end effector

Abstract

The application provides an end picker, comprising a first connecting plate, a support arranged below the first connecting plate, a weighing assembly arranged between the first connecting plate and the support, and a suction assembly installed below the support, wherein the suction assembly comprises a plurality of suction pieces for sucking parts; a detection sensor is installed on the suction piece, and the detection sensor is configured to output a detection signal when the suction piece is close to or sucks the part; and the weighing assembly is configured to detect the weight of the part sucked by the suction piece. The end picker can judge whether the part suction is successful, whether the suction is correct, and whether the number of sucked parts is correct, so as to ensure that the automatic suction process is successful and the information is correct.

Description

Technical Field

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

[0002] End effectors are typically installed at the end of industrial robots or sorting / palletizing equipment to automatically pick up and transport steel plate parts. They are widely used in steel plate loading and unloading lines and sorting / palletizing lines in engineering machinery, shipbuilding, and automobile manufacturing processes.

[0003] Currently, end effectors include a suction component that picks up parts. However, during use, end effectors may fail to pick up parts that should be picked up or fail to place parts that should be placed. Alternatively, the suction component may pick up two or more parts, causing the automated picking process to fail or resulting in errors. Utility Model Content

[0004] This application provides an end effector that can determine whether part pickup was successful, whether the pickup was correct, and whether the number of parts picked up was correct, ensuring that the automated pickup process is successful and the information is correct.

[0005] This application provides an end effector, including:

[0006] First connecting plate;

[0007] A support component is located below the first connecting plate;

[0008] The weighing assembly is disposed between the first connecting plate and the support member; and

[0009] A suction assembly, mounted below the support, includes multiple suction components for suctioning parts;

[0010] The suction unit is equipped with a detection sensor, which is configured to output a detection signal when the suction unit approaches or picks up a part; the weighing component is configured to detect the weight of the part picked up by the suction unit.

[0011] In one embodiment, the weighing assembly includes a plurality of weighing sensors, all of which are connected between the first connecting plate and the support member.

[0012] In one embodiment, the end effector further includes a vision unit, which includes a first bracket and a camera, one end of the first bracket being connected to a support member and the camera being mounted on the other end of the first bracket.

[0013] In one embodiment, the support includes a second connecting plate and a beam mounted below the second connecting plate, and a weighing component is connected between the first connecting plate and the second connecting plate;

[0014] The suction assembly also includes an adjustment unit and two second supports. At least one second support is slidably connected to the beam. Multiple suction components are installed below each second support. The adjustment unit is connected to the second support and is configured to drive the second support to slide relative to the beam.

[0015] In one embodiment, the adjustment unit includes a motor, a gear, and a rack. The motor is mounted on the beam, the gear is connected to the output shaft of the motor, and the rack is connected to a second bracket and meshes with the gear.

[0016] In one embodiment, the suction assembly further includes a mounting frame and a guide rod. The mounting frame is installed below the second bracket, the guide rod passes through the mounting frame and is slidably connected to the mounting frame, and the suction element is installed at the bottom end of the guide rod.

[0017] In one embodiment, an elastic element is sleeved on the guide rod, one end of which abuts against the fixing frame and the other end of which abuts against the suction element.

[0018] In one embodiment, the suction assembly further includes a position sensor, with a sensing plate mounted on the guide rod and the position sensor mounted on a fixture, the position sensor being configured to acquire the position of the sensing plate.

[0019] In one embodiment, a slide rail is provided on the fixed frame, and a limiting part is provided on the guide rod. The limiting part passes through the slide rail, and the sensing plate is installed on the limiting part.

[0020] In one embodiment, the suction element is an electro-permanent magnet.

[0021] The end effector provided in this application embodiment can pick up parts using a suction component, and a detection sensor can detect whether the suction component is approaching or picking up a part. When the end effector picks up a part through the suction component and moves upward, if the detection sensor has a signal, it means the part has been successfully picked up; if the detection sensor has no signal, it means the part has not been successfully picked up. When the end effector lowers the part, the presence or absence of a signal from the detection sensor can determine whether the part has been successfully lowered. When a part is successfully picked up, a weighing component can obtain the weight of the part. By comparing this weight with the theoretical weight of the part, it can determine whether the number of parts picked up is correct and whether the correct number of parts has been picked up. In this way, the end effector can determine whether the part picking up is successful, whether the picking up is correct, and whether the number of parts picked up is correct, ensuring the success of the automated picking process and the accuracy of the information. Attached Figure Description

[0022] To more clearly illustrate the technical solutions in the embodiments or exemplary embodiments of this application, the accompanying drawings used in the description of the embodiments or exemplary embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is a schematic diagram of the incoming steel plates;

[0024] Figure 2 This is a schematic diagram of the end effector provided in an embodiment of this application;

[0025] Figure 3 A schematic diagram of the end effector provided in an embodiment of this application from another perspective;

[0026] Figure 4 This is a schematic diagram showing the connection between the weighing component and the suction component provided in an embodiment of this application;

[0027] Figure 5 This is a schematic diagram of the structure of the visual unit provided in the embodiments of this application;

[0028] Figure 6 A partial structural diagram of the suction component provided in the embodiments of this application. Figure 1 ;

[0029] Figure 7 A partial structural diagram of the suction component provided in the embodiments of this application. Figure 2 ;

[0030] Figure 8 for Figure 7 A sectional view.

[0031] Figure label:

[0032] 100. First connecting plate;

[0033] 200. Support component; 210. Second connecting plate; 220. Beam body;

[0034] 300. Weighing assembly; 310. Weighing sensor;

[0035] 400. Suction assembly; 410. Suction component; 420. Detection sensor; 431. Motor; 432. Gear; 433. Rack; 440. Second bracket; 450. Fixing frame; 451. Slide rail; 460. Guide rod; 461. Sensing plate; 462. Limiting part; 470. Position sensor; 480. Elastic element;

[0036] 510. First tripod; 520. Camera;

[0037] 600. Parts. 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] 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.

[0042] End effectors are typically installed at the end of industrial robots or sorting / palletizing equipment to automatically pick up and transport steel plate parts. They are widely used in steel plate loading and unloading lines and sorting / palletizing lines in engineering machinery, shipbuilding, and automobile manufacturing processes. The working principle of end effectors is generally that they are attracted to the surface of the workpiece by a vacuum or electro-permanent magnet chuck, and the workpiece is transported by a highly flexible special fixture. Through proximity sensors, programmable logic controllers, etc., an automated end effector picking and transport system for workpieces is formed.

[0043] like Figure 1 As shown, after the steel plate is processed by the laser cutting machine and the plasma cutting machine, it becomes parts, frames and scraps. The parts and scraps need to be sorted out from the platform and stored in different material boxes according to regulations.

[0044] Currently, end effectors include a suction component that picks up parts. When an end effector uses an electro-permanent magnet as the suction component, during the actual picking process, due to reasons such as failure of the end effector to activate / deactivate magnets or parts sticking to the frame, the end effector may fail to pick up or place the parts it should. Alternatively, when the end effector picks up a part from the top of a stack, excessive magnetic force may cause it to pick up two or more steel plates. In such cases, the end effector cannot correctly report this information, causing the equipment or system to believe that the parts have been successfully picked up or placed, resulting in failure of the automated picking process or incorrect information.

[0045] To address the aforementioned issues, this application provides an end effector that uses a suction component to pick up parts, and a detection sensor to detect whether the suction component is approaching or picking up a part. When the end effector picks up a part via the suction component and moves upwards, a signal from the detection sensor indicates that the part has been successfully picked up; no signal indicates that the part has not been successfully picked up. When the end effector lowers the part, the presence or absence of a signal from the detection sensor determines whether the part has been successfully lowered. When a part is successfully picked up, a weighing component acquires the part's weight. By comparing this weight with the part's theoretical weight, it can determine whether the number of parts picked up is correct and whether the correct number of parts was picked up. In this way, the end effector can determine whether part picking was successful, whether the correct parts were picked up, and whether the number of parts picked up is correct, ensuring the success of the automated picking process and the accuracy of the information.

[0046] The specific structure of the end effector provided in the embodiments of this application will be described below with reference to the accompanying drawings.

[0047] Reference Figures 2 to 7 As shown, this application embodiment provides an end effector, including a first connecting plate 100, a support member 200, and a suction assembly 400. The first connecting plate 100 is used for connection between the device and the end effector, and is installed at the end of a gantry device or an industrial robot.

[0048] A support member 200 is disposed below the first connecting plate 100. A weighing assembly 300 is disposed between the first connecting plate 100 and the support member 200. A suction assembly 400 is mounted below the support member 200 and includes a plurality of suction members 410 for suctioning parts 600. A detection sensor 420 is mounted on each suction member 410 and is configured to output a detection signal when the suction member 410 approaches or suctions a part 600. The weighing assembly 300 is configured to detect the weight of the part 600 suctioned by the suction members 410.

[0049] Schematic illustration: the top of the weighing assembly 300 is connected to the first connecting plate 100, and the bottom of the weighing assembly 300 is connected to the support member 200. When the end effector picks up part 600, the weighing assembly 300 can obtain the weight of part 600. After picking up part 600, the end effector compares the feedback value from the weighing assembly 300 with the theoretical weight of part 600 to determine if the picked-up part 600 and the quantity of part 600 are correct. Simultaneously, based on the weight change obtained by the weighing assembly 300, it can determine if there are any abnormalities in part 600 (such as part 600 sticking to the frame, part 600 being stuck, or multiple parts 600 being picked up).

[0050] When the gantry equipment or industrial robot moves the end effector downwards so that the multiple suction components 410 of the end effector come into contact with the part 600 to be picked up, the end effector can pick up the part 600 through the multiple suction components 410. At this time, the gantry equipment or industrial robot can drive the part 600 to move through the end effector.

[0051] The detection sensor 420 can be mounted on the side of the suction member 410 via a bracket, with the detection end of the sensor 420 facing downwards. When the suction member 410 approaches or picks up the part 600, the detection sensor 420 will output a detection signal, indicating that the suction member 410 has approached or contacted the part 600. After the end effector picks up the part 600 through the suction member 410, whether the part 600 has been successfully picked up can be determined based on whether the detection sensor 420 outputs a detection signal. Furthermore, during the process of the end effector lifting the part 600 through the suction member 410, if the signal of the detection sensor 420 remains unchanged, it indicates that the part 600 has been successfully grasped; if the signal of the detection sensor 420 changes, it indicates that the part 600 has fallen.

[0052] Optionally, each pick-up element 410 is equipped with a detection sensor 420, and different detection sensors 420 are used to detect signals for different parts 600 with different sizes and shapes.

[0053] When the gantry crane or industrial robot moves the end effector downwards towards part 600, the detection sensor 420 outputs a detection signal, indicating that the end effector has approached part 600. This design prevents the gantry crane or industrial robot from moving the end effector too quickly and colliding with part 600, thus protecting both part 600 and the end effector.

[0054] In one embodiment, such as Figures 2-4 As shown, the weighing assembly 300 includes multiple weighing sensors 310, all of which are connected between the first connecting plate 100 and the support member 200.

[0055] Multiple weighing sensors 310 are configured as a group, and those skilled in the art can reasonably configure the position of each weighing sensor 310 as needed. For example, the shape of the first connecting plate 100 can be rectangular, and the number of weighing sensors 310 can be four, with the four weighing sensors 310 respectively located at the four corners of the first connecting plate 100.

[0056] In this embodiment, the weighing assembly 300 uses multiple weighing sensors 310 in combination for weighing, which can compensate for the off-center load of the part 600 when the end effector picks it up, and improve the weighing accuracy of the weighing assembly 300.

[0057] In one embodiment, such as Figure 2 , Figure 3 and Figure 5 As shown, the end effector also includes a vision unit. The vision unit includes a first bracket 510 and a camera 520. One end of the first bracket 510 is connected to the support member 200, and the camera 520 is mounted on the other end of the first bracket 510.

[0058] Schematic, the gantry equipment or industrial robot also includes a vision system (such as an industrial computer) that can execute algorithm modules to control the end effector's movements. Exemplarily, the two ends of the first support 510 can be connected to the camera 520 and the support member 200 respectively via fasteners.

[0059] When the incoming steel plate is delivered to the sorting station, the vision system receives the steel plate arrival signal and the incoming steel plate drawing information. The vision system calls the algorithm module to control the camera 520 to take pictures of the steel plate according to the size and position of the incoming steel plate, and obtain the position and angle of each part 600.

[0060] After the camera 520 takes a picture, the vision system calls the algorithm module to analyze the parts 600 in the incoming steel plate drawing, calculates the picking position of each part 600 according to the external dimensions of the picking part 410, and plans the picking sequence of the parts 600.

[0061] In this embodiment, the control system of the gantry equipment or industrial robot can identify the parameters, position, and posture of each part 600 by taking pictures with the camera 520 of the vision unit. The control system can calculate the suction point of the suction component 410 and control the movement of the gantry equipment or industrial robot. Using a vision unit to coordinate the movement of the equipment and the grasping and placing of the end effector increases the stability and reliability of the gantry equipment or industrial robot.

[0062] In one embodiment, such as Figure 2 , Figure 3 and Figure 6 As shown, the support member 200 includes a second connecting plate 210 and a beam 220 installed below the second connecting plate 210. A weighing assembly 300 is connected between the first connecting plate 100 and the second connecting plate 210. For example, the shape and size of the second connecting plate 210 can match the first connecting plate 100. The top end of the weighing assembly 300 is connected to the first connecting plate 100, and the bottom end of the weighing assembly 300 is connected to the second connecting plate 210. The second connecting plate 210 and the beam 220 can be fixed by welding or fastening with fasteners, etc., without limitation.

[0063] The suction assembly 400 also includes an adjustment unit and two second supports 440, at least one of which is slidably connected to the beam 220. Multiple suction elements 410 are mounted below each second support 440. The adjustment unit is connected to the second support 440 and is configured to cause the second support 440 to slide relative to the beam 220.

[0064] In this configuration, either only one second bracket 440 can be slidably connected to the beam 220, or two second brackets 440 can be slidably connected to the beam 220 respectively. The second bracket 440 can be slidably connected to the beam 220 via a sliding rail and slider mechanism, with the sliding direction of the second bracket 440 parallel to the length direction of the beam 220. For example... Figure 2 , Figure 3 and Figure 6 As shown, four suction components 410 can be installed below each second bracket 440. Here, the multiple suction components 410 below each second bracket 440 are defined as a group, and the distance between the two groups of suction components 410 can be adjusted when the adjustment unit drives the second bracket 440 to slide.

[0065] With the above settings, the position between the suction components 410 can be adjusted, thereby enabling the end effector to adapt to parts 600 of different sizes and improving the versatility of the end effector.

[0066] In one possible implementation, when the end effector is equipped with a vision unit, the camera 520 of the vision unit can take pictures and calculate the position of the suction part 410 of the end effector. The vision unit controls the end effector to adjust the position of the suction part 410 to adapt to different parts 600. Then, the end effector at the end of the industrial robot or sorting / palletizing equipment picks up the parts 600 and puts them into the material frame.

[0067] In a specific embodiment, such as Figure 2 and Figure 3 As shown, the adjustment unit includes a motor 431, a gear 432, and a rack 433. The motor 431 is mounted on the beam 220, the gear 432 is connected to the output shaft of the motor 431, and the rack 433 is connected to the second bracket 440 and meshes with the gear 432.

[0068] For example, the body of motor 431 is connected to one side of beam 220, and the output shaft of motor 431 passes through beam 220 and is connected to gear 432 on the other side of beam 220. The extension direction of rack 433 is parallel to the length direction of beam 220. Rack 433 can be connected to second bracket 440 through fixing block. When motor 431 drives gear 432 to rotate, the second bracket 440 can slide relative to beam 220 through the cooperation between gear 432 and rack 433.

[0069] With this structure, the adjustment unit can accurately adjust the position between the suction components 410, thereby enabling the end effector to more reliably pick up the component 600.

[0070] In other embodiments, other structures such as ball screws or timing belts may also be used as adjustment units.

[0071] In a specific embodiment, such as Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the suction assembly 400 also includes a mounting bracket 450 and a guide rod 460. The mounting bracket 450 is mounted below the second bracket 440, and the guide rod 460 passes through the mounting bracket 450 and is slidably connected to it. The suction element 410 is mounted at the bottom end of the guide rod 460.

[0072] For example, the top end of the mounting bracket 450 can be secured to the second bracket 440 by fasteners. The mounting bracket 450 has an interior cavity through which the guide rod 460 passes. The guide rod 460 extends vertically and can slide relative to the mounting bracket 450 along its extension direction.

[0073] When the gantry crane or industrial robot moves the end effector downwards to approach the part 600, after the detection sensor 420 outputs a detection signal, the gantry crane or industrial robot continues to move the end effector downwards, causing the suction element 410 on the guide rod 460 to abut against the part 600 to be suctioned. As the end effector continues to move downwards, the guide rod 460 slides relative to the fixed frame 450. The above arrangement ensures that the suction element 410 contacts the part 600 while preventing a hard collision between the part 600 and the suction element 410, thereby protecting both the part 600 and the end effector.

[0074] In a more specific embodiment, such as Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, an elastic element 480 is sleeved on the guide rod 460. One end of the elastic element 480 abuts against the fixed frame 450, and the other end of the elastic element 480 abuts against the suction element 410.

[0075] Schematic illustration: the bottom of the guide rod 460 extends out of the fixing bracket 450, and the elastic element 480 is sleeved on the portion of the guide rod 460 that extends out of the fixing bracket 450. The top end of the elastic element 480 abuts against the bottom end of the fixing bracket 450, and the bottom end of the elastic element 480 abuts against the top end of the suction member 410. The elastic element 480 is used to reliably press the suction member 410 onto the part 600. The compression stroke of the elastic element 480 can be selected according to the maximum thickness of the part 600 to compensate for the height difference of the upper surface of the part 600.

[0076] When the suction member 410 comes into contact with the part 600, as the end effector continues to move downward, the guide rod 460 slides relative to the fixed frame 450, causing the elastic member 480 to be compressed. The elastic force of the elastic member 480 can make the suction member 410 reliably contact the part 600, ensuring that the suction member 410 can reliably pick up the part 600.

[0077] like Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8 As shown, the suction assembly 400 also includes a position sensor 470. A sensing plate 461 is mounted on the guide rod 460. The position sensor 470 is mounted on the bracket 450 and is configured to acquire the position of the sensing plate 461.

[0078] The positioning sensor 470 can be mounted on the mounting bracket 450 via a bracket, with its detection end facing the guide rod 460. When the suction member 410 is not in contact with the part 600, the sensing plate 461 on the guide rod 460 is positioned below the positioning sensor 470 under the elastic force of the elastic member 480. After the suction member 410 comes into contact with the part 600, as the end effector continues to move downwards, the sensing plate 461 on the guide rod 460 can move to a position directly opposite the positioning sensor 470. When the sensing plate 461 moves to the position directly opposite the positioning sensor 470, the positioning sensor 470 outputs a detection signal, indicating that the compression of the elastic member 480 has been completed, ensuring that the suction member 410 reliably contacts the part 600 under the elastic force of the elastic member 480, further ensuring that the suction member 410 can reliably pick up the part 600.

[0079] Optionally, each suction component 410 is equipped with a detection sensor 420 and a positioning sensor 470, which can accurately detect the contact between the suction component 410 and the part 600, and accurately monitor the signal of the detection sensor 420 to determine whether the part 600 has been successfully gripped, thus avoiding errors in the automatic control caused by the end effector grabbing empty or failing to put down.

[0080] In a more specific embodiment, such as Figure 7 and Figure 8 As shown, a slide rail 451 is provided on the fixed frame 450, and a limiting part 462 is provided on the guide rod 460. The limiting part 462 passes through the slide rail 451, and the sensing plate 461 is installed on the limiting part 462.

[0081] Schematic illustration: a slotted hole can be formed in the mounting bracket 450 as a slide rail 451, the length direction of which is parallel to the sliding direction of the guide rod 460. The limiting part 462 can be a rod-shaped structure, the extension direction of which is perpendicular to the extension direction of the guide rod 460. Understandably, the guide rod 460 can drive the limiting part 462 to slide in the slide rail 451. The sensing plate 461 is disposed on the outside of the mounting bracket 450 and fixed to the limiting part 462.

[0082] In this embodiment, the cooperation between the limiting part 462 and the slide rail 451 can guide and limit the guide rod 460, restricting its movement relative to the fixed frame 450. Furthermore, the cooperation between the limiting part 462 and the slide rail 451 can also limit the stroke of the guide rod 460, preventing it from detaching from the fixed frame 450.

[0083] In one embodiment, such as Figure 2 , Figure 3 , Figure 6 , Figure 7 and Figure 8As shown, the suction element 410 is an electro-permanent magnet.

[0084] Those skilled in the art will understand that by passing an electric current through the electro-permanent magnet, the magnet can be controlled to begin magnetization, and once magnetization is complete, the electro-permanent magnet can pick up and place parts 600 of different thicknesses. By controlling the magnitude and direction of the current flowing through the electro-permanent magnet, it is possible to pick up and place parts 600 of different thicknesses.

[0085] When the end effector is equipped with a vision system, after the camera 520 of the vision system takes a picture, the vision system calls the algorithm module to analyze the part 600 in the incoming steel plate drawing, calculates the magnetic activation point of each part 600 according to the shape and size of the electro-permanent magnet and the distribution of magnetic points, and plans the picking sequence of the part 600.

[0086] This structure uses an electro-permanent magnet as the picking element 410, which can reliably pick up the part 600.

[0087] In other embodiments, a vacuum suction cup may also be used as the suction element 410.

[0088] The following is a brief description of the working process of the end effector, so that those skilled in the art can better understand the technical solution of this application.

[0089] Step 1: The incoming steel plate is delivered to the sorting station. The vision system receives the steel plate arrival signal and the incoming steel plate drawing information. The vision system calls the algorithm module to guide the camera 520 to take pictures of the steel plate according to the size and position of the incoming steel plate, and obtain the position and angle of each part 600.

[0090] Step 2: After the camera 520 takes a picture, the vision system calls the algorithm module to analyze the part 600 in the incoming steel plate drawing. Based on the shape and size of the electro-permanent magnet and the distribution of magnetic points, it calculates the magnetic activation point of each part 600 and plans the order of picking up the parts 600.

[0091] Step 3: According to the picking sequence and part 600 position planned by the vision system, the gantry equipment or industrial robot moves the end effector above the part 600 to be picked up; according to the magnetic activation point position of part 600 calculated by the vision system, the adjustment unit adjusts the magnetic point distribution of the electro-permanent magnet.

[0092] Step 4: The gantry equipment or industrial robot moves the end effector downwards towards part 600. When the detection sensor 420 close to the electro-permanent magnet approaches part 600, it will give a signal indicating that the end effector has approached part 600. The gantry equipment or industrial robot continues to move the end effector downwards. At this time, the elastic element 480 above the electro-permanent magnet is compressed. At the same time, the guide rod 460 and the sensing plate 461 on the guide rod 460 also move upwards until the sensing plate 461 is detected by the positioning sensor 470, indicating that the compression of the elastic element 480 has been completed. Under the elastic force of the elastic element 480, the electro-permanent magnet makes reliable contact with part 600.

[0093] Step 5: After the positioning sensor 470 detects the sensing element 461, the electro-permanent magnet begins to magnetize. Once magnetization is successful, the gantry crane or industrial robot moves its end effector upwards to pick up part 600. When the end effector moves above the steel plate, if the detection sensor 420 still has a signal, it indicates that part 600 has been successfully picked up. Simultaneously, the feedback value from the weighing component 300 is compared with the theoretical weight of part 600 to determine if the picked-up part 600 and its quantity are correct.

[0094] Step 6: When part 600 is successfully picked up and its weight is correct, the gantry crane or industrial robot places the end effector and part 600 in the line-side material box. If part 600 is successfully picked up or its weight is correct, and either is incorrect, the picking of part 600 is considered a failure. There is also a situation where the feedback value from the weighing component 300 is significantly greater than the theoretical weight of part 600 to be picked up; in this case, the picking of part 600 is also considered a failure. For the failed part 600, reset it and try picking it up again. If the picking is successful, continue with steps 3-5. If the picking fails again, skip the failed part 600 and continue with steps 3-5 until all parts 600 have been picked up.

[0095] 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.

[0096] The above embodiments merely illustrate 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, characterized in that, include: First connecting plate; A support component is disposed below the first connecting plate; A weighing component is disposed between the first connecting plate and the support member; as well as A suction assembly is installed below the support member, and the suction assembly includes a plurality of suction members for suctioning parts; The suction device is equipped with a detection sensor, which is configured to output a detection signal when the suction device approaches or picks up the part; the weighing component is configured to detect the weight of the part picked up by the suction device.

2. The end effector according to claim 1, characterized in that, The weighing assembly includes multiple weighing sensors, all of which are connected between the first connecting plate and the support member.

3. The end effector according to claim 1, characterized in that, The end effector also includes a vision unit, which includes a first bracket and a camera. One end of the first bracket is connected to the support member, and the camera is mounted on the other end of the first bracket.

4. The end effector according to claim 1, characterized in that, The support includes a second connecting plate and a beam installed below the second connecting plate, and the weighing component is connected between the first connecting plate and the second connecting plate; The suction assembly further includes an adjustment unit and two second supports. At least one second support is slidably connected to the beam. Multiple suction components are installed below each second support. The adjustment unit is connected to the second support and is configured to drive the second support to slide relative to the beam.

5. The end effector according to claim 4, characterized in that, The adjustment unit includes a motor, a gear, and a rack. The motor is mounted on the beam, the gear is connected to the output shaft of the motor, and the rack is connected to the second bracket and meshes with the gear.

6. The end effector according to claim 4, characterized in that, The suction assembly further includes a fixing frame and a guide rod. The fixing frame is installed below the second bracket, the guide rod passes through the fixing frame and is slidably connected to the fixing frame, and the suction element is installed at the bottom end of the guide rod.

7. The end effector according to claim 6, characterized in that, An elastic element is sleeved on the guide rod, one end of which abuts against the fixing frame, and the other end of which abuts against the suction element.

8. The end effector according to claim 7, characterized in that, The suction assembly also includes a position sensor. A sensing plate is mounted on the guide rod, and the position sensor is mounted on the mounting bracket. The position sensor is configured to acquire the position of the sensing plate.

9. The end effector according to claim 8, characterized in that, The fixed frame is provided with a slide rail, and the guide rod is provided with a limiting part. The limiting part is provided through the slide rail, and the sensing plate is installed on the limiting part.

10. The end effector according to any one of claims 1-9, characterized in that, The suction element is an electro-permanent magnet.

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