CN111770810A

CN111770810A - End effector and robot thereof

Info

Publication number: CN111770810A
Application number: CN201880087413.4A
Authority: CN
Inventors: 王伦
Original assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Current assignee: Shenzhen A&E Intelligent Technology Institute Co Ltd
Priority date: 2018-10-18
Filing date: 2018-10-18
Publication date: 2020-10-13
Anticipated expiration: 2038-10-18
Also published as: WO2020077602A1; CN111770810B

Abstract

A robot (1000) and an end effector (100) thereof, the end effector (100) is used for automatically assembling parts (300) for an assembling body (200), and comprises a part grabbing device (10) and a locking device (20), wherein the part grabbing device (10) is used for grabbing the parts (300) and placing the parts (300) at an assembling position; the locking device (20) is connected with the part grabbing device (10) and is used for assembling the part (300) on the assembling main body (200). The part (300) is grabbed by the part grabbing device (10) and placed at the assembling position, and the part (300) is assembled on the assembling main body (200) through the locking device (20) connected with the part grabbing device (10), so that the automatic assembling and fixing of the part (300) are realized.

Description

End effector and robot thereof

[ technical field ] A method for producing a semiconductor device

The application belongs to the technical field of automatic assembly, and particularly relates to an end effector and a robot thereof.

[ background of the invention ]

Along with the continuous deepening of manufacturing automation degree, industrial robot has widely been applied to each field, to the assembly field, in order to promote assembly efficiency, adopts industrial robot to carry out automatic assembly and has become present and future development trend.

At present, the assembly process is more and more complicated, and more parts no longer just snatch automatically and place and can realize the assembly, for example still need adopt the screw to fix when snatching and placing the part. For the assembling process, a double-machine cooperation mode is often adopted, one actuator is used for grabbing and placing parts, after the actuator is placed at an assembling position, the part is clamped and held by the actuator, and the other actuator is used for locking and fixing screws. The inventor of the application finds that in the long-term research and practice process, in the existing double-machine cooperation mode, two actuators are needed to work in one assembling process, and in the process of clamping and placing parts by one actuator, the other actuator is in a standby state, so that the utilization rate of equipment is low.

[ summary of the invention ]

The application provides an end effector and a robot thereof, which aim to solve the technical problems of low equipment utilization rate and low assembly efficiency in the prior art.

In order to solve the technical problem, the application adopts a technical scheme that: there is provided an end effector for automatically assembling parts for an assembly body, the end effector comprising: the part grabbing device is used for grabbing the part and placing the part in an assembling position; and the locking device is connected with the part grabbing device and is used for assembling the part on the assembling main body.

In order to solve the above technical problem, another technical solution adopted by the present application is: providing a robot, the robot comprising: a frame; an end effector secured to the frame for automatically assembling parts for an assembly body, the end effector comprising: the part grabbing device is used for grabbing the part and placing the part in an assembling position; and the locking device is connected with the part grabbing device and is used for assembling the part on the assembling main body.

The beneficial effect of this application is: the part grabbing device is used for grabbing the part and placing the part at the assembling position, and the part is assembled on the assembling main body through the locking device connected with the part grabbing device, so that the assembling and fixing of the part are realized. Device interconnect structure as an organic whole is paid with the lock to part grabbing device in this application to only need use an executor can realize grabbing and the fixed work of part simultaneously, improved the utilization ratio of equipment, and also improved the efficiency of assembly.

[ description of the drawings ]

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a perspective view of an end effector provided herein from one perspective;

FIG. 2 is a perspective view of an end effector provided herein from another perspective;

FIG. 3 is an exploded view of the end effector of FIG. 1;

FIG. 4 is an exploded view of the rotary apparatus of FIG. 1;

FIG. 5 is an exploded view of the locking device of FIG. 1;

FIG. 6 is an exploded view of the locking device of FIG. 1 from another perspective;

FIG. 7 is an exploded view of the parts capture assembly of FIG. 1;

FIG. 8 is an exploded view of the visual positioning apparatus of FIG. 1;

fig. 9 is a schematic perspective view of a robot provided in the present application.

[ detailed description ] embodiments

The present application will be described in further detail with reference to the following drawings and examples. It is to be noted that the following examples are only illustrative of the present application, and do not limit the scope of the present application. Likewise, the following examples are only some examples and not all examples of the present application, and all other examples obtained by a person of ordinary skill in the art without any inventive step are within the scope of the present application.

The terms "first" and "second" in this application are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise. All directional indications (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are only used to explain the relative positional relationship between the components, the movement, and the like in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indication is changed accordingly. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Referring to fig. 1 and 2, fig. 1 is a schematic perspective view of an end effector provided by the present application from one perspective; fig. 2 is a perspective view of an end effector provided herein from another perspective.

The present application provides an end effector 100 for automatically assembling parts 300 for an assembly body 200. The end effector 100 includes a part capture device 10 and a lock device 20. Wherein the part gripping device 10 is used for gripping the part 300 and placing the part 300 in an assembly position; the locking device 20 is connected to the parts holding device 10 for assembling the parts 300 to the assembly body 200.

In the present embodiment, the part 300 is grasped by the part grasping apparatus 10 and placed in the assembling position, and the part 300 is assembled to the assembling body 200 by the locking apparatus 20 connected to the part grasping apparatus 10, thereby achieving the assembling and fixing of the part 300. Therefore, the part 300 can be grabbed and fixed by only using one actuator, the utilization rate of the equipment is improved, and the assembly efficiency is also improved.

As shown in fig. 1 and 2, the end effector 100 further includes a visual positioning device 30 for acquiring the position and assembly position of the part 300. In the present embodiment, the visual positioning device 30 is connected to the locking device 20 so as to be movable with the parts holding device 10 and the locking device 20.

Specifically, before the part gripping device 10 grips the part 300, the visual positioning device 30 first positions the position of the part 300 so that the part gripping device 10 moves to the position of the part 300 for gripping. Further, the visual positioning device 30 acquires the assembly position, so that the part grabbing device 10 moves the part 300 to the assembly position, and places the part 300 at the assembly position.

The present embodiment can achieve accurate grasping of the part 300 and assembly of the part 300 to an accurate assembly position by acquiring the position and the assembly position of the part 300 using the visual positioning device 30. When errors occur in the placing position of the part 300 and the assembling position of the part 300, the visual positioning device 30 can be used for acquiring the accurate positions of the part 300 and the assembling, and the phenomena of grabbing empty and assembling failure of the part grabbing device 10 are prevented.

Of course, in other embodiments, the part position and the assembly position may be obtained by the part holding device 10 in other manners. For example, it is possible to move the part pickup apparatus 10 in the part position and the assembly position, respectively, and mark the part position and the assembly position in a teaching manner, so that the part pickup apparatus 10 picks up the part 300 at the marked part position every work cycle, and places the picked part 300 at the assembly position. The method is suitable for the situation that the precision of the part placing position and the assembling position is higher.

Referring to fig. 3, fig. 3 is an exploded view of the end effector of fig. 1. Referring to fig. 1 and 2, in the present embodiment, the end effector 100 further includes a rotating device 40.

The rotating device 40 is connected to the locking device 20 and is used for driving the locking device 20 to rotate, so that the locking device 20 has a rotational degree of freedom. Specifically, since the part grabbing device 10 is connected with the locking device 20, the locking device 20 and the part grabbing device 10 can be driven by the rotating device 40 to rotate, so that the part grabbing device 10 and the locking device 20 can assemble parts at any angle.

As shown in fig. 4, fig. 4 is an exploded view of the rotating apparatus of fig. 1. Referring to fig. 1 and 3, the rotating device 40 includes a first bracket 42 and a rotation driving device 44. The rotation driving device 44 includes a motor 442 and a rotation shaft assembly 444, and the rotation shaft assembly 444 can be driven by the motor 442 to rotate. The locking device 20 is connected to the rotation driving device 44, that is, the locking device 20 is connected to the rotation shaft assembly 444 of the rotation driving device 44, so that the locking device 20 can rotate under the driving of the rotation shaft assembly 444. And since the part grabbing device 10 is connected with the locking device 20, the part grabbing device 10 can rotate together with the locking device 20 under the driving of the rotating shaft assembly 444.

In this embodiment, the rotation driving device 44 is fixed to the first bracket 42, and the first bracket 42 is used to connect the rotation driving device 44 and the part picking device 10 and the locking device 20 connected to the rotation driving device 44 to the external frame, so that the end effector 100 is moved relative to the mounting body 200 to place the picked part 300 in the mounting position.

In this embodiment, as shown in fig. 4, the first bracket 42 includes a first connection plate 421 and a second connection plate 422, wherein the first connection plate 421 is used for connecting with an external frame, and the second connection plate 422 is perpendicularly connected with the first connection plate 421 and is used for fixing the rotation driving device 44.

Further, the first bracket 42 further includes two third connecting plates 423, wherein each of the third connecting plates 423 is connected to the first connecting plate 421 and the second connecting plate 422, so as to reinforce the connection strength of the first connecting plate 421 and the second connecting plate 422, and enhance the bearing capacity of the end effector 100. In this embodiment, the first connection plate 421, the second connection plate 422, and the third connection plate 423 are detachably connected. Of course, in other embodiments, the first connecting plate 421, the second connecting plate 422 and the third connecting plate 423 may also be an integral structure, and are not limited herein.

As shown in fig. 5, fig. 5 is an exploded view of the locking device of fig. 1. Referring to fig. 1 to 3, the locking device 20 includes a second bracket 22, a cylinder assembly 24, and a locking assembly 26. Wherein the second bracket 22 connects the cylinder assembly 24 and the locking assembly 26 with the rotating device 40, and the cylinder assembly 24 and the locking assembly 26 are connected with each other and respectively located at two opposite sides of the second bracket 22.

Specifically, in the present embodiment, the second bracket 22 includes a first sub-bracket 221 and a second sub-bracket 222 connected to each other. As shown in fig. 3 and 5, the first sub-bracket 221 is connected to the rotating device 40, and the second sub-bracket 222 is perpendicular to the first sub-bracket 221 and is located between the cylinder assembly 24 and the locking assembly 26. The second sub-mount 222 may be integrated with the first sub-mount 221, or may be a detachable structure, which is not limited herein.

Further, as shown in fig. 5, in the present embodiment, the second support 22 further includes two third sub-supports 223. Each of the third sub-mounts 223 is connected to the first sub-mount 221 and the second sub-mount 222, respectively, to improve the connection strength between the first sub-mount 221 and the second sub-mount 222. Similarly, the third sub-mount 223 may be integrated with the first sub-mount 221 and the second sub-mount 222, or may be detachable, and is not limited herein. In this embodiment, the first sub-mount 221, the second sub-mount 222, and the third sub-mount 223 are detachably connected.

Referring to fig. 5, in the present embodiment, an electric screwdriver slide rail 224 is further disposed on one side of the second bracket 22, and the locking assembly 26 is connected to the electric screwdriver slide rail 224 on the second bracket 22 in a matching manner, so that the locking assembly 26 can move relative to the electric screwdriver slide rail 224, that is, the locking assembly 26 can move relative to the second bracket 22.

As shown in fig. 5, in the present embodiment, the electric screwdriver slide 224 is connected to the second bracket 22 and actually connected to the second sub-bracket 222. Specifically, the electric screwdriver slide rail 224 perpendicular to the first sub-bracket 221 is disposed on the second sub-bracket 222, that is, the electric screwdriver slide rail 224 is disposed along the length direction of the second sub-bracket 222, so that the locking assembly 26 can move toward or away from the rotating device 40, that is, toward or away from the mounting body.

Referring to fig. 5 in combination with fig. 1, in the present embodiment, the locking assembly 26 generally includes a slider adapter plate 262, a screwdriver mounting block 264 and a screwdriver 266. The slider adapter plate 262 is connected to the screwdriver slide rail 224 and can move relative to the screwdriver slide rail 224, so that the locking assembly 26 can move relative to the second sub-bracket 222. The electric screwdriver mounting block 264 is fixed on the slider adapter plate 262, and the electric screwdriver 266 is fixed on the electric screwdriver mounting block 264, so that the electric screwdriver 266 can move along the movable direction of the electric screwdriver slide rail 224 along with the slider adapter plate 262.

Specifically, as shown in fig. 5, in the present embodiment, the electric screwdriver mounting block 264 is perpendicular to the slider adapter plate 262, the electric screwdriver 266 is fixed on the electric screwdriver mounting block 264, and the axis of the electric screwdriver 266 is perpendicular to the electric screwdriver mounting block 264. The electrical screwdriver 266 may thus be made to have its axis parallel to the slider adapter plate 262, thereby allowing the electrical screwdriver 266 to move in directions closer to and further away from the mounting body.

Among them, the electric screwdriver 266 is also called an electric screwdriver or an electric screwdriver, and is an electric tool for screwing and unscrewing a screw. The electric tool is provided with a mechanism for adjusting and limiting torque, is mainly used for assembly lines, and is one of necessary tools for most production enterprises. In this embodiment, the electric screwdriver 266 is driven to work by the electric screwdriver mounting block 264 and the slider adapter plate 262 in the locking assembly 26, so that the electric screwdriver 266 is moved to a proper position and the parts are fixed at the assembling position by screws.

With continued reference to FIG. 5, the cylinder assembly 24 generally includes a cylinder 242 and a cylinder connecting block 244. Wherein the cylinder 242 is fixed on the opposite side of the second bracket 22 where the locking assembly 26 is disposed. In the present embodiment, as shown in fig. 5, the cylinder 242 is actually fixed on the side of the second sub-bracket 222 facing away from the locking assembly 26, i.e. the cylinder assembly 24 and the locking assembly 26 are located on the opposite sides of the second sub-bracket 222.

Further, as shown in fig. 5, the cylinder 242 is provided with a cylinder protruding rod 246 in its axial direction. In the present embodiment, the axial direction of the cylinder extension bar 246 is parallel to the length direction of the second bracket 22, and extends toward the fitting body.

The cylinder connecting block 244 is connected to the locking assembly 26 on the one hand and to the cylinder extension rod 246 on the other hand, so that the locking assembly 26 can be connected to the cylinder extension rod 246, so that the locking assembly 26 can move with the cylinder extension rod 246. In this embodiment, when the cylinder 242 is inflated, the cylinder extension rod 246 extends away from the cylinder 242, i.e. extends toward the mounting body, so as to drive the locking assembly 26 connected thereto to move toward the mounting body. When the air cylinder 242 inhales, the cylinder extension rod 246 retracts in a direction close to the air cylinder 242, i.e., in a direction away from the mounting body, so as to drive the locking assembly 26 connected thereto to move in a direction away from the mounting body.

Specifically, referring to fig. 6, fig. 6 is an exploded view of the locking device of fig. 1 from another view angle. In the present embodiment, the connection between the cylinder connecting block 244 and the lock assembly 26 is actually connected to the slider adapter plate 262 in the lock assembly 26. The cylinder connecting block 244 drives the slider adapter plate 262 to move on the electric screwdriver slide rail 224, and further drives the electric screwdriver mounting block 264 and the electric screwdriver 266 fixed on the slider adapter plate 262 to move on the electric screwdriver slide rail 224.

Of course, in other embodiments, the cylinder connecting block 244 may also be connected to the electric batch mounting block 264 in the lock assembly 26. At this time, the cylinder connecting block 244 can drive the electric screwdriver mounting block 264 to move under the action of the cylinder extension rod 246, and further drive the electric screwdriver 266 connected with the electric screwdriver mounting block 264 and the sliding block adapter plate 262 to move on the electric screwdriver sliding rail 224.

Further, as shown in fig. 5 and 6, in the present embodiment, the cylinder assembly 24 further includes an electric batch damper assembly 248. One end of the electric screwdriver buffering assembly 248 is connected with the cylinder extension rod 246, and the other end of the electric screwdriver buffering assembly is connected with the cylinder connecting block 244, so that the electric screwdriver 266 is prevented from being damaged due to hard contact between the electric screwdriver 266 and a fastener, and the electric screwdriver buffering assembly plays a role when the cylinder extension rod 246 drives the electric screwdriver 266 to descend rapidly.

Further, in the present embodiment, the electric batch buffering assembly 248 generally includes an electric batch buffering shaft 2482, an electric batch buffering spring 2484, and an electric batch limiting shaft 2486. One end of an electric screwdriver buffer shaft 2482 is connected with the air cylinder extension rod 246, an electric screwdriver buffer spring 2484 is sleeved on the electric screwdriver buffer shaft 2482, a through hole 2242 is formed in the air cylinder connecting block 244, and the different end, connected with the air cylinder extension rod 246, of the electric screwdriver buffer shaft 2482 penetrates through the through hole 2242 and is connected with an electric screwdriver limiting shaft 2486.

In this embodiment, as shown in fig. 6, the electric screwdriver buffer shaft 2482 is cooperatively connected with the cylinder extension rod 246. Specifically, the electric screwdriver buffer shaft 2482 may be coupled to the cylinder extension rod 246 in a screw-fit manner. For example, an external thread may be provided on one of the ends of the electric batch buffering shaft 2482 and the cylinder extension bar 246 connected to each other, and an internal thread may be provided on the other end, by which the electric batch buffering shaft 2482 and the cylinder extension bar 246 are coupled by being engaged with the external thread. Of course, in other embodiments, the electric screwdriver buffer shaft 2482 and the cylinder extension bar 246 can be connected by means of, for example, clamping, welding, etc., and the present application is not limited in any way.

Specifically, in the present embodiment, as shown in fig. 6, an external thread is provided at an end of the cylinder extension bar 246 connected to the electric screwdriver bit buffering shaft 2482, and an internal thread is provided at an end of the electric screwdriver bit buffering shaft 2482 connected to the cylinder extension bar 246, so that the cylinder extension bar 246 is connected to the electric screwdriver bit buffering shaft 2482 by a screw-fit connection.

In this embodiment, the electric screwdriver buffer spring 2484 is sleeved on the electric screwdriver buffer shaft 2482, and the electric screwdriver buffer spring 2484 and the electric screwdriver limit shaft 2486 are respectively located at two ends of the cylinder connecting block 244. The electric screwdriver limiting shaft 2486 is fixed at the end of the electric screwdriver buffering shaft 2482 far away from the cylinder extension rod 246 and is used for connecting the cylinder connecting block 244 with the cylinder extension rod 246. The electric screwdriver buffer spring 2484 is arranged between the cylinder extension rod 246 and the cylinder connecting block 244 and is used for buffering the acting force of the cylinder extension rod 246 on the cylinder connecting block 244, so that when the cylinder connecting block 244 drives the electric screwdriver 266 to descend, the tail end of the electric screwdriver 266 is prevented from being in hard contact with a fastener or a part.

With continued reference to fig. 5, the locking assembly 26 further includes a hydraulic buffer 268, the hydraulic buffer 268 being fixed to the second bracket 22. In the present embodiment, the hydraulic buffer 268 is fixed on the second sub-bracket 222, and the hydraulic buffer 268 is disposed between the electric batch slide rail 224 and the first sub-bracket 221, and is located on an axial extension line of the electric batch slide rail 224. When the slider adapter plate 262 drives the electric screwdriver 266 to move up to the preset position, the hydraulic buffer 268 abuts against the slider adapter plate 262, so that the slider adapter plate 262 is buffered, and the air cylinder 242 is prevented from being damaged and the tail end vibration of the locking assembly 26 is reduced when the air cylinder 242 drives the electric screwdriver 266 to rapidly ascend.

In other embodiments, the hydraulic buffer 268 can be fixed on the second bracket 22 or the first sub-bracket 221. Specifically, the hydraulic buffer 268 may be fixed on the first sub-bracket 221, so as to shorten the distance between the end of the electric batch slide rail 224 and the first sub-bracket 221, so as to shorten the length of the end effector 100, thereby making the end effector 100 more integrated and smaller in size.

Referring to fig. 7, fig. 7 is an exploded view of the part grabbing device of fig. 1. With continued reference to fig. 1 and 3, the part grabbing device 10 is connected to the locking device 20, and in this embodiment, the part grabbing device 10 is fixed to the second sub-bracket 222 of the locking device 20. As shown in fig. 7, the parts handler 10 includes a jaw mounting plate 12, a gas jaw mounting plate 14, a gas jaw assembly 16, and a chuck 18.

Wherein, in conjunction with fig. 1 to 3, the jaw mounting plate 12 is connected to the second sub-mount 222. Specifically, the jaw mounting plate 12 is perpendicular to the second sub-bracket 222 to vertically connect the parts handler 10 to the lock set 20. This arrangement has the advantage of making the end effector 100 more compact, thereby reducing the spatial volume of the end effector 100.

Furthermore, a clamping jaw slide rail 122 is arranged on one side of the clamping jaw mounting plate 12, the air jaw mounting plate 14 is connected with the clamping jaw slide rail 122 in a matching way, and the air jaw assembly 16 and the clamping head 18 are respectively fixed on two sides of the air jaw mounting plate 14.

As shown in fig. 1 and 7, in the present embodiment, the jaw slide 122 is disposed on a side of the jaw mounting plate 12 close to the electric screwdriver 266, and the pneumatic jaw mounting plate 14 is cooperatively connected to the jaw slide 122, so that the pneumatic jaw assembly 16 and the chuck 18 fixed to the pneumatic jaw mounting plate 14 can move in the sliding direction of the jaw slide 122.

As shown in fig. 7, in the present embodiment, the jaw slide 122 is provided on the side of the jaw mounting plate 12 close to the electric screwdriver 266, and the movable direction of the jaw slide 122 coincides with the movable direction of the screwdriver slide 224 on the second sub-bracket 222, i.e., moves in a direction close to or away from the mounting body.

Wherein the chuck 18 is secured to the pneumatic jaw mounting plate 14 on a side thereof adjacent the electric screwdriver 266 and is configured to interact with the electric screwdriver 266 on a side thereof adjacent the electric screwdriver 266, as shown in figures 1 and 7. The collet 18 is used to inflate the screw, and the gas claw assembly 16 is used to grasp the part 300 so that when the screwdriver 266 in the locking assembly 26 is lowered, the screwdriver 266 can assemble the part 300 to the assembly body 200 using the fastener.

Further, a first waist-shaped hole 142 is provided on the pneumatic claw mounting plate 14, and the chuck 18 is fixed at the position of the first waist-shaped hole 142 by a fastening device so as to fixedly connect the pneumatic claw mounting plate 14 with the chuck 18. In this embodiment, the first slotted hole 142 is provided so that the position of the collet 18 is adjustable. Further, the length direction of the first kidney-shaped hole 142 is along the movable direction of the jaw slide 122 so that the position of the collet 18 can be adjusted in a direction toward or away from the fitting body 200.

Further, referring to FIG. 7 in conjunction with FIG. 1, the gas jaw assembly 16 includes a gas jaw body 162 and a clamping jaw 164. Wherein the jaws 164 are secured to opposite ends of the gas claw body 162 and wherein the jaws 164 effect release and capture of the part 300 in response to opening and closing of the gas claw body 162. In this embodiment, when the air gripper body 162 sucks air, the two gripping jaws 164 connected to the ends thereof move in a direction to approach each other, thereby gripping the part 300; when the gas claw body 162 is inflated, the two jaws 164 connected to its ends are moved away from each other, thereby releasing the part 300.

In this embodiment, the jaw 164 is shaped as a circular arc, as shown in fig. 7, and may be used to grip a cylindrical part. For example, hollow parts such as a resonance rod of the filter and the like which need to be fixed by screws can be clamped. At this time, the clamping jaw 164 clamps the resonance rod to be placed on the assembly body 200 and fixed with a screw. And solid parts needing to be fastened, such as positioning pins and the like, can be clamped. At this point, the jaws 164 grasp the alignment pins and place them on the mounting body 200, and the screwdriver 266 is lowered to tighten the alignment pins directly on the mounting body 200 without the aid of additional fasteners.

Of course, in other embodiments, the shape of the clamping jaw 164 connected to the gas jaw body 162 may be changed to clamp different shapes of parts, and the application is not limited thereto, and the clamping jaw 164 with a shape adapted to the shape of the assembled part should be selected according to the shape of the assembled part.

Further, as shown in fig. 7 in conjunction with fig. 3, the parts handler 10 further includes a jaw bumper 166. The jaw damper 166 is provided on the jaw mounting plate 12 and connected to the air jaw mounting plate 14, and serves to prevent the jaws 164 or parts gripped by the jaws 164 fixed to the air jaw mounting plate 14 from being damaged by the jaws 164 or parts coming into hard contact with the assembly body.

In this embodiment, jaw bumper 166 includes a guide post block 1662, jaw bumper springs 1664, studs 1666, and nuts 1668. The guide post block 1662 is fixed on the jaw mounting plate 12, and the guide post block 1662 is provided with a first clearance hole 1663. The air jaw mounting plate 14 is provided with a second clearance hole 144. The first clearance hole 1663 is coaxially spaced from the second clearance hole 144 and has an axis in the same direction as the movable direction of the jaw slide 122. The stud 1666 is coupled to the nut 1668 through the first and

second clearance holes

1663, 144. The jaw buffer spring 1664 is located between the guide post 1662 and the pneumatic jaw mounting plate 14, and fits over the stud 1666. When the clamping jaw 164 or the part clamped by the clamping jaw 164 contacts the assembly body, the clamping jaw 164 is forced to move upwards, so that the air jaw mounting plate 14 connected with the clamping jaw 164 moves upwards, and the air jaw mounting plate 14 presses the clamping jaw buffer spring 1664 when moving upwards, so that the action force exerted on the clamping jaw 164 is buffered, and the part clamped by the clamping jaw 164 or the clamping jaw 164 is prevented from being in hard contact with the assembly body. On the other hand, the jaw damper springs 1664 also have a downward return force on the gas jaw mounting plate 14 so that the part may remain in contact with the mounting body during mounting to facilitate the securing of the part by the locking assembly 26.

Further, referring to fig. 1, in the present embodiment, the visual positioning device 30 includes a visual mounting plate 32, a camera assembly 34 and a light source assembly 36. Wherein the vision mounting plate 32 is connected with the first bracket 42, and the camera assembly 34 and the light source assembly 36 are respectively fixed on the vision mounting plate 32 to connect the camera assembly 34 and the light source assembly 36 with the first bracket 42. The camera assembly 34 is used to acquire images of the mounting body 200, and the light source assembly 36 is used to illuminate the camera assembly 34.

Referring to fig. 8, fig. 8 is an exploded view of the visual positioning apparatus of fig. 1. In the present embodiment, the camera assembly 34 includes a camera mounting plate 342, a camera 344, and a lens 346. With continued reference to fig. 1, the camera mounting plate 342 is connected to the vision mounting plate 32, and the camera 344 and the lens 346 are fixed on the camera mounting plate 342, and the lens 346 and the camera 344 cooperate to acquire images of the positions of the assembly body 200 and the part 300 to determine the assembly position on the assembly body 200 and the attitude of the part 300, to achieve accurate grasping and accurate mounting, and to prevent assembly failure caused by errors in the positions of the part 300 and errors in the accuracy of the assembly position.

Further, the light source assembly 36 includes a light source mounting board 362 and a light source 364, wherein the light source mounting board 362 is used to connect the light source 364 with the vision mounting board 32. As shown in fig. 8, in the present embodiment, the lens 346 is disposed in the light source 364, and the light source 364 is annular and disposed coaxially with the lens 346. The annular light source is advantageous in that the light under the lens 346 can be uniformly distributed, and the occurrence of shadows is prevented from affecting the recognition of the visual positioning device 30.

Further, the position of the lens 346 and the light source 364 may be fixed relative to the vision mounting plate 32 or adjustable relative to the vision mounting plate 32. For example, fastening means may be employed to secure the camera mounting plate 342 and the light source mounting plate 362 directly to the vision mounting plate 32.

As shown in fig. 8, in the present embodiment, a second waist-shaped hole 3622 is provided on the light source mounting board 362, and a third waist-shaped hole (not shown in the figure) is provided on the camera mounting board 342. The second waist-shaped hole 3622 and the third waist-shaped hole have the advantage that the position of the lens 346 and the light source relative to the assembling body can be adjusted, and focusing is facilitated.

Of course, in other embodiments, other ways of adjusting the position of lens 346 and light source 364 relative to the mounting body may be used. For example, a telescoping rod may be used to secure the camera 344 and lens 346 and light source 364. This is not intended to be exhaustive, but it is understood that the camera 344, lens 346, and light source 364 may or may not be positionally fixed relative to the vision-mounting plate 32 within the scope of the present application.

Referring to fig. 9, fig. 9 is a schematic perspective view of a robot provided in the present application. In the present embodiment, robot 1000 generally includes a frame 400 and an end effector 100. Wherein the end effector 100 is fixed to the frame 400 for automatically assembling the parts 300 for the assembling body 200. The frame 400 is used to move and/or rotate the end effector 100.

In one embodiment, the frame 400 may be a three-axis right-angle device including an X-axis transmission device, a Y-axis transmission device, and a Z-axis transmission device, which are perpendicular to each other and slidably connected. The specific structure and operation of the three-axis right-angle device can refer to the existing numerical control machine tool, and generally, the X-axis transmission device, the Y-axis transmission device and the Z-axis transmission device all comprise a main shaft, a servo motor and the like. Since the invention is not related, it will not be described in detail herein.

In another embodiment, the frame 400 may also be a six-axis robot arm coupled to the end effector 100 for driving the end effector 100 to move or rotate. The specific structure and operation of the six-axis robot arm can refer to the existing numerical control machine tool, and are not described herein.

The end effector 100 comprises a part grabbing device 10 and a locking device 20, wherein the part grabbing device 10 is used for grabbing parts and placing the parts in an assembling position; the locking device 20 is connected to the parts holding device 10 for assembling the parts to the assembly body 200. The structure of the end effector 100 in this embodiment is the same as the structure of the end effector 100 in the previous embodiment, and specific reference may be made to the structure of the end effector 100 in the previous embodiment, which is not described herein again.

In summary, those skilled in the art can easily understand that the robot and the end effector thereof provided by the present application use the part grabbing device to grab the part and place the part in the assembly position, and assemble the part on the assembly body through the locking device connected to the part grabbing device, so as to achieve assembly and fixation of the part. Therefore, the grabbing and fixing work of the parts can be realized simultaneously by only using one actuator, the utilization rate of equipment is improved, and the assembly efficiency is also improved.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.

Claims

An end effector for automatically assembling parts for an assembly body, the end effector comprising:

the part grabbing device is used for grabbing the part and placing the part in an assembling position;

and the locking device is connected with the part grabbing device and is used for assembling the part on the assembling main body.
The end effector as claimed in claim 1, further comprising a visual positioning device connected to the lock device for obtaining the parts placement position and the assembly position.
The end effector as claimed in claim 2, wherein the end effector further comprises a rotating device to which the lock device is fixed.
The end effector as claimed in claim 3, wherein the rotating means comprises:

a first bracket;

and the rotation driving device is arranged on the first support, is connected with the locking device and is used for driving the locking device and the part grabbing device to rotate.
The end effector as claimed in claim 3, wherein the lock device includes a second bracket, a cylinder assembly, and a lock assembly, wherein the second bracket is connected to the rotating device; the cylinder assembly and the locking assembly are connected with each other and are respectively positioned at two opposite sides of the second support.
The end effector as claimed in claim 5, wherein the second frame is provided with an electric screwdriver slide rail at a side close to the locking assembly, and the locking assembly is connected with the electric screwdriver slide rail in a matching way and can move relative to the electric screwdriver slide rail.
The end effector as claimed in claim 6, wherein the lock assembly includes:

the sliding block adapter plate is matched and connected with the electric screwdriver slide rail and can move relative to the electric screwdriver slide rail;

the electric screwdriver mounting block is fixed on the sliding block adapter plate;

and the electric screwdriver is fixed on the electric screwdriver mounting block and can move along with the sliding block adapter plate.
The end effector as claimed in claim 7, wherein the cylinder assembly includes:

the cylinder is fixed on one side of the second support, which is opposite to the locking assembly, and an extending rod of the cylinder is arranged along the axial direction of the cylinder;

the cylinder connecting block connects the cylinder extension rod with the locking device, and the cylinder assembly drives the locking assembly to move through the cylinder connecting block.
The end effector as claimed in claim 8, wherein the cylinder connection block connects the cylinder extension bar with the slider adapter plate.
The end effector as claimed in claim 8, wherein the cylinder assembly further comprises an electric batch damper assembly having one end connected to the cylinder extension bar and one end connected to the cylinder connection block.
The end effector as claimed in claim 10, wherein the electric batch buffering assembly includes an electric batch buffering shaft, an electric batch buffering spring and an electric batch limiting shaft, one end of the electric batch buffering shaft is connected with the cylinder extension rod, and the electric batch buffering spring is sleeved on the electric batch buffering shaft;

the electric screwdriver is characterized in that a through hole is formed in the air cylinder connecting block, and the different end, connected with the air cylinder extension rod, of the electric screwdriver buffering shaft penetrates through the through hole and is connected with the electric screwdriver limiting shaft.
The end effector as claimed in claim 7, wherein the lock assembly further comprises a hydraulic damper fixed to the second bracket for damping against the slider adapter plate when the slider adapter plate is moved to a predetermined position.
The end effector as claimed in claim 5, wherein said part capture device is secured to said second support, said part capture device comprising:

the clamping jaw mounting plate is connected with the second bracket, and a clamping jaw sliding rail is arranged on one side of the clamping jaw mounting plate;

the pneumatic claw mounting plate is connected with the clamping claw slide rail in a sliding manner;

the pneumatic claw assembly is fixed on one side of the pneumatic claw mounting plate and used for grabbing the part;

and the chuck is fixed on the air claw mounting plate, is positioned on the other opposite side of the air claw assembly, is used for blowing a screw, and is matched with the locking assembly, and the locking assembly utilizes the screw to assemble the part on the assembly main body.
The end effector as claimed in claim 13, wherein the gas jaw mounting plate is provided with a first slotted hole for cooperating with the cartridge to allow the position of the cartridge to be adjusted.
The end effector as claimed in claim 13, wherein said gas jaw assembly includes a gas jaw body and a clamping jaw secured to opposite ends of said gas jaw body, said clamping jaw releasing said part when said gas jaw body is open, and said clamping jaw grasping said part when said gas jaw body is closed.
The end effector as claimed in claim 13, wherein said part gripping device further comprises a jaw buffer device provided on said jaw mounting plate for preventing said part or said jaw from being in hard contact with said fitting body.
The end effector as claimed in claim 16, wherein the jaw buffer device includes a guide post block, a jaw buffer spring, a stud and a nut, the guide post block is provided with a first clearance hole, the pneumatic jaw mounting plate is provided with a second clearance hole, the first clearance hole and the second clearance hole are coaxially arranged, and the direction of the axis of the first clearance hole and the direction of the axis of the second clearance hole are the same as the movable direction of the jaw slide rail; the stud penetrates through the first clearance hole and the second clearance hole to be connected with the nut, and the clamping jaw buffer spring is located between the guide pillar block and the air claw mounting plate and is sleeved on the stud.
The end effector as claimed in claim 4, wherein the visual positioning means comprises:

a vision mounting plate connected with the first bracket;

the camera assembly is fixed on the visual mounting plate and used for acquiring an image of the assembly main body;

a light source assembly secured to the vision mounting plate for illuminating the camera assembly.
The visual positioning apparatus of claim 18,

the camera assembly includes: the camera mounting plate is connected with the visual mounting plate, and the camera and the lens are fixed on the camera mounting plate;

the light source assembly includes: light source mounting panel and light source, the light source passes through the light source mounting panel with the vision mounting panel is connected, just the light source is the annular, the camera lens cover is established in the light source and with the coaxial setting of light source.
A robot, comprising:

a frame;

an end effector secured to the frame for automatically assembling parts for an assembly body, the end effector comprising:

the part grabbing device is used for grabbing the part and placing the part in an assembling position;

and the locking device is connected with the part grabbing device and is used for assembling the part on the assembling main body.