An end effector and end effector assembly

Abstract

The application relates to an end gripper and an end gripper assembly, the end gripper comprising: a bearing assembly; a sliding assembly, the sliding assembly comprising a sliding rod and a first clamping piece, the first clamping piece being capable of sliding in a first direction along the sliding rod; a connecting assembly; a connecting rod; and a suction cup assembly, the suction cup assembly being connected to the other end of the connecting rod, the suction cup assembly being movably connected to the sliding assembly through the connecting rod, and the suction cup assembly being capable of sliding in a second direction along the connecting rod. The application can adjust the telescopic length of the suction cup assembly through the first clamping piece, thereby adapting to the change of different articles, the relative distance between the sliding assembly and the suction cup assembly being adjustable, and users do not need to configure multiple special end grippers for multiple articles, so that the purchasing cost is greatly reduced.

Description

Technical Field

[0001] This application belongs to the field of industrial assembly technology, and more specifically, relates to an end effector and an end effector assembly. Background Technology

[0002] In the field of industrial assembly technology, an end effector is a device installed on an industrial robot or robotic arm, primarily used for the automated gripping and handling of materials. For example, in automated depalletizing processes, the most commonly used technology currently employs fixed end effectors. These end effectors are characterized by a fixed main beam structure, with a vacuum suction cup connected to the main beam via an adapter. Each set of end effectors is dedicated to a single specification of material with a specific size and stacking method. Fixed end effectors have the following disadvantages:

[0003] 1. When the production line needs to handle new material specifications or stacking patterns, the existing fixed end effectors are completely unusable because the suction cup position cannot be changed, making it difficult to adapt to the change of different materials;

[0004] 2. Users must configure a dedicated end effector for each type of material, causing the number of end effectors to surge as the types of items increase, which in turn leads to a continuous increase in procurement costs;

[0005] 3. Users need to set up a dedicated area to store dozens or even hundreds of end effectors of different specifications, which will occupy a lot of space, increase warehousing and management costs, and pose a high risk of misuse and significant safety hazards when frequently changing products. Utility Model Content

[0006] This application aims to at least solve one of the technical problems existing in the prior art. To this end, this application provides an end effector and an end effector assembly, which enables a single end effector to be applicable to various material changes, overcoming the rigidity of fixed end effectors that are "one machine for one purpose" and saving costs.

[0007] The technical solution used in this application to solve its technical problem is:

[0008] An end effector, comprising:

[0009] A load-bearing assembly, the load-bearing assembly including a support rod and a guide rail fixed to the support rod;

[0010] A sliding assembly, the sliding assembly including a slide rod and a first clamping member, the first clamping member clamping the slide rod, the first clamping member being slidable along a first direction extending from the slide rod;

[0011] A connecting assembly includes a second clamping member and a sliding member. The second clamping member clamps the slide rod, a first end of the sliding member is connected to the second clamping member, and a second end of the sliding member is slidable along a second direction extending from the guide rail. The sliding assembly is movably connected to the bearing assembly through the sliding member.

[0012] A connecting rod, one end of which is connected to the first clamping member; and,

[0013] A suction cup assembly is connected to the other end of the connecting rod. The suction cup assembly is movably connected to the sliding assembly via the connecting rod. The suction cup assembly is capable of sliding along a second direction in which the connecting rod extends.

[0014] Preferably, the first direction and the second direction are perpendicular to each other.

[0015] Preferably, the support rod is a square tube, and the support rod includes a first surface, a second surface, a third surface and a fourth surface. The first surface and the second surface are arranged opposite to each other. The third surface of the support rod is provided with a slide rail, and the slide rail abuts against the fourth surface of the support rod.

[0016] The guide rail includes a first guide rail and a second guide rail, the first guide rail being fixed to a first surface of the support rod, and the second guide rail being fixed to a second surface of the support rod.

[0017] Preferably, the first clamping member includes:

[0018] A first receiving cavity is configured to allow the slide bar to pass through, and the slide bar abuts against the first clamping member after passing through the first receiving cavity;

[0019] A second receiving cavity is configured to allow the connecting rod to pass through, and the connecting rod abuts against the first clamping member after passing through the second receiving cavity;

[0020] A first movable plate is disposed on the first side of the first clamping member;

[0021] The first handle is threadedly connected to the first movable plate, and the first movable plate locks / unlocks with the slide rod by rotating the first handle;

[0022] The second movable plate is disposed on the second side of the first clamping member;

[0023] The second handle is threadedly connected to the second movable plate, and the second movable plate is locked / unlocked with the connecting rod by rotating the second handle.

[0024] Preferably, the second clamping member includes:

[0025] A first clamping plate, the first clamping plate having a first threaded hole, the first clamping plate being fixed to the slide rod by bolts;

[0026] A second clamping plate, having a second threaded hole, is fixed to the slide rod by bolts; wherein...

[0027] The first clamping plate and the second clamping plate are arranged opposite to each other.

[0028] Preferably, the slider includes:

[0029] A fixing plate is fixed to the second clamping member, and the fixing plate and the first clamping plate of the second clamping member form an "L"-shaped connecting plate;

[0030] A first slider is fixed to the fixed plate and has a first sliding groove, which engages with the guide rail to form a sliding pair.

[0031] Preferably, the slider further includes:

[0032] A baffle, the baffle being fixed to the fixed plate;

[0033] A third threaded hole and a third handle are provided. The third threaded hole is provided in the baffle and is configured to allow the third handle to pass through. The baffle is locked / unlocked with the fixed plate by rotating the third handle.

[0034] A fourth threaded hole and a fourth handle are provided. The fourth threaded hole is formed in the baffle and is configured to allow the fourth handle to pass through. The baffle is locked / unlocked with the fixed plate by rotating the fourth handle.

[0035] Preferably, the connecting rod includes:

[0036] The first end is elongated and passes through the first clamping member and is clamped to the slide rod.

[0037] The second end is circular and is fixed to the suction cup assembly by a locking nut.

[0038] Preferably, the suction cup assembly includes:

[0039] The suction cup is used to adsorb materials when the end effector is working;

[0040] An air connector, used to connect to an external air supply source;

[0041] A guide rod, the first end of which is connected to the suction cup, and the second end of which is connected to the air connector;

[0042] A spring, the spring being wrapped around the guide rod;

[0043] A suction cup connector, wherein the suction cup connector is fixed between the guide rod and the suction cup; and...

[0044] A copper sleeve is installed between the gas connector and the guide rod.

[0045] This application also provides an end effector assembly, including a flange connector and two or more of the aforementioned end effectors, wherein the flange connector includes a second slider, the second slider is provided with a second groove, and the flange connector is movably connected to the end effector through the second slider.

[0046] Compared with the prior art, the beneficial effects of this application are as follows:

[0047] 1. The suction cup assembly is movably connected to the sliding assembly via a connecting rod. The suction cup assembly can slide along the second direction X of the connecting rod. In this application, the suction cup assembly can move relative to the bearing assembly. When new material specifications need to be processed, the extension length of the suction cup assembly can be adjusted by the first clamping member to adapt to the change of different items, thus solving the technical problem that the existing fixed end effector can only be used for items of specific sizes.

[0048] 2. Since the relative distance between multiple sliding components and suction cup components is adjustable, users can independently select the corresponding number of sliding components and suction cup components according to the actual size and quantity of materials on the production line. Users do not need to configure multiple dedicated end effectors for multiple items, which greatly reduces procurement costs.

[0049] 3. In a single end effector, the load-bearing component, as the load-bearing base of the entire end effector, has the largest volume and weight. For dozens or even hundreds of end effectors of different specifications, multiple load-bearing components will occupy a lot of space. The load-bearing component in this application is universal. In actual use, it is only necessary to select the lighter and smaller sliding component and suction cup component, which greatly reduces storage space and management costs and improves safety performance. Attached Figure Description

[0050] Figure 1 This is a three-dimensional structural diagram of an end effector according to an embodiment of this application;

[0051] Figure 2 This is a schematic diagram of the assembly structure of the sliding component, connecting component, connecting rod and suction cup component in one embodiment of this application;

[0052] Figure 3This is a schematic diagram of the structure of the carrier component in one embodiment of this application;

[0053] Figure 4 This is a perspective view of the support rod in one embodiment of this application;

[0054] Figure 5 for Figure 4 A magnified view of part A in the middle;

[0055] Figure 6 This is a schematic diagram of the guide rail structure in one embodiment of this application;

[0056] Figure 7 This is a schematic diagram of the sliding component in one embodiment of this application;

[0057] Figure 8 This is a perspective view of the first clamping member in one embodiment of this application;

[0058] Figure 9 This is a perspective view of the connecting component in one embodiment of this application;

[0059] Figure 10 This is a schematic diagram of the connecting component in one embodiment of the present application, omitting the third and fourth handles;

[0060] Figure 11 This is a schematic diagram of the structure of the first clamping member, connecting rod, and suction cup assembly in one embodiment of this application;

[0061] Figure 12 This is a perspective view of the suction cup assembly in one embodiment of this application;

[0062] Figure 13 This is a perspective view of an end effector assembly according to an embodiment of this application;

[0063] Figure 14 for Figure 13 A three-dimensional structural diagram of the middle flange connector;

[0064] Figure 15 This is a three-dimensional structural diagram of an end effector according to another embodiment of this application;

[0065] Figure 16 This is a top view of an end effector assembly according to an embodiment of this application.

[0066] The following is an explanation of the reference numerals in the accompanying drawings:

[0067] 1. Load-bearing component 11. Support rod

[0068] 111. First surface; 112. Second surface

[0069] 113. Third surface 114. Fourth surface

[0070] 115. Slide rail 12. Guide rail

[0071] 121. First guide rail; 122. Second guide rail

[0072] 2. Sliding assembly 21. Sliding rod

[0073] 22. First clamping member; 221. First receiving cavity

[0074] 222, Second receiving cavity; 223, First movable plate

[0075] 224. Second moving plate 225. First handle

[0076] 226. Second Handle 3. Connecting Components

[0077] 31. Second clamping component; 311. First clamping plate

[0078] 312, Second clamping plate; 313, First threaded hole

[0079] 314. Second threaded hole; 32. Sliding component

[0080] 321. Fixed plate; 322. First slider

[0081] 323. First chute; 324. Baffle

[0082] 325. Third in command 326. Fourth in command

[0083] 327. Third threaded hole; 328. Fourth threaded hole

[0084] 4. Connecting rod 41, first end

[0085] 42. Second end 5. Suction cup assembly

[0086] 51. Suction cup 52. Air connector

[0087] 53. Guide rod 54. Spring

[0088] 55. Suction cup connector 56. Copper sleeve

[0089] 57. Locking nut; 6. Flange connector

[0090] 61. Second slider 62. Second groove. Detailed Implementation

[0091] To make the above-mentioned objectives, features, and advantages of this application more apparent and understandable, the specific embodiments of this application will be 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.

[0092] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, 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.

[0093] Furthermore, the terms "first" and "second" are used 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 as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0094] Please see Figures 1-6 This embodiment of an end effector includes: a support component 1, which serves as the support base for the end effector, supporting the weight of the entire end effector and typically connected to an external robotic arm via connectors to enable the end effector to grasp and transport objects. The support component 1 includes a support rod 11 and a guide rail 12. The support rod 11 is preferably an 80mm × 80mm aluminum alloy profile, and the guide rail 12 is fixed to the support rod 11. The end effector also includes a sliding component 2, more specifically, the sliding component 2 includes a sliding rod 21 and a first clamping member 22, such as... Figure 2 , Figure 7 As shown, the first clamping member 22 is clamped to the slide rod 21. The user can adjust the distance between the first clamping member 22 and the slide rod 21 through the adjustment mechanism. The first clamping member 22 can slide along the first direction Y extending from the slide rod 21. Figure 2 A schematic diagram is provided showing a suction cup assembly 5 mounted on a sliding assembly 2 via a first clamping member 22. The suction cup assembly 5 is mainly used for adsorbing materials; when there are multiple types and quantities of materials, such as... Figure 1As shown, users can increase the number of sliding components 2 and suction cup components 5 according to actual needs. Since suction cup components 5 can slide on the surface of sliding components 2, there is no need to configure multiple dedicated end effectors for multiple items, which greatly reduces procurement costs.

[0095] Please refer to 1-2. Figures 9-10 The end effector also includes a connecting assembly 3, which includes a second clamping member 31 and a sliding member 32. The second clamping member 31 clamps the slide bar 21. The first end of the sliding member 32 is connected to the second clamping member 31 and is close to the second clamping member 31. It may be integrally formed with the second clamping member 31. The second end of the sliding member 32 can slide along the second direction X extending from the guide rail 12. The sliding assembly 2 is movably connected to the bearing assembly 1 through the sliding member 32. For example, the second end of the sliding member 32 is provided with a first slider 322. The first slider 322 abuts against the guide rail 12. By sliding the first slider 322 on the surface of the guide rail 12 along the second direction X, the sliding assembly 2 can slide along the second direction X. Figure 2 As shown.

[0096] like Figure 1 , Figure 2 , Figure 11 As shown, the end effector also includes a connecting rod 4 and a suction cup assembly 5. One end of the connecting rod 4 is connected to the first clamping member 22, and the suction cup assembly 5 is connected to the other end of the connecting rod 4. The suction cup assembly 5 is movably connected to the sliding assembly 2 via the connecting rod 4. The suction cup assembly 5 can slide along the second direction X extending from the connecting rod 4. The connecting rod 4 is mainly used to fix the suction cup assembly 5 and the sliding assembly 2. At the same time, under the clamping or releasing action of the first clamping member 22, it adjusts the distance between the suction cup assembly 5 and the sliding assembly 2. Since the suction cup assembly 5 can slide along the second direction X extending from the connecting rod 4 (e.g., ... Figure 2 , Figure 15 As shown, when new material specifications need to be processed, the extension length of the suction cup assembly 5 can be adjusted by the first clamping member 22 to adapt to the change of different items, effectively solving the technical problem that the existing fixed end effector can only be used for items of specific sizes.

[0097] Preferably, the first direction Y and the second direction X are perpendicular to each other, such as... Figure 15 As shown, the first direction Y is the extension direction of the sliding rod 21, which ensures that the distance between the various suction cup components 5 can be adjusted during the sliding of the sliding component 2. The second direction X is the extension direction of the support rod 11, which can also adjust the distance between the various sliding components 2 during the sliding of the support rod 11; the second direction X is also the extension direction of the connecting rod 4, which can adjust the extension length of a single suction cup component 5 through the first clamping member 22 to adapt to different material sizes.

[0098] In some preferred embodiments, the support rod 11 is a square tube, such as... Figure 4 , Figure 5 As shown, the support rod 11 includes a first surface 111, a second surface 112, a third surface 113, and a fourth surface 114. The first surface 111 and the second surface 112 are arranged opposite to each other. For example, the first surface 111 is the left outer surface of the support rod 11, and the second surface 112 is the right outer surface of the support rod 11. The third surface 113 of the support rod 11 is provided with a slide rail 115. For example, the third surface 113 is the upper outer surface of the support rod 11, and the slide rail 115 is laid on the upper third surface 113. The slide rail 115 is the connecting track between the end effector and the external connector (not shown in the figure). The robot can adjust the force point of the end effector by adjusting the position of the slide rail 115 through the external connector. The slide rod 21 abuts against the fourth surface 114 of the support rod 11. The fourth surface 114 is the lower outer surface of the support rod 11. Figure 3 , Figure 6 As shown, the guide rail 12 includes a first guide rail 121 and a second guide rail 122. The first guide rail 121 is fixed to the first surface 111 of the support rod 11, and the second guide rail 122 is fixed to the second surface 112 of the support rod 11. It can be understood that the first guide rail 121 and the second guide rail 122 are symmetrically arranged on both sides of the support rod 11. In specific implementation, the number of the first guide rail 121 and the second guide rail 122 can be appropriately increased or decreased according to the number of sliding components 2 and connecting components 3, such as... Figure 1 As shown, in this embodiment, there are 4 sets of sliding components 2, 3 sets of connecting components 3, and two sets each of the first guide rail 121 and the second guide rail 122.

[0099] Please see Figure 2 , Figure 8The first clamping member 22 includes: a first receiving cavity 221, which is configured to allow the slide rod 21 to pass through. After passing through the first receiving cavity 221, the slide rod 21 abuts against the first clamping member 22. The shape of the first receiving cavity 221 is approximately a cuboid with three closed sides, two large openings, and one small opening. The cross-sectional length of the larger opening side of the first receiving cavity 221 is slightly larger than the length of the tube diameter of the slide rod 21, so as to allow the slide rod 21 to pass through the first receiving cavity 221 while adjusting the relative position of the slide rod 21 and the first receiving cavity 221; and a second receiving cavity 222, which is configured to allow the connecting rod 4 to pass through. After passing through the second receiving cavity 222, the connecting rod 4 abuts against the first clamping member 22. The shape of the second receiving cavity 222 is approximately a cuboid with three closed sides, two large openings, and one small opening. The device is roughly a cuboid with three closed sides, two large openings, and one small opening. The cross-sectional length of the larger opening side of the second receiving cavity 222 is slightly larger than the diameter of the connecting rod 4. This is to allow the connecting rod 4 to pass through the second receiving cavity 222 while adjusting its relative position. A first moving plate 223 is located on the first side of the first clamping member 22. For example, the first moving plate 223 is located on the lower left side of the first clamping member 22. The first moving plate 223 can move towards the space where the first receiving cavity 221 is located. A first handle 225 is threadedly connected to the first moving plate 223. The first moving plate 223 locks / unlocks with the slide rod 21 by rotating the first handle 225. Figure 8 As shown, when the first handle 225 is rotated clockwise, the first moving plate 223 moves towards the first receiving cavity 221 under the pressure of the first handle 225, until the screw (not shown) connected to the first handle 225 abuts against the slide rod 21, thus locking the first clamping member 22 and the slide rod 21. When the first handle 225 is rotated counterclockwise, the first moving plate 223 moves away from the first receiving cavity 221 under the action of the first handle 225, until the screw (not shown) connected to the first handle 225 abuts against the slide rod 21, thus locking the first clamping member 22 and the slide rod 21. (Not shown in the figure) After disengaging from the slide bar 21, the first clamping member 22 is released from the slide bar 21; the second moving plate 224 is disposed on the second side of the first clamping member 22, for example, the second moving plate 224 is disposed on the top of the first clamping member 22, and the second moving plate 224 can move toward the space where the second receiving cavity 222 is located; the second handle 226 is threadedly connected to the second moving plate 224, and the second moving plate 224 is locked / released with the connecting rod 4 by rotating the second handle 226.

[0100] In some preferred embodiments, please refer to Figure 1 , Figure 9 , Figure 10The second clamping component 31 includes: a first clamping plate 311, which has a first threaded hole 313 and is located above the slide rod 21. The first clamping plate 311 is fixed to the slide rod 21 by bolts (not shown in the figure); and a second clamping plate 312, which has a second threaded hole 314 and is located below the slide rod 21. The second clamping plate 312 is fixed to the slide rod 21 by bolts. The first clamping plate 311 and the second clamping plate 312 are arranged opposite to each other and are located on the upper and lower sides of the slide rod 21, respectively, to ensure the connection stability between the connecting component 3 and the sliding component 2.

[0101] Preferably, the sliding member 32 includes: a fixed plate 321, which is fixed to the second clamping member 31. The fixed plate 321 and the first clamping plate 311 of the second clamping member 31 form an "L"-shaped connecting plate. This "L"-shaped connecting plate structure can ensure a stable connection between the sliding member 32 and the second clamping member 31. It is understood that the fixed plate 321 can also be integrally formed with the first clamping plate 311; a first slider 322, which is fixed to the fixed plate 321. The first slider 322 is oriented towards the guide rail 12 and has a first sliding groove 323. The first sliding groove 323 engages with the guide rail 12 to form a sliding pair. The connecting assembly 3 is used for... The sliding component 2 and the bearing component 1 are connected by the sliding pair. The sliding component 2 slides along the second direction X extending from the support rod 11. In some specific embodiments, the first sliders 322 are arranged in pairs. One first slider 322 is mounted on the first guide rail 121 and the other first slider 322 is mounted on the second guide rail 122. The first sliders 322 are respectively arranged on the first guide rail 121 and the second guide rail 122 on opposite sides. This symmetrical structure can evenly distribute the pressure from the sliding component 2 on the bearing component 1, improve the service life of the support rod 11, and ensure that the guide rail 12 is not excessively biased to one side, thus improving the operating efficiency of the guide rail 12.

[0102] like Figure 9 , Figure 10As shown, the sliding member 32 further includes: a baffle 324, which is fixed to the fixed plate 321. The baffle 324 is preferably a vertical plate, fixed to the side surface of the fixed plate 321 facing the support assembly 1; a third threaded hole 327 and a third handle 325. The third threaded hole 327 is formed in the baffle 324 and is configured to allow the third handle 325 to pass through. The baffle 324 is locked / unlocked with the fixed plate 321 by rotating the third handle 325. More specifically, when the third handle 325 is rotated clockwise, the third handle 325 applies a tensile force along the axial direction of the third thread 327 to the baffle 324 through the third thread 327, causing the baffle 324 to... 24 moves toward the direction of the fixed plate 321 until the baffle 324 is locked to the fixed plate 321. When the third handle 325 is rotated counterclockwise, the third handle 325 applies a thrust along the axial direction of the third thread 327 to the baffle 324 through the third thread 327, causing the baffle 324 to move away from the fixed plate 321, thereby releasing the baffle 324 from the fixed plate 321. The fourth threaded hole 328 and the fourth handle 326 are provided. The fourth threaded hole 328 is provided in the baffle 324 and is configured to allow the fourth handle 326 to pass through. The baffle 324 is locked / unlocked with the fixed plate 321 by the rotation of the fourth handle 326.

[0103] In some preferred embodiments, such as Figure 2 , Figure 11 As shown, the connecting rod 4 includes: a first end 41, which is elongated or hollow, and is clamped to the slide rod 21 after passing through the first clamping member 22; and a second end 42, which is circular or annular, and is fixed to the suction cup assembly 5 by a locking nut 57. The elongated first end 41 facilitates the connecting rod 4 to pass through the first clamping member 22 and ensures that the extension length of the suction cup assembly 5 along the second direction X is greater, so as to adapt to a wider range of material sizes. The circular or annular shape of the second end 42 is mainly to match the shape of the guide rod 53 in the suction cup assembly 5 to ensure the assembly stability of the connecting rod 4 and the suction cup assembly 5.

[0104] In some embodiments, the suction cup assembly 5 includes: a suction cup 51 for adsorbing materials when the end effector is working; an air connector 52 for connecting to an external air supply source (not shown in the figure), the air supply source evacuates the suction cup 51 through the air connector 52 to form a vacuum, thereby adsorbing materials; a guide rod 53, the first end of which is connected to the suction cup 51, and the second end of which is connected to the air connector 52; a spring 54 surrounding the guide rod 53; a suction cup connector 55 fixed between the guide rod 53 and the suction cup 51; and a copper sleeve 56 installed between the air connector 52 and the guide rod 53.

[0105] This application also provides an end effector assembly, such as... Figure 13 , Figure 14 , Figure 16 As shown, the end effector assembly includes a flange connector 6 and two or more of the aforementioned end effectors. The flange connector 6 includes a second slider 61 with a second groove 62. The flange connector 6 is movably connected to the end effector via the second slider 6. Users can expand the number of end effectors according to the different shapes and sizes of the materials to be grasped, thereby increasing the application scenarios of the end effector assembly and improving its adaptability.

[0106] This application's end effector and end effector assembly eliminates precision and easily damaged electrical components such as servo motors, ball screws, and sensors. The purely mechanical structure is more robust and durable, with a lower failure rate. Routine maintenance is usually limited to checking the track locking mechanism, resulting in extremely low maintenance costs. It can meet the modern flexible production needs of "multiple varieties and small batches" of materials in the industrial assembly field, and achieve flexible production capabilities of "one machine for multiple uses" under the premise of controllable costs.

Claims

1. An end effector, characterized in that, include: A load-bearing assembly, the load-bearing assembly including a support rod and a guide rail fixed to the support rod; A sliding assembly, the sliding assembly including a slide rod and a first clamping member, the first clamping member clamping the slide rod, the first clamping member being slidable along a first direction extending from the slide rod; A connecting assembly includes a second clamping member and a sliding member. The second clamping member clamps the slide rod, a first end of the sliding member is connected to the second clamping member, and a second end of the sliding member is slidable along a second direction extending from the guide rail. The sliding assembly is movably connected to the bearing assembly through the sliding member. A connecting rod, one end of which is connected to the first clamping member; as well as, A suction cup assembly is connected to the other end of the connecting rod. The suction cup assembly is movably connected to the sliding assembly via the connecting rod. The suction cup assembly is capable of sliding along a second direction in which the connecting rod extends.

2. The end effector according to claim 1, characterized in that, The first direction and the second direction are perpendicular to each other.

3. The end effector according to claim 1, characterized in that, The support rod is a square tube, and the support rod includes a first surface, a second surface, a third surface and a fourth surface. The first surface and the second surface are arranged opposite to each other. The third surface of the support rod is provided with a slide rail, and the slide rail abuts against the fourth surface of the support rod. The guide rail includes a first guide rail and a second guide rail, the first guide rail being fixed to a first surface of the support rod, and the second guide rail being fixed to a second surface of the support rod.

4. The end effector according to claim 1, characterized in that, The first clamping member includes: A first receiving cavity is configured to allow the slide bar to pass through, and the slide bar abuts against the first clamping member after passing through the first receiving cavity; A second receiving cavity is configured to allow the connecting rod to pass through, and the connecting rod abuts against the first clamping member after passing through the second receiving cavity; A first movable plate is disposed on the first side of the first clamping member; The first handle is threadedly connected to the first movable plate, and the first movable plate locks / unlocks with the slide rod by rotating the first handle; The second movable plate is disposed on the second side of the first clamping member; The second handle is threadedly connected to the second movable plate, and the second movable plate is locked / unlocked with the connecting rod by rotating the second handle.

5. The end effector according to claim 1, characterized in that, The second clamping member includes: A first clamping plate is provided with a first threaded hole, and the first clamping plate is fixed to the slide rod by bolts. A second clamping plate, having a second threaded hole, is fixed to the slide rod by bolts; wherein... The first clamping plate and the second clamping plate are arranged opposite to each other.

6. The end effector according to claim 1, characterized in that, The slider includes: A fixing plate is fixed to the second clamping member, and the fixing plate and the first clamping plate of the second clamping member form an "L"-shaped connecting plate; A first slider is fixed to the fixed plate and has a first sliding groove, which engages with the guide rail to form a sliding pair.

7. The end effector according to claim 6, characterized in that, The slider also includes: A baffle, the baffle being fixed to the fixing plate; A third threaded hole and a third handle are provided. The third threaded hole is provided in the baffle and is configured to allow the third handle to pass through. The baffle is locked / unlocked with the fixed plate by rotating the third handle. A fourth threaded hole and a fourth handle are provided. The fourth threaded hole is formed in the baffle and is configured to allow the fourth handle to pass through. The baffle is locked / unlocked with the fixed plate by rotating the fourth handle.

8. The end effector according to claim 1, characterized in that, The connecting rod includes: The first end is elongated and passes through the first clamping member and is clamped to the slide rod. The second end is circular and is fixed to the suction cup assembly by a locking nut.

9. The end effector according to claim 1, characterized in that, The suction cup assembly includes: The suction cup is used to adsorb materials when the end effector is working; An air connector, used to connect to an external air supply source; A guide rod, the first end of which is connected to the suction cup, and the second end of which is connected to the air connector; A spring, the spring being wrapped around the guide rod; A suction cup connector, which is fixed between the guide rod and the suction cup; and a copper sleeve, which is installed between the air connector and the guide rod.

10. An end effector assembly, characterized in that, The device includes a flange connector and two or more end effectors as described in any one of claims 1-9, wherein the flange connector includes a second slider with a second groove, and the flange connector is movably connected to the end effector via the second slider.

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