulator, which drives the multiple positioning claw units to retract obliquely and synchronously, also includes a magnetic switch mounting base 013 mounted on the cylinder and located on one side of the magnet 012. The magnetic switch mounting base 013 is equipped with a first magnetic switch 014 and a second magnetic switch 015 that cooperate with the magnet 012 and are used to detect the open and retracted limit positions of the inclined rod 021.

[0004] The shortcoming of the existing technology is that the magnetic switch mounting base, the first magnetic switch, and the second magnetic switch in the robot are all located on the outside of the cylinder body, which increases the lateral volume of the cylinder body. Moreover, the larger the interval between the first and second magnetic switches, the more significant the increase in lateral dimension. In situations where the lateral dimension of the robot is strictly controlled (such as narrow aisles, dense workstations, and the interior of confined equipment), this structure of robot clearly cannot meet the requirements.

[0005] Therefore, it is necessary to provide a new laterally compact gripper end effector based on a built-in position detection component to solve the above-mentioned technical problems. Summary of the Invention

[0006] (a) Technical problems to be solved Based on this, the present invention provides a compact gripper end effector with a built-in position detection component, in order to solve the technical problem that the existing robotic arms have a large overall lateral dimension due to the installation of position detection components, making them unsuitable for applications with strict lateral dimension requirements.

[0007] (II) Technical Solution To solve the above-mentioned technical problems, this utility model proposes a compact lateral gripper end effector based on a built-in position detection component, including a cylinder body with a recessed groove on the cylinder body. A slider is slidably connected within the groove. The compact lateral gripper end effector also includes a position detection device; the position detection device includes a follow-up detection unit and a position sensor; the lower part of the slider has a recessed sensor mounting groove, and the follow-up detection unit is installed within the sensor mounting groove and moves synchronously with the slider. The follow-up detection unit includes: a sensing head, an adjusting screw, and a fixing head; the fixing head is fixedly connected to the slider, the sensing head is sleeved on the adjusting screw and the two are threaded together, and one end of the adjusting screw is rotatably connected to the fixing head; the position sensor is installed on the lower outer side of the cylinder body, the cylinder body is provided with a vertically arranged detection through hole, the upper end of the detection through hole is connected to the bottom of the slide groove, and the lower end of the detection through hole penetrates the cylinder body and is positioned directly opposite the position sensor, the position sensor is used to cooperate with the sensing head to detect the position information of the slider.

[0008] Preferably, the sensor mounting slot includes a fixed head mounting slot, and the upper part of the fixed head is housed in the fixed head mounting slot; the follow-up detection unit also includes a flat-end set screw arranged parallel to and spaced apart from the adjusting screw, one end of the flat-end set screw abutting against the fixed head, the other end of the flat-end set screw passing through the sensor head, and the two being threadedly connected; the adjusting screw, the fixed head, the flat-end set screw and the sensor head together form a closed rectangular frame.

[0009] Preferably, the sensor mounting groove further includes a sensor sliding mounting groove that communicates with the fixed head mounting groove. The lower two sides of the sensor sliding mounting groove are respectively provided with a stepped support surface, and the sensor sliding mounting groove is T-shaped as a whole. The sensor head is rectangular block-shaped as a whole, and the two stepped support surfaces respectively support the lower two sides of the sensor head.

[0010] Preferably, the bottom of the chute is further provided with a recessed sensing extension receiving groove, and a sensing plate extending into the sensing extension receiving groove is provided on one side of the bottom of the sensing head. The lower part of the sensing plate is spaced apart from the bottom of the sensing extension receiving groove.

[0011] Preferably, one end of the adjusting screw is provided with a raised anti-detachment step ring, and the fixed head is provided with an end receiving hole, in which the anti-detachment step ring is received.

[0012] Preferably, the adjusting screw has a recessed first torque transmission groove at the end away from the fixing head, and the cross-section of the first torque transmission groove is hexagonal, straight, or cross-shaped; the flat-end set screw has a recessed second torque transmission groove at the end away from the fixing head, and the second torque transmission groove has the same structure as the first torque transmission groove.

[0013] Preferably, the number of grooves is n, and each groove has a slider slidably connected to it, n≥2, where n is a natural number. Each slider has a gripper finger fixedly connected to it. The laterally compact gripper end effector based on the built-in position detection component further includes a power drive unit for driving the n sliders to extend and retract synchronously. The n grooves are evenly arranged around the power drive unit. Any two of the n sliders are selected and designated as the first slider and the second slider, respectively. The number of position detection devices is two sets. The follow-up detection unit in one set is fixedly installed on the lower part of the first slider, and the other set is... The follow-up detection unit in the position detection device is fixedly installed on the lower part of the second slider. The laterally compact gripper end effector based on the built-in position detection component includes an open limit state and a closed limit state. When the laterally compact gripper end effector based on the built-in position detection component is in the open limit state, the sensing element in one set of the position detection device is located directly above one of the position sensors. When the laterally compact gripper end effector based on the built-in position detection component is in the closed limit state, the sensing element in another set of the position detection device is located directly above another of the position sensors.

[0014] Preferably, the groove is located on the upper part of the cylinder body, and the lower outer side of the cylinder body is provided with a recessed part, n=2, the number of the recessed parts is 2, and the two recessed parts are symmetrically arranged on both sides of the cylinder body. The two position sensors in the two sets of position detection devices are respectively symmetrically installed at the two recessed parts; the cylinder body as a whole is a "T" shaped block.

[0015] Preferably, the detection through hole is a round hole.

[0016] Preferably, the fixing head is a block with a waist-shaped cross-section, and the fixing head mounting groove is a waist-shaped structure that matches the shape of the fixing head.

[0017] (III) Beneficial Effects Compared with the prior art, the compact lateral gripper end effector based on the built-in position detection component of this utility model has the following advantages: the position detection device in this utility model is a built-in structure, which will not increase the lateral size of the end effector after installation, and the position of the sensing head can be flexibly adjusted. The two sets of position detection devices can be used together to realize the complete detection of the opening and closing position of the end effector. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a three-dimensional schematic diagram of the robotic arm mentioned in the background art of this utility model; Figure 2 This is a three-dimensional schematic diagram of the overall structure of the end effector of this utility model; Figure 3 This is a top view schematic diagram of the end effector of this utility model; Figure 4 For along Figure 3 Schematic diagram of the cross section along line AA; Figure 5 This is a three-dimensional schematic diagram of part of the end effector of this utility model; Figure 6 This is a three-dimensional schematic diagram of the follow-up detection unit in the end effector of this utility model.

[0020] Explanation of reference numerals in the attached figures: 1. Cylinder block; 2. Slider; 3. Follow-up detection unit; 4. Position sensor; 5. Power drive unit; 11. Slide groove; 12. Inspection through hole; 13. Recess; 21. Sensor mounting slot; 31. Sensor head; 32. Adjusting screw; 33. Fixing head; 34. Flat-end set screw; 35. Sensor plate; 111. Induction extension receiving slot; 211. Fixed head mounting slot; 212. Sensor sliding mounting slot; 321. Anti-detachment step ring; 322. First torque transmission groove; 331. End receiving hole; 341. Second torque transmission groove; 2121. Step support surface; 012. Magnet; 013. Magnetic switch mounting base; 014. First magnetic switch; 015. Second magnetic switch; 021. Inclined rod. Detailed Implementation

[0021] To make the above-mentioned objectives, features, and advantages of this utility model more apparent and understandable, the specific embodiments of this utility model are described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a full understanding of this utility model. However, this utility model 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 utility model. Therefore, this utility model is not limited to the specific embodiments disclosed below.

[0022] The following is in conjunction with the appendix Figure 2-6 The present invention provides a further description of the laterally compact gripper end effector based on a built-in position detection component.

[0023] This utility model discloses a compact lateral gripper end effector based on a built-in position detection component, including a cylinder 1 with a recessed groove 11 on the cylinder 1. A slider 2 is slidably connected within the groove 11. The compact lateral gripper end effector also includes a position detection device, comprising a follow-up detection unit 3 and a position sensor 4. A recessed sensor mounting groove 21 is provided at the lower part of the slider 2, and the follow-up detection unit 3 is fixedly installed within the sensor mounting groove 21 and moves synchronously with the slider 2. 3 includes: a sensing head 31, an adjusting screw 32, and a fixing head 33; the fixing head 33 is fixedly connected to the slider 2, the sensing head 31 is sleeved on the adjusting screw 32 and the two are threadedly connected, one end of the adjusting screw 32 is rotatably connected to the fixing head 33; the position sensor 4 is installed on the lower outer side of the cylinder body 1, the cylinder body 1 is provided with a vertically arranged detection through hole 12, the upper end of the detection through hole 12 is connected to the bottom of the slide groove 11, the lower end of the detection through hole 12 passes through the cylinder body 1 and is set directly opposite the position sensor 4, the position sensor 4 is used to cooperate with the sensing head 31 to detect the position information of the slider 2.

[0024] In this embodiment, when the slider 2 moves and drives the sensing head 31 to move directly above the position sensor 4, the position sensor 4 senses the position signal of the sensing head 31 through the detection through-hole 12, thereby obtaining the real-time position information of the slider 2. The position sensor 4 can be a Hall effect sensor or a photoelectric sensor, with its detection end facing the lower end of the detection through-hole 12. It outputs a position signal by sensing the displacement change of the sensing head 31 (or sensing plate 35), which meets the high-precision detection requirements of this utility model.

[0025] Compared with the prior art, the laterally compact gripper end effector based on the built-in position detection component of this utility model has the following beneficial effects.

[0026] (1) Small lateral dimension. The follow-up detection unit 3 is built into the sensor mounting slot 21 at the bottom of the slider 2, which will not increase the lateral dimension of the end effector. The detection through hole 12 is located on the cylinder body 1, and the position sensor 4 is located directly below the detection through hole 12, that is, the installation of the position sensor 4 will not increase the lateral dimension of the end effector. This makes it suitable for applications where the lateral dimension is strictly required, such as in narrow aisles, dense workstations, and the interior of small equipment.

[0027] (2) The position of the sensing head 31 can be flexibly adjusted, and the combination of position detection devices can increase the range of applications. By rotating the adjusting screw 32, the sensing head 31 can slide along the axial direction of the adjusting screw 32, which can adjust the distance between the sensing head 31 and the fixed head 33, and also adjust the distance between the sensing head 31 and the position sensor 4 accordingly. In use, two sets of position detection devices can be set up to adjust the position of the sensing head 31 respectively. Since all sliders 2 move synchronously, one set of position detection devices can accurately detect the opening limit position of slider 2, and the other set can detect the closing limit position, thereby realizing the complete detection of the opening and closing position of the end effector.

[0028] (3) The structure is reasonable and the space utilization rate is high. The follow-up detection unit 3 is built into the sensor mounting slot 21 of the slider 2. Almost the entire adjustment screw 32 can be used as the adjustment stroke of the sensor head 31, so that the sensor mounting slot 21 does not need to reserve extra redundant space. The slot length on the slider 2 is short, the space utilization rate is significantly improved, and the amount of slotting processing is reduced, the processing cost is lower, and it is also conducive to ensuring the strength of the slider 2.

[0029] According to a specific embodiment of the present invention, the sensor mounting groove 21 includes a fixed head mounting groove 211, and the upper part of the fixed head 33 is housed in the fixed head mounting groove 211; the follow-up detection unit 3 also includes a flat-end set screw 34 arranged parallel to and spaced apart from the adjusting screw 32, one end of the flat-end set screw 34 abutting against the fixed head 33, and the other end of the flat-end set screw 34 passing through the sensor head 31, and the two are threadedly connected; the adjusting screw 32, the fixed head 33, the flat-end set screw 34 and the sensor head 31 together form a closed rectangular frame.

[0030] In this embodiment, a flat-end set screw 34 is added to the follow-up detection unit 3. During assembly, after the sensor head 31 is positioned, the flat-end set screw 34 is inserted and rotated to tighten the fixed head 33. This forms a rectangular frame-like integrated fixed structure with the adjusting screw 32, the fixed head 33, the flat-end set screw 34, and the sensor head 31, improving the overall stability of the follow-up detection unit 3. Furthermore, after the flat-end set screw 34 is inserted, the adjusting screw 32 can no longer be rotated, effectively ensuring the positional accuracy of the sensor head 31.

[0031] According to a specific embodiment of the present invention, the sensor mounting groove 21 further includes a sensor sliding mounting groove 212 that communicates with the fixed head mounting groove 211. A stepped support surface 2121 is provided on each of the lower two sides of the sensor sliding mounting groove 212. The sensor sliding mounting groove 212 is T-shaped as a whole, and the sensor head 31 is rectangular block-shaped as a whole. The two stepped support surfaces 2121 support the lower two sides of the sensor head 31 respectively.

[0032] In this embodiment, the sliding mounting groove 212 of the sensing element is T-shaped, with its lower two sides extending laterally inward to form two symmetrical stepped support surfaces 2121, which respectively support the lower two sides of the sensing head 31, preventing the sensing head 31 from drooping due to its own weight and further ensuring the accuracy of the position of the sensing head 31. Furthermore, since the position of the sensing head 31 in the height direction is fixed, and the fixing head 33 and the sensing head 31 are an integral structure, the downward displacement of the fixing head 33 is also prevented to a certain extent, further improving the overall stability of the follow-up detection unit 3.

[0033] According to a specific embodiment of the present invention, the bottom of the groove 11 is also provided with a recessed sensing extension receiving groove 111, and the bottom side of the sensing head 31 is provided with a sensing piece 35 extending into the sensing extension receiving groove 111. The lower part of the sensing piece 35 is spaced apart from the bottom of the sensing extension receiving groove 111.

[0034] In this embodiment, the sensing element 35 and the sensing head 31 are an integral structure. The sensing element 35 is located at the lower part, and its volume is smaller than that of the sensing head 31. Furthermore, the sensing element 35 is closer to the position sensor 4. This structure can further improve the sensing accuracy. The bottom of the sensing element 35 does not contact the cylinder body 1 to avoid interference.

[0035] According to a specific embodiment of the present invention, one end of the adjusting screw 32 is provided with a protruding anti-detachment step ring 321, and the fixed head 33 is provided with an end receiving hole 331 inside, and the anti-detachment step ring 321 is received in the end receiving hole 331.

[0036] In this embodiment, the anti-detachment step ring 321 is locked in the end receiving hole 331. With this structure, the rotational connection between the adjusting screw 32 and the fixing head 33 will not be affected. It can also fix the end of the adjusting screw 32 in the fixing head 33, thus preventing it from detaching and improving the stability of the connection.

[0037] According to a specific embodiment of the present invention, the adjusting screw 32 is provided with a recessed first torque transmission groove 322 at the end away from the fixing head 33, and the cross-section of the first torque transmission groove 322 is hexagonal, straight, or cross-shaped; the flat-end set screw 34 is provided with a recessed second torque transmission groove 341 at the end away from the fixing head 33, and the second torque transmission groove 341 has the same structure as the first torque transmission groove 322.

[0038] In this embodiment, the first torque transmission groove 322 is used for inserting a rotating tool (such as an Allen wrench or a flathead screwdriver) to drive the adjusting screw 32 to rotate, thereby transmitting torque. The first torque transmission groove 322 has a recessed structure, which reduces the operating space of the rotating tool. The second torque transmission groove 341 has the same function as the first torque transmission groove 322.

[0039] According to a specific embodiment of this utility model, the number of sliding grooves 11 is n, and a slider 2 is slidably connected in each sliding groove 11, where n ≥ 2 and n is a natural number. A gripper finger (not shown in the figure) is fixedly connected to each slider 2. The compact gripper end effector based on the built-in position detection component also includes a power drive unit 5 for driving the n sliders 2 to extend and retract synchronously. The n sliding grooves 11 are evenly arranged around the power drive unit 5. Any two of the n sliders 2 are taken and respectively designated as the first slider and the second slider. The number of position detection devices is 2 sets, and the follow-up detection unit 3 in one set of position detection devices is fixedly installed on the first slider. The lower part of the slider is fixedly installed with the follow-up detection unit 3 of the other position detection device at the lower part of the second slider. The lateral compact gripper end effector based on the built-in position detection component includes an open limit state and a closed limit state. When the lateral compact gripper end effector based on the built-in position detection component is in the open limit state, the sensing plate 35 in one position detection device is located directly above a position sensor 4. When the lateral compact gripper end effector based on the built-in position detection component is in the closed limit state, the sensing plate 35 in the other position detection device is located directly above another position sensor 4.

[0040] In this embodiment, when n=2, a two-finger translational centering gripping end effector is formed; when n=3, a three-finger translational centering gripping end effector is formed. Since all sliders 2 move synchronously, any two sliders 2 can be selected, making the installation position of the position detection device flexible. One set of position detection devices is used to detect the opening limit position of the first slider, and the other set is used to detect the closing limit position of the second slider. These opening and closing limit positions are the opening and closing limit positions of the end effector of this invention, which can meet the opening and closing position detection requirements of the end effector.

[0041] It should be noted that in this embodiment, the power drive unit 5 can be based on existing technology, consisting of a wedge block and a lifting cylinder for pushing the wedge block to extend and retract. The fact that its structure is not specifically disclosed in this utility model does not affect the full disclosure of this utility model.

[0042] According to a specific embodiment of the present invention, the slide groove 11 is located on the upper part of the cylinder body 1, and the lower outer side of the cylinder body 1 is provided with a recessed part 13, n=2, the number of recessed parts 13 is 2, and the two recessed parts 13 are symmetrically arranged on both sides of the cylinder body 1. The two position sensors 4 in the two sets of position detection devices are respectively symmetrically installed at the two recessed parts 13; the cylinder body 1 is a "T" shaped block.

[0043] In this embodiment, the upper part of the cylinder body 1 provides sufficient extension length for the slide groove 11, and the lower recess 13 of the cylinder body 1 provides ample space for installing the position sensor 4, further improving the compactness of the structure of this utility model. It should be noted that although the two position sensors 4 are used to detect the open limit position and the closed limit position of the slider 2 respectively, by reasonably adjusting the position of the sensing head 31 in the two follow-up detection units 3, the two position sensors 4 can be installed symmetrically, resulting in good symmetry and improving the interchangeability of the assembly.

[0044] According to a specific embodiment of this utility model, the detection through hole 12 is a round hole.

[0045] In this embodiment, the detection through hole 12 is a round hole, which has little impact on the strength of the cylinder body 1.

[0046] According to a specific embodiment of the present invention, the fixing head 33 is a block with a waist-shaped cross-section, and the fixing head mounting groove 211 is a waist-shaped structure that matches the shape of the fixing head 33.

[0047] In this embodiment, the corners of the groove wall of the waist-shaped fixing head mounting groove 211 are smoothly transitioned, making it easy to process. The four sides of the groove wall are flat, which can restrict the rotation of the fixing component and ensure the stability of the fixing component.

[0048] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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 connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

Claims

1. A compact lateral gripping end effector based on a built-in position detection component, comprising a cylinder body, wherein a recessed groove is provided on the cylinder body, and a slider is slidably connected within the groove, characterized in that, The laterally compact gripper end effector based on a built-in position detection component further includes a position detection device; the position detection device includes a follow-up detection unit and a position sensor; the lower part of the slider has a recessed sensor mounting groove, the follow-up detection unit is installed in the sensor mounting groove and moves synchronously with the slider; the follow-up detection unit includes: a sensing head, an adjusting screw, and a fixing head; the fixing head is fixedly connected to the slider, the sensing head is sleeved on the adjusting screw, and the two are threaded together, one end of the adjusting screw is rotatably connected to the fixing head; the position sensor is installed on the lower outer side of the cylinder, the cylinder has a vertically arranged detection through hole, the upper end of the detection through hole communicates with the bottom of the slide groove, the lower end of the detection through hole penetrates the cylinder and is positioned directly opposite the position sensor, the position sensor is used to cooperate with the sensing head to detect the position information of the slider.

2. The laterally compact gripper end effector based on a built-in position detection component according to claim 1, characterized in that, The sensor mounting slot includes a fixed head mounting slot, and the upper part of the fixed head is housed in the fixed head mounting slot; the follow-up detection unit also includes a flat-end set screw arranged side by side and spaced apart from the adjusting screw, one end of the flat-end set screw abutting against the fixed head, and the other end of the flat-end set screw passing through the sensor head, and the two being threadedly connected; the adjusting screw, the fixed head, the flat-end set screw and the sensor head together form a closed rectangular frame.

3. The laterally compact gripper end effector based on a built-in position detection component according to claim 2, characterized in that, The sensor mounting groove also includes a sensor sliding mounting groove that communicates with the fixed head mounting groove. The lower two sides of the sensor sliding mounting groove are respectively provided with a stepped support surface, and the sensor sliding mounting groove is T-shaped as a whole. The sensor head is rectangular block-shaped as a whole, and the two stepped support surfaces respectively support the lower two sides of the sensor head.

4. The laterally compact gripper end effector based on a built-in position detection component according to claim 3, characterized in that, The bottom of the chute is also provided with a recessed sensing extension receiving groove, and a sensing plate extending into the sensing extension receiving groove is provided on one side of the bottom of the sensing head. The lower part of the sensing plate is spaced apart from the bottom of the sensing extension receiving groove.

5. The laterally compact gripper end effector based on a built-in position detection component according to claim 4, characterized in that, One end of the adjusting screw is provided with a raised anti-detachment step ring, and the fixed head is provided with an end receiving hole, in which the anti-detachment step ring is received.

6. The laterally compact gripper end effector based on a built-in position detection component according to claim 5, characterized in that, The adjusting screw has a recessed first torque transmission groove at the end away from the fixing head, and the cross-section of the first torque transmission groove is hexagonal, straight, or cross-shaped; the flat-end set screw has a recessed second torque transmission groove at the end away from the fixing head, and the second torque transmission groove has the same structure as the first torque transmission groove.

7. The laterally compact gripper end effector based on a built-in position detection component according to claim 6, characterized in that, The number of grooves is n, and each groove has a slider slidably connected to it, where n ≥ 2 and n is a natural number. Each slider has a gripper finger fixedly connected to it. The laterally compact gripper end effector based on the built-in position detection component also includes a power drive unit for driving the n sliders to extend and retract synchronously. The n grooves are evenly arranged around the power drive unit. Any two of the n sliders are selected and designated as the first slider and the second slider, respectively. The number of position detection devices is two sets. The follow-up detection unit in one set is fixedly installed on the lower part of the first slider, and the other set of position detection devices... The follow-up detection unit in the measuring device is fixedly installed on the lower part of the second slider. The laterally compact gripper end effector based on the built-in position detection component includes an open limit state and a closed limit state. When the laterally compact gripper end effector based on the built-in position detection component is in the open limit state, the sensing element in one set of the position detection device is located directly above one of the position sensors. When the laterally compact gripper end effector based on the built-in position detection component is in the closed limit state, the sensing element in another set of the position detection device is located directly above another of the position sensors.

8. The laterally compact gripper end effector based on a built-in position detection component according to claim 7, characterized in that, The slide is located on the upper part of the cylinder body. The lower outer side of the cylinder body is provided with a recessed part, n=2, and there are 2 recessed parts. The two recessed parts are symmetrically arranged on both sides of the cylinder body. The two position sensors in the two sets of position detection devices are symmetrically installed at the two recessed parts respectively. The cylinder body is a "T" shaped block.

9. The laterally compact gripper end effector based on a built-in position detection component according to claim 8, characterized in that, The detection through-hole is a round hole.

10. The laterally compact gripper end effector based on a built-in position detection component according to claim 9, characterized in that, The fixing head is a block with a waist-shaped cross-section, and the fixing head mounting groove is a waist-shaped structure that matches the shape of the fixing head.

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