An end effector simulator

Abstract

This application relates to an end effector simulator, comprising a movable support, a lifting mechanism, and a steering mechanism. The movable support includes a main beam and two secondary beams located at both ends of the main beam and connected to it. The lifting mechanism includes a lift and a support cooperating with the lift. The lift is mounted on the secondary beams and configured to drive the support to move along the length of the secondary beams. The steering mechanism includes a steering gear and a mounting rod. The steering gear is mounted on the support, and the mounting rod is used to mount the end effector female end. The steering gear is used to drive the mounting rod to rotate to adjust the orientation of the end effector female end. The end effector simulator proposed in this utility model avoids the disadvantages of online setup requiring machine shutdown and limited operating space, and does not rely on traditional large fixed platforms for offline setup. It can directly conform to the actual mold to complete the end effector setup, significantly improving the flexibility and adaptability of end effector setup.

Description

Technical Field

[0001] This application relates to the field of automated stamping, and specifically to an end effector simulator. Background Technology

[0002] In automated stamping workshops, the shapes of the sheet metal required for production vary, and the corresponding end effectors need to be changed synchronously with the molds. Whenever a new mold arrives at the workshop, workers must build a new end effector that fits the specific shape of the mold. The construction of the end effector is mainly divided into two methods: online and offline. Online construction requires scheduling time to pause stamping operations, empty the equipment, and replace it with a new mold before workers enter the equipment to operate. However, the internal space of the equipment is small, making it difficult for workers to work smoothly. Furthermore, to avoid tools being left inside the equipment and causing damage, all parts and tools must be placed outside the equipment door. Workers must repeatedly enter and exit to retrieve parts, resulting in a time-consuming construction process. Simultaneously, equipment downtime requires advance planning of production cycle gaps. If the time for a single construction session is insufficient, a second construction session must be arranged, severely impacting production continuity.

[0003] Offline setup often relies on a 6-axis robotic flexible platform. Due to the use of robots, this platform not only requires fixed space but also necessitates a separate safe working area. Furthermore, once assembled, the platform cannot be moved, and there are specific requirements for the flatness of the ground. In terms of the setup process, operators must first build a digital model in simulation software based on 3D drawings, then import the suction cup positions into the platform, and finally position these positions using the robot. However, the positions exported from the 3D drawings deviate from the actual mold, and the setup accuracy depends entirely on the robot's own precision. This means that after the end effector is assembled, initial production testing is still required to further verify and adjust the setup accuracy. The overall process is inflexible, costly, and difficult to adapt to the efficient mold-changing needs of stamping workshops. Utility Model Content

[0004] To solve, or at least partially solve, the above-mentioned technical problems, this application provides an end effector simulator, comprising:

[0005] The movable support includes a main beam and two secondary beams located at both ends of the main beam and connected to the main beam;

[0006] A lifting mechanism includes a lift and a support that cooperates with the lift, the lift being mounted on the sub-beam and the lift being configured to drive the support to move along the length of the sub-beam;

[0007] A steering mechanism includes a steering gear and a mounting rod, the steering gear being mounted on the support, the mounting rod being used to mount the end effector female end, and the steering gear being used to drive the mounting rod to rotate to adjust the orientation of the end effector female end.

[0008] Optionally, the main beam is arranged perpendicularly to each of the two secondary beams;

[0009] Both the main beam and the secondary beam are equipped with laser levels, which are aligned with the center lines on both sides and the center line of the working direction of the mold to be gripped, respectively.

[0010] Optionally, there are two supports, which are respectively located on one side of the two sub-beams. Each support is provided with two guide shafts and one mating shaft.

[0011] The sub-beam is provided with a reinforcing seat, one end of the guide shaft is connected to the reinforcing seat, and the other end passes through the support. One end of the mating shaft is installed on the main beam, and the other end is connected to the support.

[0012] One end of the lifting machine is connected to a lead screw, which is rotatably engaged with the mating shaft. The lifting machine is used to drive the lead screw to rotate so as to move the support axially along the guide shaft.

[0013] Optionally, the axial directions of the guide shaft and the mating shaft are respectively perpendicular to the support;

[0014] The support is arranged parallel to the reinforcing seat.

[0015] Optionally, the elevator is a handwheel, and the rotating end of the handwheel is connected to the lead screw.

[0016] Optionally, the steering mechanism further includes two bases, with each of the supports having one of the bases;

[0017] Each of the bases is provided with a bearing seat, and the two ends of the mounting rod are respectively mounted on the bearing seat;

[0018] The steering mechanism is used to drive the mounting rod to rotate relative to the bearing housing in order to adjust the orientation of the end effector female end.

[0019] Optionally, the mounting rod has at least one mounting point along its length, the mounting point being used to mate with the end effector female end.

[0020] Optionally, the sub-beam is also provided with a pneumatic mechanism, which is used to connect to the end effector female end via an air pipe.

[0021] Optionally, the bottom end of the sub-beam is provided with a bracket, the bracket is provided with a caster with a foot brake and two foot cups, the two foot cups are respectively located at opposite ends of the bracket.

[0022] Optionally, two reinforcing rods are provided between the bracket and the sub-beam, and the length extension direction of the two reinforcing rods is set at an angle to the length extension direction of the sub-beam.

[0023] The end effector simulator provided in this application allows for flexible placement via a movable support, eliminating the need for a fixed location. A lift mounted on the sub-beam drives the support to move along the length of the sub-beam, precisely adjusting the height of the end effector's female end to accommodate molds of varying heights. Simultaneously, a steering mechanism drives the mounting rod to rotate, adjusting the orientation of the end effector's female end to flexibly adapt to irregular mold shapes and gripping angle requirements. Through the coordinated operation of the movable support, lifting mechanism, and steering mechanism, the simulator avoids the drawbacks of on-line setup requiring downtime and limited operating space, while also eliminating the need for large, fixed platforms used in traditional offline setups. It allows for direct assembly of the end effector against the actual mold, significantly improving the flexibility and adaptability of end effector assembly, greatly shortening the assembly cycle, and thus ensuring production continuity. Attached Figure Description

[0024] To more clearly illustrate the embodiments of this application, the relevant drawings will be briefly described below. It is understood that the drawings described below are only for illustrating some embodiments of this application, and those skilled in the art can obtain many other technical features and connections not mentioned herein based on these drawings.

[0025] Figure 1 This is a schematic diagram of the end effector simulator of this application;

[0026] Figure 2 for Figure 1 A partial structural diagram of the end effector simulator;

[0027] Figure 3 for Figure 2 Enlarged structural diagram at point A;

[0028] Figure 4 This is a schematic diagram of the steering mechanism of this application.

[0029] 1. Movable support; 11. Main beam; 12. Secondary beam; 121. Reinforcing seat; 13. Laser level; 14. Pneumatic mechanism; 15. Bracket; 16. Casters; 17. Foot cups; 18. Reinforcing rod;

[0030] 2. Lifting mechanism; 21. Lifting machine; 211. Lead screw; 22. Support; 221. Guide shaft; 222. Mating shaft;

[0031] 3. Steering mechanism; 31. Steering gear; 32. Mounting rod; 33. Base; 34. Bearing housing; 35. Mounting point;

[0032] 4. End pickup female end. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0034] In the description of the embodiments of this utility model, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of this utility model 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. Therefore, they should not be construed as limitations on the embodiments of this utility model. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0035] In the description of the embodiments of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this utility model based on the specific circumstances.

[0036] The technical solutions in the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0037] Please refer to Figures 1 to 4 This embodiment proposes an end effector simulator, which includes a movable support 1, a lifting mechanism 2, and a steering mechanism 3. The movable support 1 includes a main beam 11 and two secondary beams 12 located at both ends of the main beam 11 and connected to the main beam 11. The lifting mechanism 2 includes a lift 21 and a support 22 that cooperates with the lift 21. The lift 21 is installed on the secondary beam 12 and is configured to drive the support 22 to move along the length of the secondary beam 12. The steering mechanism 3 includes a steering gear 31 and a mounting rod 32. The steering gear 31 is installed on the support 22, and the mounting rod 32 is used to install the end effector female end 4. The steering gear 31 is used to drive the mounting rod 32 to rotate to adjust the orientation of the end effector female end 4.

[0038] That is, the movable support 1 can move the end effector simulator to a suitable position as needed without occupying a fixed site, making it more convenient to use. The lifting platform 21 is used to drive the support 22 to move along the length of the sub-beam 12, thereby flexibly adjusting the height of the end effector female end 4. At the same time, the steering mechanism 31 can drive the mounting rod 32 to rotate, thereby precisely adjusting the orientation of the end effector female end 4 to meet the profile requirements of different molds.

[0039] As set up above, the movable support 1 works in conjunction with the lifting mechanism 2 and the steering mechanism 3, so that the overall structure of the end effector simulator does not need to rely on a fixed site. It can be flexibly moved to the side of the mold for direct construction, which avoids the problems of needing to stop the machine and having a small operating space for online construction. It also gets rid of the space and movement limitations of traditional offline platforms, significantly improving the flexibility and adaptability of end effector construction, and is conducive to greatly shortening the construction cycle of end effectors.

[0040] In one embodiment, the main beam 11 is perpendicular to the two secondary beams 12 respectively; both the main beam 11 and the secondary beams 12 are equipped with laser levels 13, and the laser levels 13 on the main beam 11 and the secondary beams 12 are respectively aligned with the center lines on both sides of the mold to be gripped and the center line of the working direction.

[0041] Because the main beam 11 and the two secondary beams 12 are set perpendicularly, the structural stability of the movable support 1 is enhanced, providing a reliable benchmark for subsequent height and angle adjustments. Moreover, the laser level 13 on the main beam 11 and the secondary beams 12 are aligned with the center lines on both sides of the mold and the center line of the working direction, respectively. This enables the simulator and the mold to be quickly and accurately aligned, ensuring that the installation position of the end effector female end 4 and the relative position of the mold meet the production requirements. This effectively reduces the rework caused by alignment deviations in the later stages, thereby improving the accuracy and efficiency of end effector assembly.

[0042] Optionally, there are two supports 22, which are respectively located on one side of the two sub-beams 12. Each support 22 is provided with two guide shafts 221 and one mating shaft 222. The sub-beam 12 is provided with a reinforcing seat 121. One end of the guide shaft 221 is connected to the reinforcing seat 121, and the other end passes through the support 22. One end of the mating shaft 222 is installed on the main beam 11, and the other end is connected to the support 22. One end of the lifting mechanism 21 is connected to a lead screw 211, which is rotatably engaged with the mating shaft 222. The lifting mechanism 21 is used to drive the lead screw 211 to rotate so as to drive the support 22 to move axially along the guide shaft 221.

[0043] In this embodiment, two supports 22 are respectively located on one side of the sub-beam 12. With the structural design of the guide shaft 221, the mating shaft 222, and the reinforcing seat 121, a dual-sided synchronous support and guiding system can be formed. That is, the guide shaft 221 provides stable guidance for the movement of the support 22, and the rotational engagement of the mating shaft 222 and the lead screw 211 can ensure the stable up-and-down movement of the support 22.

[0044] As set up above, when the lifting platform 21 drives the support 22 to move, the two supports 22 can maintain synchronous and stable operation, thereby avoiding tilting or offset of the support 22. This can improve the height adjustment accuracy of the end effector female end 4 and ensure that the assembled end effector fits precisely with the mold surface.

[0045] like Figure 2 and Figure 3 As shown, specifically, the axial directions of the guide shaft 221 and the mating shaft 222 are respectively perpendicular to the support 22; the support 22 is parallel to the reinforcing seat 121.

[0046] That is, the axes of the guide shaft 221 and the mating shaft 222 are set perpendicular to the support 22, and the support 22 and the reinforcing seat 121 are set parallel to each other. This ensures that the movement direction of the support 22 always remains vertical, avoiding horizontal deviation during height adjustment. Moreover, the parallel arrangement of the support 22 and the reinforcing seat 121 further optimizes the force transmission path and reduces the risk of structural deformation of the support 22 and the reinforcing seat 121. This ensures the stability and consistency of the lifting mechanism 2 during long-term operation.

[0047] Optionally, the elevator 21 is a handwheel, and the rotating end of the handwheel is connected to the lead screw 211.

[0048] The lifting platform 21 is designed with a handwheel, and the rotating end of the handwheel is directly connected to the lead screw 211. The operator can precisely control the rotation of the lead screw 211 by manually turning the handwheel, thereby adjusting the height of the support 22.

[0049] like Figure 4 As shown, in one embodiment, the steering mechanism 3 further includes two bases 33, each of the support 22 having a base 33; each base 33 has a bearing seat 34, and the two ends of the mounting rod 32 are respectively mounted on the bearing seat 34; the steering gear 31 is used to drive the mounting rod 32 to rotate relative to the bearing seat 34 to adjust the orientation of the end pickup female end 4.

[0050] It is evident that the design of the two bases 33 and the bearing seat 34 provides stable support on both sides for the mounting rod 32, making the rotation of the mounting rod 32 smoother and preventing shaking or jamming. Moreover, the steering gear 31 drives the mounting rod 32 to rotate relative to the bearing seat 34, further improving the orientation adjustment accuracy and stability of the end effector female end 4, and enabling precise adaptation to the irregular shape and gripping angle requirements of the mold.

[0051] Specifically, the mounting rod 32 has at least one mounting point 35 along its length extension direction, and the mounting point 35 is used to cooperate with the mounting end of the pickup female end 4.

[0052] In this embodiment, the number of installation points 35 can be adjusted according to actual needs and is not limited here. By setting at least one installation point 35 along the length of the mounting rod 32, the installation position of the end effector female end 4 can be flexibly selected according to the mold size and material gripping requirements, or it can be adapted to the combined installation scenario of multiple end effector female ends 4. Therefore, this utility model can not only meet the gripping requirements of a single material, but also adapt to complex construction scenarios with multiple workstations and multiple material, thereby improving the versatility and practicality of the simulator equipment.

[0053] like Figure 1 As shown, in one embodiment, the sub-beam 12 is also provided with a pneumatic mechanism 14, which is used to connect to the end effector female end 4 via an air pipe.

[0054] A pneumatic mechanism 14 is installed on the sub-beam 12. The pneumatic mechanism 14 is connected to the end effector female end 4 via an air pipe, thereby simulating the pneumatic grasping environment of the robot in actual production. After the end effector is built, its grasping stability and rationality can be directly verified. This offline verification method directly avoids production interruptions caused by grasping problems after the end effector is put into operation, which helps to reduce the adjustment time and cost after the operation is put into operation and can significantly improve production efficiency.

[0055] In one embodiment, a bracket 15 is provided at the bottom end of the sub-beam 12. The bracket 15 is provided with a caster 16 with a foot brake and two foot cups 17, which are located at opposite ends of the bracket 15.

[0056] Furthermore, such as Figure 1 As shown, two reinforcing rods 18 are also provided between the bracket 15 and the sub-beam 12, and the length extension direction of the two reinforcing rods 18 is set at an angle with the length extension direction of the sub-beam 12.

[0057] The support 15 at the bottom of the sub-beam 12 is equipped with casters 16 with foot brakes and foot cups 17 at both ends. The casters 16 facilitate the quick movement of the simulator to any mold without occupying a fixed site. The foot cups 17, in conjunction with the foot brakes, can firmly fix the simulator to the ground and prevent displacement during the construction process. This ensures the relative positional stability of the simulator and the mold, providing a stable foundation for the accuracy of the end effector construction.

[0058] Meanwhile, the addition of the reinforcing rod 18 significantly enhances the connection rigidity between the sub-beam 12 and the support 15, as well as the overall structural stability, thereby improving the simulator's impact resistance and long-term reliability.

[0059] In this embodiment of the utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0060] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0061] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. An end effector simulator, comprising: include: The movable support includes a main beam and two secondary beams located at both ends of the main beam and connected to the main beam; A lifting mechanism includes a lift and a support that cooperates with the lift, the lift being mounted on the sub-beam and the lift being configured to drive the support to move along the length of the sub-beam; The steering mechanism includes a steering gear and a mounting rod, the steering gear being mounted on the support, the mounting rod being used to mount the end effector female end, and the steering gear being used to drive the mounting rod to rotate to adjust the orientation of the end effector female end.

2. The end effector simulator of claim 1, wherein, The main beam is perpendicular to the two secondary beams respectively; Both the main beam and the secondary beam are equipped with laser levels, which are aligned with the center lines on both sides and the center line of the working direction of the mold to be gripped, respectively.

3. The end effector simulator of claim 1, wherein, The number of supports is two, and they are respectively located on one side of the two sub-beams. Each support is provided with two guide shafts and one mating shaft. The sub-beam is provided with a reinforcing seat, one end of the guide shaft is connected to the reinforcing seat, and the other end passes through the support. One end of the mating shaft is installed on the main beam, and the other end is connected to the support. One end of the lifting machine is connected to a lead screw, which is rotatably engaged with the mating shaft. The lifting machine is used to drive the lead screw to rotate so as to move the support axially along the guide shaft.

4. The end effector simulator of claim 3, wherein, The axial directions of the guide shaft and the mating shaft are respectively perpendicular to the support. The support is arranged parallel to the reinforcing seat.

5. The end effector simulator of claim 3, wherein, The elevator is a handwheel, and the rotating end of the handwheel is connected to the lead screw.

6. The end effector simulator of claim 3, wherein, The steering mechanism also includes two bases, with each of the supports having one of the bases; Each of the bases is provided with a bearing seat, and the two ends of the mounting rod are respectively mounted on the bearing seat; The steering mechanism is used to drive the mounting rod to rotate relative to the bearing housing in order to adjust the orientation of the end effector female end.

7. The end effector simulator of claim 6, wherein, The mounting rod has at least one mounting point along its length, and the mounting point is used to cooperate in mounting the end effector female end.

8. The end effector simulator of claim 7, wherein, The sub-beam is also equipped with a pneumatic mechanism, which is used to connect to the end effector female end via an air pipe.

9. The end effector simulator of claim 1, wherein, The bottom end of the sub-beam is provided with a bracket, and the bracket is provided with a caster with a foot brake and two foot cups, which are located at opposite ends of the bracket.

10. The end effector simulator according to claim 9, characterized in that, Two reinforcing rods are also provided between the bracket and the sub-beam, and the length extension direction of the two reinforcing rods is set at an angle with the length extension direction of the sub-beam.

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