Mobile robot flexible end effector

Abstract

The utility model provides a mobile robot flexible end pick-up device, including joint, fixed plate, bottom plate, guide hole, the both ends of joint take hole, the bottom fixedly connected with a plurality of fixed plate of joint, the bottom fixedly connected with bottom plate of fixed plate, the both ends of bottom plate are equipped with strip guide hole, the bottom of bottom plate is detachably connected with crossbeam, the fastener is tightly had in guide hole. The utility model's advantage lies in: two stage adjustability: through the horizontal adjusting mechanism that guide hole, crossbeam, fastener constitute and the longitudinal adjusting mechanism that guide groove, guide rod, locking piece constitute, has realized the position adjustable of flexible sucking disc on two -dimensional plane (horizontal and longitudinal). The position of two flexible sucking discs on a crossbeam can also be independently adjusted. Strong versatility: can quickly adapt to different size, shape, workpiece of grabbing point, need not to replace whole end pick-up device body, significantly improves the flexible level and production efficiency of robot production line.

Description

Technical Field

[0001] This utility model relates to the field of robot end effector technology, and in particular to flexible end effectors for mobile robots. Background Technology

[0002] In the field of industrial automation, mobile robots are widely used in material handling, workpiece loading and unloading, and production line operation. As a key actuator of the robot, the performance of the end effector directly affects the grasping efficiency, stability, and system flexibility. Currently, most common end effectors adopt a fixed structure or a limited adjustable design, which has the following shortcomings: Poor adaptability: Traditional end effectors typically have fixed suction cup or clamp positions, making it difficult to quickly adapt to workpieces of different sizes, shapes, or gripping requirements. Once the workpiece model changes, it often requires replacing the entire end effector or performing cumbersome mechanical adjustments, leading to extended production line downtime and reduced production efficiency. Limited adjustability: While some existing end effectors offer some adjustability, it is mostly limited to coarse adjustments in a single direction (such as horizontal or vertical), lacking multi-dimensional fine adjustment capabilities. For workpieces with complex curved surfaces, easily deformable surfaces, or special requirements for suction position (such as thin plates, glass, and plastic parts), it is difficult to achieve the optimal suction layout, easily leading to unstable gripping or workpiece damage. Excessive structural rigidity: Most end effectors use rigid connections and fixed suction cup layouts, lacking the ability to compensate for minor unevenness or posture deviations on the workpiece surface. When adsorbing irregular workpieces, uneven force can easily lead to suction failure or workpiece slippage. Insufficient integration and maintainability: Some existing adjustable end effectors have complex structures, and the adjustment mechanisms often rely on special tools. The disassembly and adjustment process is time-consuming, and the gas path connection often lacks unified optimization, which affects the reliability and airtightness of negative pressure adsorption.

[0003] Therefore, there is an urgent need for an end effector solution that is highly flexible, multi-directionally adjustable, compact in structure, and easy to maintain, in order to improve the operational adaptability and efficiency of mobile robots in flexible production with multiple varieties and small batches. Utility Model Content

[0004] The purpose of this invention is to at least solve one of the aforementioned technical defects.

[0005] Therefore, one objective of this invention is to propose a flexible end effector for mobile robots to solve the problems mentioned in the background art and overcome the shortcomings of the existing technology.

[0006] To achieve the above objectives, one embodiment of the present invention provides a flexible end effector for a mobile robot, including a connector, a fixing plate, a base plate, and guide holes. The connector has holes at both ends, and a plurality of fixing plates are fixedly connected to the bottom of the connector. The base plate is fixedly connected to the bottom of the fixing plate, and strip-shaped guide holes are provided at both ends of the base plate. A crossbeam is detachably connected to the bottom of the base plate, and a fastener is fastened in the guide hole. The fastener is inserted into the crossbeam at a fixed position. The crossbeam has strip-shaped guide grooves at both ends, and guide rods are movably connected in the guide grooves. Locking elements are threaded onto the outer surface of the guide rods and are tightened onto the surface of the crossbeam. An air connector is fixedly connected to the top end of the guide rod, and a flexible suction cup is fixedly connected to the bottom end of the guide rod.

[0007] Preferably, in any of the above embodiments, the joint is perpendicular to the fixing plate, and the fixing plate is welded to the joint.

[0008] The above technical solution is adopted: This device is a flexible end effector for a mobile robot, wherein the connector is connected to the load end of the robot through a bolt and nut assembly.

[0009] The specific component is a flexible suction cup, which is connected to a negative pressure source via an air connector. During operation, a negative pressure is generated at the flexible suction cup, and multiple flexible suction cups work together to pick up and extract the workpiece.

[0010] Preferably, in any of the above schemes, the base plate is parallel to the joint and two crossbeams are arranged in parallel.

[0011] The above technical solution is adopted: This device is divided into three parts. The first part is a joint, fixing plate, and base plate structure, which connects to the robot's load end. The second part is the crossbeam, which is assembled and fastened to the base plate with fasteners. The misalignment between the crossbeam and the base plate can be adjusted according to the actual situation. The third part consists of a guide rod, locking component, air connector, and flexible suction cup. The flexible suction cup is the specific component that performs the action. The air connector is connected to a negative pressure source. During operation, negative pressure is generated at the flexible suction cup, and multiple flexible suction cups work together to pick up and extract the workpiece. The position of the flexible suction cup on the guide groove is adjustable.

[0012] Preferably, in any of the above solutions, the fasteners are bolts and nut, with the bolts inserted into the crossbeam and the guide hole, and the nut being threadedly connected to the bolt.

[0013] The above technical solution is adopted: The device structure consists of: Base connection structure: includes a connector, fixing plate, base plate, and guide holes. The connector has connection holes at both ends for connecting the mobile robot's load arm via bolt and nut assemblies. Several fixing plates are vertically welded to the bottom of the connector. A base plate is welded to the bottom of each fixing plate. The base plate is designed as a flat plate with elongated guide holes at both ends, the length of which is parallel to the length of the base plate. The base plate is parallel to the connector.

[0014] The crossbeam adjustment structure includes crossbeams and fasteners. Two parallel crossbeams are located below the base plate and are detachably connected to the base plate and their position adjustable via fasteners. Specifically, the fasteners are bolts inserted through guide holes in the crossbeams and base plate and secured with horn nuts. The guide holes are elongated, allowing the crossbeams to slide relative to the base plate along their length. The lateral distance and position between the two crossbeams are adjusted, and the horn nuts are tightened to secure them in place. This structure provides two-dimensional adjustability to the relative position of the crossbeams and the base plate.

[0015] The suction cup actuation structure includes guide grooves, guide rods, locking components, air connectors, and a flexible suction cup. Each crossbeam has long, strip-shaped guide grooves at both ends. Guide rods slide within these grooves, allowing them to move along the length of the grooves. The outer surface of the guide rods is threaded and connected to a locking component (preferably a hexagonal nut in this embodiment). When the guide rod slides along the guide groove to the desired position, the locking component (hexagonal nut) is tightened to press it firmly against the crossbeam surface, securing the guide rod securely. An air connector is fixedly connected to the top of the guide rod, with a rubber sealing ring on its top surface to ensure good airtightness when connected to a negative pressure air source (vacuum generator). A flexible suction cup, serving as the actuation component, is fixedly connected to the bottom of the guide rod. This suction cup is designed with a multi-layered structure to enhance deformation capacity and sealing effect, generating negative pressure suction at its bottom.

[0016] Preferably, in any of the above solutions, the position of the guide rod inside the guide groove is adjustable, and the locking element is specifically a hexagonal nut.

[0017] The above technical solution involves the coordinated arrangement of guide holes, crossbeams, fasteners, guide grooves, guide rods, locking components, and flexible suction cups. The crossbeams and base plates are assembled and secured with fasteners. The misalignment between the crossbeams and base plates can be adjusted according to actual conditions. The specific component is the flexible suction cup, which is connected to a negative pressure source via an air connector. During operation, negative pressure is generated at the flexible suction cups, and multiple flexible suction cups work together to pick up and extract the workpiece. The position of the flexible suction cups on the guide grooves is adjustable, making the end effector very flexible to use.

[0018] Two-stage adjustability: The flexible suction cups are adjustable in position in a two-dimensional plane (horizontal and vertical) through a lateral adjustment mechanism consisting of guide holes, crossbeams, and fasteners, and a longitudinal adjustment mechanism consisting of guide grooves, guide rods, and locking components. The positions of the two flexible suction cups on a single crossbeam can also be adjusted independently.

[0019] High versatility: It can quickly adapt to workpieces of different sizes, shapes and gripping points without replacing the entire end effector body, significantly improving the flexibility and production efficiency of robot production lines.

[0020] Stable gripping: The flexible suction cups with multiple distribution points can be optimized according to the shape of the workpiece to provide uniform and reliable adsorption force, especially suitable for thin plates, curved surfaces or easily deformable workpieces.

[0021] Preferably, as described in any of the above embodiments, a rubber sealing ring is installed on the top surface of the air connector, and the flexible suction cup is multi-layered.

[0022] Compared with the prior art, the advantages and beneficial effects of this utility model are as follows: This mobile robot's flexible end effector is designed with guide holes, a crossbeam, fasteners, guide grooves, guide rods, locking components, and flexible suction cups. The crossbeam and base plate are assembled and secured with fasteners, and the misalignment between the crossbeam and base plate can be adjusted according to actual conditions. The specific actuating component is the flexible suction cup, which is connected to a negative pressure source via an air connector. During operation, negative pressure is generated at the flexible suction cup, and multiple flexible suction cups work together to pick up and extract the workpiece. The position of the flexible suction cup on the guide groove is adjustable, making the end effector highly flexible in use.

[0023] Two-stage adjustability: The flexible suction cups are adjustable in position in a two-dimensional plane (horizontal and vertical) through a lateral adjustment mechanism consisting of guide holes, crossbeams, and fasteners, and a longitudinal adjustment mechanism consisting of guide grooves, guide rods, and locking components. The positions of the two flexible suction cups on a single crossbeam can also be adjusted independently.

[0024] High versatility: It can quickly adapt to workpieces of different sizes, shapes and gripping points without replacing the entire end effector body, significantly improving the flexibility and production efficiency of robot production lines.

[0025] Stable gripping: The flexible suction cups with multiple distribution points can be optimized according to the shape of the workpiece to provide uniform and reliable adsorption force, especially suitable for thin plates, curved surfaces or easily deformable workpieces.

[0026] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0027] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a first-view structural schematic diagram of the present invention; Figure 2 This is a structural schematic diagram of the present invention from a second perspective; Figure 3 This is a structural schematic diagram of the present invention from a third-view perspective; Figure 4 This utility model Figure 3 A magnified structural diagram of point A in the middle.

[0028] In the diagram: 1-Connector, 2-Fixing plate, 3-Base plate, 4-Guide hole, 5-Crossbeam, 6-Fastener, 7-Guide groove, 8-Guide rod, 9-Locking component, 10-Air connector, 11-Flexible suction cup. Detailed Implementation

[0029] The embodiments of this utility model are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this utility model, and should not be construed as limiting this utility model.

[0030] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0031] like Figure 1-4 As shown, the flexible end effector of this mobile robot includes a connector 1, a fixing plate 2, a base plate 3, and guide holes 4. The connector 1 has holes at both ends, and several fixing plates 2 are fixedly connected to the bottom of the connector 1. The base plate 3 is fixedly connected to the bottom of the fixing plate 2, and strip-shaped guide holes 4 are provided at both ends of the base plate 3. A crossbeam 5 is detachably connected to the bottom of the base plate 3. A fastener 6 is fastened in the guide hole 4, and the fastener 6 is inserted into the fixed position of the crossbeam 5. The two ends of the crossbeam 5 are provided with strip-shaped guide grooves 7, and guide rods 8 are movably connected in the guide grooves 7. Locking parts 9 are threadedly connected to the outer surface of the guide rods 8 and are tightened onto the surface of the crossbeam 5. An air connector 10 is fixedly connected to the top end of the guide rod 8, and a flexible suction cup 11 is fixedly connected to the bottom end of the guide rod 8.

[0032] Example 1: Connector 1 is perpendicular to fixing plate 2, and fixing plate 2 is welded to connector 1. Base plate 3 is parallel to connector 1, and two crossbeams 5 are arranged parallel to each other. Fasteners 6 specifically include bolts and nut; bolts are inserted into crossbeams 5 and guide holes 4, and nut is threaded into bolts. The position of guide rod 8 inside guide groove 7 is adjustable, and locking element 9 is specifically a hexagonal nut. A rubber sealing ring is installed on the top surface of air connector 10, and flexible suction cup 11 is multi-layered.

[0033] Example 2: This device is a flexible end effector for a mobile robot, wherein the connector 1 is connected to the load end of the robot via a bolt and nut assembly.

[0034] The specific component performing the action is the flexible suction cup 11. The air connector 10 connects to a negative pressure source. During operation, a negative pressure is generated at the flexible suction cup 11, and multiple flexible suction cups 11 work together to pick up and extract the workpiece. This device consists of three parts. The first part comprises a connector 1, a fixing plate 2, and a base plate 3. This part connects to the robot's load end. The second part is the crossbeam 5. The crossbeam 5 and the base plate 3 are assembled and fastened by fasteners 6. The misalignment between the crossbeam 5 and the base plate 3 can be adjusted according to the actual situation. The third part consists of guide rod 8, locking component 9, air connector 10, and flexible suction cup 11. The flexible suction cup 11 is the actual actuator. Air connector 10 connects to a negative pressure source. During operation, negative pressure is generated at the flexible suction cup 11, and multiple flexible suction cups 11 work together to pick up and extract the workpiece. The position of the flexible suction cup 11 on the guide groove 7 is adjustable. Device structure composition: The base connection structure includes a connector 1, a fixing plate 2, a base plate 3, and guide holes 4. Connecting holes are provided at both ends of the connector 1 for connecting the load arm of the mobile robot via bolt and nut assemblies. Several fixing plates 2 are vertically welded to the bottom of the connector 1. A base plate 3 is welded to the bottom of the fixing plates 2. The base plate 3 is designed as a flat plate with elongated guide holes 4 at both ends, the length of which is parallel to the length of the base plate 3. The base plate 3 is arranged parallel to the connector 1.

[0035] The crossbeam adjustment structure includes crossbeams 5 and fasteners 6. Two parallel crossbeams 5 are located below the base plate 3 and are detachably connected to the base plate 3 and their positions adjustable via fasteners 6. Specifically, the fasteners 6 are bolted through guide holes 4 on the crossbeams 5 and the base plate 3 and secured with horn nuts. The guide holes 4 are elongated, allowing the crossbeams 5 to slide relative to the base plate 3 along their length to adjust the lateral distance and position between the two crossbeams 5. After adjustment, the horn nuts are tightened to secure them. This structure provides two-dimensional adjustability to the relative position of the crossbeams 5 and the base plate 3.

[0036] The suction cup actuation structure includes a guide groove 7, a guide rod 8, a locking element 9, an air connector 10, and a flexible suction cup 11. Each crossbeam 5 has a long, strip-shaped guide groove 7 at both ends. A guide rod 8 moves through the guide groove 7, allowing it to slide along the length of the groove. The outer surface of the guide rod 8 is threaded and threadedly connected to a locking element 9 (preferably a hexagonal nut in this embodiment). When the guide rod 8 slides along the guide groove 7 to the desired position, the locking element 9 (hexagonal nut) is tightened to press it firmly against the surface of the crossbeam 5, securely locking the guide rod 8. The top end of the guide rod 8 is fixedly connected to the air connector 10, which has a rubber sealing ring on its top surface to ensure good airtightness when connected to a negative pressure air source (vacuum generator). The bottom end of the guide rod 8 is fixedly connected to the flexible suction cup 11, which serves as the actuation component. This suction cup 11 is designed with a multi-layered structure to enhance deformation capacity and sealing effect, generating negative pressure suction force at its bottom.

[0037] The working principle of this utility model is as follows: Assembly and Adjustment: First, connect connector 1 to the robot's load arm flange. Adjust as follows based on the size, shape, and center of gravity of the workpiece to be gripped: Lateral adjustment: Loosen the ram's nut, move the relative position of the two crossbeams 5 in the guide hole 4 of the base plate 3, and adjust the spacing or misalignment of the crossbeams 5 to adapt to the workpiece width requirements.

[0038] Longitudinal adjustment: Loosen the locking piece 9 on the guide rod 8, slide one or more guide rods 8 along the guide groove 7 on the crossbeam 5 to the optimal position that adapts to the key contact point on the workpiece surface, and then tighten the locking piece 9 to fix the guide rod 8.

[0039] Grasping Operation: The robot manipulates its end effector to move to a predetermined position above the workpiece, causing multiple flexible suction cups 11 to contact the workpiece surface. An external negative pressure air source is connected to each air connector 10 through pipes to generate negative pressure airflow. The negative pressure is transmitted to the interior of the flexible suction cups 11 through the internal channel (or bypass of the guide rod 8), causing the multi-layered flexible suction cups 11 to elastically deform, tightly adhering to the workpiece surface and forming a sealed space. Under the action of negative pressure, the multiple flexible suction cups 11 together generate a strong and uniform suction force on the workpiece, thereby picking up the workpiece.

[0040] Handling and Placement: The robot carries the suction-held workpiece to the target location. The negative pressure air source is turned off or switched to positive pressure, the negative pressure inside the flexible suction cup 11 is released, the suction cup returns to its original shape, and the workpiece is released smoothly.

[0041] Compared with the prior art, the present invention has the following advantages: This mobile robot's flexible end effector is configured with guide holes 4, a crossbeam 5, fasteners 6, guide grooves 7, guide rods 8, locking components 9, and flexible suction cups 11. The crossbeam 5 and the base plate 3 are assembled and secured with fasteners 6. The misalignment between the crossbeam 5 and the base plate 3 can be adjusted according to actual conditions. The specific component that performs the action is the flexible suction cup 11. The air connector 10 is connected to a negative pressure source. During operation, negative pressure is generated at the flexible suction cup 11, and multiple flexible suction cups 11 work together to pick up and extract the workpiece. The position of the flexible suction cup 11 on the guide groove 7 is adjustable, making the end effector very flexible to use.

[0042] Two-stage adjustability: The flexible suction cup 11 is adjustable in position on a two-dimensional plane (horizontal and vertical) through a lateral adjustment mechanism consisting of guide hole 4, crossbeam 5, and fastener 6, and a longitudinal adjustment mechanism consisting of guide groove 7, guide rod 8, and locking element 9. The positions of the two flexible suction cups 11 on a single crossbeam 5 can also be adjusted independently.

[0043] High versatility: It can quickly adapt to workpieces of different sizes, shapes and gripping points without replacing the entire end effector body, significantly improving the flexibility and production efficiency of robot production lines.

[0044] Stable gripping: The flexible suction cups 11 with multiple distribution points can be optimized according to the shape of the workpiece to provide uniform and reliable adsorption force, especially suitable for thin plates, curved surfaces or easily deformable workpieces.

Claims

1. A flexible end effector for a mobile robot, characterized in that, It includes a connector (1), a fixing plate (2), a base plate (3), and a guide hole (4). The connector (1) has holes at both ends. Several fixing plates (2) are fixedly connected to the bottom of the connector (1). The base plate (3) is fixedly connected to the bottom of the fixing plate (2). Strip-shaped guide holes (4) are opened at both ends of the base plate (3). A crossbeam (5) is detachably connected to the bottom of the base plate (3), and a fastener (6) is fastened in the guide hole (4). The fastener (6) is inserted into the crossbeam (5) at a fixed position. The two ends of the crossbeam (5) are provided with strip-shaped guide grooves (7), and guide rods (8) are movably connected in the guide grooves (7). The outer surface of the guide rods (8) is threaded with locking parts (9), and the locking parts (9) are tightened on the surface of the crossbeam (5). The top end of the guide rod (8) is fixedly connected to an air connector (10), and the bottom end of the guide rod (8) is fixedly connected to a flexible suction cup (11).

2. The flexible end effector for mobile robots as described in claim 1, characterized in that: The joint (1) is perpendicular to the fixing plate (2), and the fixing plate (2) is welded to the joint (1).

3. The flexible end effector for mobile robots as described in claim 2, characterized in that: The base plate (3) is parallel to the joint (1), and two crossbeams (5) are arranged in parallel.

4. The flexible end effector for mobile robots as described in claim 3, characterized in that: The fastener (6) is specifically a bolt and a ram's nut. The bolt is inserted into the crossbeam (5) and the guide hole (4), and the ram's nut is threadedly connected to the bolt.

5. The flexible end effector for mobile robots as described in claim 4, characterized in that: The position of the guide rod (8) inside the guide groove (7) is adjustable, and the locking element (9) is specifically a hexagonal nut.

6. The flexible end effector for mobile robots as described in claim 5, characterized in that: A rubber sealing ring is installed on the top surface of the air connector (10), and the flexible suction cup (11) is multi-layered.

Images