CN114248286A - End effector, control method of end effector, and sorting system - Google Patents
End effector, control method of end effector, and sorting system Download PDFInfo
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- CN114248286A CN114248286A CN202210041128.7A CN202210041128A CN114248286A CN 114248286 A CN114248286 A CN 114248286A CN 202210041128 A CN202210041128 A CN 202210041128A CN 114248286 A CN114248286 A CN 114248286A
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- end effector
- collision
- collision detection
- piece
- grabbing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Mechanical Engineering (AREA)
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Abstract
The invention discloses an end effector, a control method of the end effector and a sorting system, wherein the end effector comprises: the end effector body is connected with external sorting equipment; the grabbing mechanism is connected with the end effector body and used for grabbing an object to be grabbed; the collision detection assembly is connected with the grabbing mechanism and used for detecting the collision state between the grabbing mechanism and the object to be grabbed when the grabbing mechanism grabs the object and sending a collision detection signal according to the collision state. The end effector can effectively detect the collision condition of the end effector and is beneficial to avoiding the damage of the end effector.
Description
Technical Field
The invention relates to the technical field of end effectors, in particular to an end effector, a control method of the end effector and a sorting system.
Background
On automatic sorting production line, there is bellied problem to letter sorting object surface unevenness, has the problem of burr after the steel sheet cutting, the end effector leads to end effector magnetism point and protruding bump easily when snatching the object to bump, thereby make the robot trigger the warning and stop the letter sorting, cause the letter sorting to produce the line stagnation, and if end effector frequently collides, also can make end effector magnetism point damage.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide an end effector, which can effectively detect a collision of the end effector and is advantageous for avoiding damage of the end effector.
The second objective of the present invention is to provide a method for controlling an end effector.
It is a further object of the present invention to provide a sorting system.
In order to solve the above problem, an embodiment of a first aspect of the present invention provides an end effector, including: the end effector body is connected with external sorting equipment; the grabbing mechanism is connected with the end effector body and used for grabbing an object to be grabbed; the collision detection assembly is connected with the grabbing mechanism and used for detecting the collision state between the grabbing mechanism and the object to be grabbed when the grabbing mechanism grabs the object and sending a collision detection signal according to the collision state.
According to the end effector provided by the embodiment of the invention, the collision detection component is arranged, so that the collision state between the grabbing mechanism and the object can be detected in real time when the grabbing mechanism grabs the object, whether the end effector collides or not is judged, the collision condition when the end effector grabs the object is detected, and then a collision detection signal is sent according to the collision state, so that the problem that the end effector is damaged is solved.
In some embodiments, the grasping mechanism includes a plurality of grasping assemblies, each of the grasping assemblies including: the collision detection assembly comprises a support piece, a collision detection assembly and a collision detection assembly, wherein the support piece is provided with a through hole, and the collision detection assembly is arranged on the upper surface of the support piece; the grabbing sucker comprises an adsorption side, and the grabbing sucker grabs an object to be grabbed through the adsorption side; the elastic connecting piece is connected with one side, far away from the adsorption side, of the grabbing sucker and penetrates through the through hole; the elastic connecting piece is in a first state, one end of the elastic connecting piece, which is back to the grabbing sucker, is abutted to the upper surface of the supporting piece, and the end of the elastic connecting piece, which is back to the grabbing sucker, can extend out of the upper surface of the supporting piece along the forward direction of the supporting piece when the elastic connecting piece is in a second state.
In some embodiments, the collision detection assembly comprises: the light emitter is arranged at the first end of the support member, and a preset height is formed between the light emitter and the support member, so that a light signal is emitted; the optical receiver is arranged at the second end of the support piece, is opposite to the optical transmitter and has the preset height with the support piece, and is used for receiving the optical signal; the through hole is formed between the light emitter and the light receiver, and when the extending height of the elastic connecting piece extending out of the upper surface of the supporting piece reaches the preset height, the light receiver sends the collision detection signal.
In some embodiments, the collision detection assembly further comprises: the first fixing seat comprises a first connecting part and a second connecting part, the first fixing seat is connected with the first end of the supporting part through the first connecting part, and the first fixing seat is connected with the end effector body through the second connecting part; the second fixing seat comprises a third connecting part and a fourth connecting part, the second fixing seat is connected with the second end of the supporting part through the third connecting part, and the second fixing seat is connected with the end effector body through the fourth connecting part; the light emitter is arranged on the first fixing seat, and the light receiver is arranged on the second fixing seat.
In some embodiments, the elastic connector comprises: the screw rod is connected with one side, far away from the adsorption side, of the grabbing sucker and penetrates through the through hole; the spring piece is positioned on one side of the upper surface which is far away from the supporting piece and sleeved on the screw rod; wherein, the spring part is in under the first state, the one end of screw rod back to snatch the sucking disc stop in support piece's upper surface, and, the spring part is in under the second state, the one end of screw rod back to snatch the sucking disc can stretch out along support piece's forward direction support piece's upper surface.
In some embodiments, the through hole is provided in plurality, the gripping suction cup is provided in plurality, and the elastic connecting piece is provided in plurality.
In some embodiments, the collision detection assembly comprises: the trigger switches are all positioned on one side close to the upper surface of the supporting piece and are respectively arranged opposite to each elastic connecting piece, and a preset height is reserved between each trigger switch and the supporting piece; when the extending height of any one elastic connecting piece extending out of the upper surface of the supporting piece reaches the preset height, the elastic connecting piece triggers a trigger switch corresponding to the elastic connecting piece so as to send the collision detection signal.
An embodiment of a second aspect of the present invention provides a method for controlling an end effector, the end effector including a gripping mechanism and a collision detection assembly, the method comprising: acquiring a collision detection signal of the collision detection component; determining the collision state of the grabbing mechanism according to the collision detection signal; and controlling the grabbing mechanism according to the collision state.
According to the control method of the end effector provided by the embodiment of the invention, the collision detection component is arranged on the basis of the end effector, when the end effector grabs an object, the collision state of the end effector is judged through the collision detection signal sent by the collision detection component in real time, and the grabbing mechanism is controlled according to the collision state, so that when the end effector has a collision problem, the grabbing mechanism can be controlled in time to play a role in protecting the end effector, the problem of frequent collision of the end effector is avoided, the problem of production stagnation caused by damage of the end effector is avoided, and the production efficiency is improved.
In some embodiments, controlling the grasping mechanism according to the collision status includes: if the collision state is determined to be non-collision, controlling the grabbing mechanism to continue to press down; and if the collision state is determined to be collision, controlling the grabbing mechanism to stop pressing down.
In a third aspect, embodiments of the present invention provide a sorting system, including: sorting equipment; the end effector of the above embodiment, the end effector is disposed on the sorting device; and the controller is connected with the sorting equipment and the end effector and is used for executing the control method of the end effector in the embodiment.
According to the sorting system provided by the embodiment of the invention, the end effector is controlled by the controller by adopting the control method of the end effector provided by the embodiment, so that the problem of frequent collision of the end effector can be avoided, the damage of the end effector is avoided, the condition that a production line is stopped due to the fact that the sorting equipment triggers an alarm due to collision of the end effector is prevented, and the production efficiency is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic view of an end effector according to one embodiment of the present invention;
fig. 2 is a front view of an end effector according to one embodiment of the present invention;
fig. 3 is a partial schematic view of an end effector according to one embodiment of the present invention;
FIG. 4 is a schematic view of a collision detection assembly according to one embodiment of the invention;
fig. 5 is a flow chart of a method of controlling an end effector according to one embodiment of the present invention;
fig. 6 is a block diagram of a sorting system according to one embodiment of the present invention.
Reference numerals:
a sorting system 1000; a sorting apparatus 900; an end effector 800;
an end effector body 1; a grabbing mechanism 2; a collision detection assembly 3; a controller 4;
a support member 21; a gripping suction cup 22; an elastic connecting member 23; a grasping assembly 24; a light emitter 31; a light receiver 32; a first fixed seat 33; a second fixed seat 34;
a screw 230; spring element 231.
Detailed Description
Embodiments of the present invention will be described in detail below, the embodiments described with reference to the drawings being illustrative, and the embodiments of the present invention will be described in detail below.
In order to solve the above problem, an embodiment of a first aspect of the present invention provides an end effector. The end effector can effectively detect the collision condition of the end effector and is beneficial to avoiding the damage of the end effector.
The end effector 800 provided by the present invention is described below with reference to fig. 1 and 2, and as shown in fig. 1 and 2, the end effector 800 includes an end effector body 1, a gripping mechanism 2, and a collision detecting assembly 3.
Wherein, the end effector body 1 is connected with external sorting equipment; the grabbing mechanism 2 is connected with the end effector body 1 and used for grabbing objects; the collision detection component 3 is connected with the grabbing mechanism 2 and used for detecting the collision state between the grabbing mechanism 2 and the object when the grabbing mechanism 2 grabs the object and sending a collision detection signal according to the collision state.
Specifically, as shown in fig. 1 and 2, the end effector 800 performs gripping of an object to be gripped mainly by a force acting perpendicularly on the object to be gripped. For example, for a sucker end effector, the gripping mechanism 2 adopts a sucker structure, negative pressure is established on the surface of an object to be gripped through a sucker to generate suction force acting on the object to be gripped vertically, and then the object to be gripped is lifted by the suction force to realize gripping and conveying of the object to be gripped. In actual grabbing, because the surface of an object to be grabbed is uneven and has the conditions of protrusion or burr, if the end effector 800 still directly grabs the object to be grabbed, the end effector 800 is easy to collide, so that external sorting equipment triggers an alarm to cause the production line to be stopped, and in order to avoid the problem of frequent collision of the end effector 800, the collision detection component 3 is added on the end effector 800 in the embodiment of the invention, when the grabbing mechanism 2 grabs the object to be grabbed, the collision state between the grabbing mechanism 2 and the object to be grabbed is detected in real time through the collision detection component 3 to judge whether the end effector 800 collides, so that the function of detecting the collision condition when the end effector 800 grabs the object to be grabbed is realized, and the collision detection component 3 sends a collision detection signal to the external sorting equipment according to the collision state, and the sorting equipment judges whether the end effector 800 collides according to the collision detection signal, whether the grabbing mechanism 2 of the end effector 800 continuously grabs the object to be grabbed or not is controlled, therefore, when the collision condition of the end effector is determined, the end effector 800 can be timely controlled to stop pressing down, the problem that the end effector 800 is frequently collided to cause damage to the end effector 800 due to the fact that the surface of the object to be grabbed is provided with protrusions, slag or waste materials and the like is solved, the condition that production lines are stopped due to the fact that sorting equipment triggers an alarm due to collision of the end effector is avoided, and production efficiency is improved.
According to the end effector 800 of the embodiment of the invention, by arranging the collision detection component 3, when the grabbing mechanism 2 grabs an object, the collision state between the grabbing mechanism 2 and the object can be detected in real time to judge whether the end effector 800 collides, so that the collision condition when the end effector 800 grabs the object is detected, and then a collision detection signal is sent according to the collision state, so that the problem that the end effector 800 is damaged is solved.
In some embodiments, as shown in fig. 2 and 3, the gripping mechanism 2 comprises a plurality of gripping assemblies 24, each gripping assembly 24 comprising a support 21, a gripping suction cup 22 and an elastic connection 23.
Wherein, the support member 21 is provided with a through hole, and the collision detection component is provided 3 on the support member 21; the grabbing sucker 22 comprises an adsorption side, and the grabbing sucker 22 grabs an object to be grabbed through the adsorption side; the elastic connecting piece 23 is connected with one side of the grabbing sucker 22 far away from the adsorption side and penetrates through the through hole; wherein, the elastic connecting member 23 is in the first state, one end of the elastic connecting member 23, which is away from the grabbing suction cup 22, is stopped against the upper surface of the supporting member 21, and, the elastic connecting member 23 is in the second state, one end of the elastic connecting member 23, which is away from the grabbing suction cup 22, can extend out of the upper surface of the supporting member 21 along the forward direction of the supporting member 21.
Wherein the first state can be understood as a natural state, i.e. a state in which the elastic connecting member 23 is not elastically deformed, and specifically, referring to fig. 3, when the end effector 800 is in an inoperative state, i.e. not grabbing an object to be grabbed, the portion of the elastic connecting member 23 connected with the supporting member 21 is just locked at the through hole, so that the elastic connecting member 23 does not fall off. The second state can be understood as a state in which the elastic connection member 23 is elastically deformed, specifically, referring to fig. 3, when the end effector 800 is in a working state, that is, when grabbing the object to be grabbed, the sorting apparatus controls the end effector 800 to move in a reverse direction of the forward direction as a whole, that is, controls the end effector 800 to press down, so as to grab the object to be grabbed through the suction side of the grabbing suction cup 22, in the process, after the suction side of the grabbing suction cup 22 contacts the surface of the object to be grabbed, if the end effector 800 continues to press down, the object to be grabbed generates a reaction force on the grabbing suction cup 22, and under the influence of the reaction force, the elastic connection member 23 is elastically deformed, and under the action of the elastic force, a portion of the elastic connection member 23 connected to the support member 21 can extend out of the upper surface of the support member 21 in the forward direction, so as to detect the extension height of the elastic connection member 23 by the collision detection assembly 3 disposed on the upper surface of the support member 21, detection of the collision state between the gripper assembly 24 and the object to be gripped is achieved.
In some embodiments, as shown in fig. 4, the collision detecting assembly 3 includes a light emitter 31 and a light receiver 32.
Wherein, referring to fig. 3, the light emitter 31 is disposed at the first end of the supporting member 21, and a preset height is provided between the light emitter 31 and the supporting member 21 for emitting a light signal; the optical receiver 32 is disposed at the second end of the supporting member 21, the optical receiver 32 is disposed opposite to the optical transmitter 31, and a preset height is provided between the optical receiver 32 and the supporting member 31 for receiving an optical signal; wherein, the through hole is arranged between the light emitter 31 and the light receiver 32, and when the extending height of the elastic connecting piece 23 extending out of the upper surface of the supporting piece 21 reaches the preset height, the light receiver 32 sends a collision detection signal.
The preset height may be a height value set based on experience, and if the protruding height of the elastic connection member 23 protruding from the upper surface of the support member 21 does not reach the preset height, it indicates that the end effector 800 does not collide and the end effector 800 operates normally; if the elastic connection member 23 protrudes from the upper surface of the support member 21 by a predetermined height, it indicates that the end effector 800 collides.
Specifically, the embodiment of the present invention employs a correlation laser photoelectric sensor to form the collision detection assembly 3, so as to detect the collision condition of the end effector 800. In practical application, the sorting equipment controls the end effector 800 to move along the reverse direction of the forward direction, that is, the end effector 800 is controlled to press down, the end effector 800 continues to press down after the suction side of the grabbing suction cup 22 contacts with the object to be grabbed, at this time, the object to be grabbed generates a reaction force on the grabbing suction cup 22, and under the influence of the reaction force, the elastic connecting member 23 is elastically deformed, under the action of the elastic force, the part of the elastic connecting member 23 connected with the supporting member 21 extends out of the upper surface of the supporting member 21 along the forward direction, if the extending height of the elastic connecting member 23 extending out of the upper surface of the supporting member 21 does not reach a preset height, it is indicated that under the current situation, the end effector 800 grabs the object to be grabbed without collision, the grabbing mechanism 2 cannot be damaged, and the optical signal emitted by the optical emitter 31 is not shielded after the elastic connecting member 23 extends out of the upper surface of the supporting member 21, therefore, the optical receiver 32 can receive the optical signal emitted by the optical emitter 31, at this time, the optical receiver 32 sends a collision detection signal to the sorting equipment, and the sorting equipment can determine that the grabbing mechanism 2 does not collide according to the collision detection signal, and can continue to control the operation of the end effector 800; if the extension height of the upper surface of the elastic connecting piece 23 extending out of the supporting piece 21 reaches the preset height, it is indicated that under the current condition, the end effector grabs the object to be grabbed and collides, which easily causes the damage of the grabbing mechanism 2, and the elastic connecting piece 23 shields the optical signal emitted by the optical emitter 31, so that the optical receiver 32 cannot receive the optical signal emitted by the optical emitter 31, at this time, the optical receiver 32 sends a collision detection signal to the sorting equipment, the sorting equipment can determine the collision of the grabbing mechanism 2 according to the collision detection signal, therefore, in order to prevent the problem that the production line is stagnated due to the triggering alarm of the sorting equipment caused by the collision of the end effector, the sorting equipment control end effector 800 stops pressing down, thereby effectively avoiding the problem that the end effector is damaged due to the frequent collision of the end effector.
In some embodiments, as shown in fig. 4, the collision detecting assembly 3 further comprises a first fixed seat 33 and a second fixed seat 34.
The first fixing seat 33 comprises a first connecting part 330 and a second connecting part 331, the first fixing seat 33 is connected with the first end of the support member 21 through the first connecting part 330, and the first fixing seat 33 is connected with the end effector body 1 through the second connecting part 331; the second fixing base 34 includes a third connecting portion 340 and a fourth connecting portion 341, the second fixing base 34 is connected to the second end of the supporting member 21 through the third connecting portion 340, and the second fixing base 34 is connected to the end effector body 1 through the fourth connecting portion 341.
The light emitter 31 is disposed on the first fixing seat 33, and the light receiver 32 is disposed on the second fixing seat 34, so that a fixing function can be achieved.
In some embodiments, as shown in FIG. 3, the resilient connector 23 includes a threaded rod 230 and a spring member 231.
Wherein, the screw 230 is connected with one side of the grabbing sucker 22 far away from the adsorption side and passes through the through hole; the spring 231 is located on a side away from the upper surface of the supporting member 21 and sleeved on the screw 230; wherein, the spring element 231 is in the first state, the end of the screw rod 230 facing away from the grasping suction cup 22 is stopped against the upper surface of the supporting member 21, and the end of the screw rod 230 facing away from the grasping suction cup 22 can extend out of the upper surface of the supporting member 21 along the forward direction of the supporting member 21 when the spring element 231 is in the second state.
Specifically, in the working process of the end effector 800, when the end effector 800 does not grab the object to be grabbed, the spring element 231 of the elastic connection member 23 is in the first state, that is, the spring element 231 is not elastically deformed, the spring element 231 has no elastic force acting on the screw rod 230, and the screw rod 230 is stopped against the upper surface of the supporting member 21. When the end effector 800 grabs an object to be grabbed through the grabbing mechanism 2, the grabbing suction cup 22 grabs the object to be grabbed through the suction force generated by the suction side, and after contacting the object to be grabbed, the grabbing suction cup 22 continues to press down, the object to be grabbed generates a reaction force on the grabbing suction cup 22, so that the spring part 231 of the elastic connecting piece 23 is in the second state, that is, the spring part 231 generates elastic deformation, the spring part 231 generates elastic force on the screw 230, so that the screw 230 extends out of the upper surface of the supporting piece 21, and further, whether the end effector 800 collides is judged through the extension height of the screw 230 extending out of the upper surface of the supporting piece 21, if the extension height of the screw 230 reaches the preset height, the screw 230 shields an optical signal, so that the optical receiver 32 cannot receive the optical signal emitted by the optical transmitter 31, under this condition, the sorting equipment can determine that the end effector 800 collides according to the collision detection signal sent by the optical receiver 32, the end effector 800 is controlled not to be pressed down any more to avoid the problem of production line stagnation caused by collision alarm; if the extension height of screw rod 230 does not reach preset height, then screw rod 230 can not shelter from the light signal, light receiver 32 can normally receive the light signal of light emitter 31 transmission, under this condition, sorting equipment can confirm that end effector 800 does not appear the collision according to the collision detection signal that light receiver 32 sent, can normally control end effector 800 work, therefore, snatch mechanism 2 and wait to grab the collision state between the object through collision detection subassembly 3 real-time detection, and send collision detection signal to sorting equipment, with the control operation state of snatching mechanism 2, can effectively avoid end effector 800 frequent collision to lead to end effector 800 to damage and lead to the problem that production stopped, ensure production efficiency.
In some embodiments, as shown in fig. 3, there are a plurality of through holes, a plurality of gripping suction cups 22, and a plurality of elastic connection members 23.
Specifically, the end effector 800 grabs the object to be grabbed through grabbing mechanism 2, and the absorption side that snatchs sucking disc 22 produces suction, snatchs the object to be grabbed through suction, and in addition, to the great condition of object shape, size of waiting to grab, can correspond and set up a plurality of sucking discs 22 of snatching to ensure that end effector 800 can stably snatch the object to be grabbed, avoid snatching the in-process and wait to grab the object and drop and cause the problem of snatching the failure. In practical application, the sorting apparatus controls the end effector 800 to be pressed down integrally, so that the plurality of gripping suction cups 22 gradually approach to the object to be gripped and generate suction force to grip the object to be gripped simultaneously, and after the plurality of gripping suction cups 22 contact with the object to be gripped, the sorting apparatus controls the end effector 800 to keep pressing down continuously, at this time, the object to be gripped generates reaction force to the gripping suction cups 22, and under the influence of the reaction force, the elastic connecting member 23 connected to the gripping suction cups 22 can be in the second state, that is, the spring member 231 is elastically deformed, the screw 230 extends out of the upper surface of the supporting member 21 under the action of the elastic force, and the collision detection assembly 3 can judge the collision condition of the end effector 800 according to the extension height, if the extension height of the screw 230 corresponding to any one of the gripping suction cups 22 among the plurality of gripping suction cups 22 shields an optical signal, the sorting apparatus can determine that the end effector 800 collides according to the collision detection signal sent by the optical receiver 32, the control end effector 800 is no longer depressed to avoid the problem of line stalls due to collision alarms. Therefore, based on the structure, the collision detection component 3 can detect the collision conditions of all the grabbing suction cups 22, and the problem that the grabbing suction cups 22 are damaged due to frequent collision is effectively prevented.
In some embodiments, the collision detecting assembly 3 comprises a plurality of trigger switches.
Wherein, a plurality of trigger switches all are located the one side that is close to the upper surface of support piece 21 and set up with every elastic connection piece 23 respectively relatively, have between every trigger switch and the support piece 21 and predetermine the height. Specifically, the embodiment of the present invention employs a trigger switch to constitute the collision detecting assembly 3 to achieve detection of a collision of the end effector 800. In practical application, if the extending height of any one of the elastic connecting pieces 23 extending out of the upper surface of the supporting piece 21 reaches a preset height, it is indicated that the end effector 800 collides, and the spring connecting piece 23 touches the corresponding trigger switch and triggers the trigger switch to send a collision detection signal, so that the sorting equipment can determine that the end effector 800 collides according to the received collision detection signal, and then the end effector 800 is controlled not to be pressed down, so as to avoid the problem of production line stagnation caused by collision alarm; on the contrary, if the extension height of any one of the elastic connection members 23 extending out of the upper surface of the supporting member 21 does not reach the preset height, it indicates that the end effector 800 does not collide, the spring connection member 23 does not touch the corresponding trigger switch, and the collision detection signal received by the sorting equipment at this time can determine that the end effector 800 does not collide, so that the end effector 800 can be normally controlled to continue to work.
An embodiment of the second aspect of the present invention provides a method of controlling an end effector including a gripping mechanism and a collision detecting assembly, as shown in fig. 5, the method including at least steps S1 to S3.
In step S1, a collision detection signal of the collision detection module is acquired.
Specifically, as shown in fig. 1 to 4, when the gripping mechanism grips the object to be gripped, the collision detection module may detect the collision state between the gripping mechanism and the object to be gripped in real time, and transmit a collision detection signal according to the collision state.
In step S2, the collision state of the grasping mechanism is determined based on the collision detection signal.
Specifically, in order to avoid the problem of frequent collision of the end effector, the collision detection assembly is added on the end effector, and when the grabbing mechanism grabs the object to be grabbed, the collision detection assembly detects the collision state between the grabbing mechanism and the object to be grabbed in real time to judge whether the end effector collides, so that the function of detecting the collision condition when the end effector grabs the object to be grabbed is realized.
In step S3, the grasping mechanism is controlled according to the collision state.
Specifically, if the collision state is determined to be no collision, the grabbing mechanism is controlled to continue to press down; and if the collision state is determined to be collision, controlling the grabbing mechanism to stop pressing down so as to avoid the problem of production line stagnation caused by collision alarm.
For example, taking a collision detection assembly composed of a correlation laser photoelectric sensor as an example, in practical application, the sorting equipment controls the end effector to move in a reverse direction of a forward direction, i.e. controls the end effector to press down, the end effector continues to press down after the suction side of the gripping suction cup contacts with an object to be gripped, at this time, the object to be gripped generates a reaction force on the gripping suction cup, and under the influence of the reaction force, the elastic connecting member is elastically deformed, a part of the elastic connecting member, which is connected with the supporting member, extends out of the upper surface of the supporting member in the forward direction, if the extending height of the elastic connecting member extending out of the upper surface of the supporting member reaches a preset height, it is indicated that under the current situation, the end effector has collision when gripping the object to be gripped, which easily causes the gripping mechanism to be damaged, and the elastic connecting member shields an optical signal emitted by the optical emitter, the optical receiver cannot receive an optical signal transmitted by the optical transmitter, at the moment, the optical receiver sends a collision detection signal to the sorting equipment, and the sorting equipment can determine that the grabbing mechanism collides according to the collision detection signal, so that the sorting equipment controls the end effector to stop pressing in order to prevent the problem that the production line is stopped due to alarm triggered by collision of the end effector, and the problem that the end effector is damaged due to frequent collision of the end effector is effectively avoided; if the extension height that elastic connecting piece stretches out the upper surface of support piece does not reach when predetermineeing the height, then explain under the current situation, the end effector snatchs and waits to grab the object and not appear colliding, can not lead to grabbing the mechanism and damage, and elastic connecting piece stretches out and also does not shelter from the light signal of light emitter transmission behind support piece's the upper surface, so light receiver can receive the light signal of light emitter transmission, at this moment, light receiver sends collision detection signal to letter sorting equipment, letter sorting equipment can confirm to snatch the mechanism according to this collision detection signal and do not collide, can continue control end effector work.
According to the control method of the end effector provided by the embodiment of the invention, the collision detection component is arranged on the basis of the end effector, when the end effector grabs an object, the collision state of the end effector is judged through the collision detection signal sent by the collision detection component in real time, and the grabbing mechanism is controlled according to the collision state, so that when the end effector has a collision problem, the grabbing mechanism can be controlled in time to play a role in protecting the end effector, the problem of frequent collision of the end effector is avoided, the problem of production stagnation caused by damage of the end effector is avoided, and the production efficiency is improved.
A third aspect embodiment of the present invention provides a sorting system 1000, as shown in fig. 6, the sorting system 1000 including a sorting apparatus 900, an end effector 800 and a controller 4 as provided in the above embodiments.
Wherein the end effector 900 is disposed on the sorting apparatus 900; the controller 4 is connected to the sorting apparatus 900 and the end effector 800, and performs the control method of the end effector in the above-described embodiment.
According to the sorting system 1000 of the embodiment of the invention, the controller 4 controls the end effector 800 by adopting the control method of the end effector provided by the embodiment, so that the problem of frequent collision of the end effector can be avoided, the damage of the end effector can be avoided, the condition that the production line is stopped due to the fact that the sorting equipment triggers an alarm due to collision of the end effector can be prevented, and the production efficiency can be improved.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An end effector, comprising:
the end effector body is connected with external sorting equipment;
the grabbing mechanism is connected with the end effector body and used for grabbing an object to be grabbed;
the collision detection assembly is connected with the grabbing mechanism and used for detecting the collision state between the grabbing mechanism and the object to be grabbed when the grabbing mechanism grabs the object and sending a collision detection signal according to the collision state.
2. The end effector as claimed in claim 1, wherein said grasping mechanism includes a plurality of grasping assemblies, each said grasping assembly including:
the collision detection assembly comprises a support piece, a collision detection assembly and a collision detection assembly, wherein the support piece is provided with a through hole, and the collision detection assembly is arranged on the upper surface of the support piece;
the grabbing sucker comprises an adsorption side, and the grabbing sucker grabs an object to be grabbed through the adsorption side;
the elastic connecting piece is connected with one side, far away from the adsorption side, of the grabbing sucker and penetrates through the through hole;
the elastic connecting piece is in a first state, one end of the elastic connecting piece, which is back to the grabbing sucker, is abutted to the upper surface of the supporting piece, and the end of the elastic connecting piece, which is back to the grabbing sucker, can extend out of the upper surface of the supporting piece along the forward direction of the supporting piece when the elastic connecting piece is in a second state.
3. The end effector as claimed in claim 2, wherein said collision detection assembly comprises:
the light emitter is arranged at the first end of the support member, and a preset height is formed between the light emitter and the support member, so that a light signal is emitted;
the optical receiver is arranged at the second end of the support piece, is opposite to the optical transmitter and has the preset height with the support piece, and is used for receiving the optical signal;
the through hole is formed between the light emitter and the light receiver, and when the extending height of the elastic connecting piece extending out of the upper surface of the supporting piece reaches the preset height, the light receiver sends the collision detection signal.
4. The end effector of claim 3, wherein the collision detection assembly further comprises:
the first fixing seat comprises a first connecting part and a second connecting part, the first fixing seat is connected with the first end of the supporting part through the first connecting part, and the first fixing seat is connected with the end effector body through the second connecting part;
the second fixing seat comprises a third connecting part and a fourth connecting part, the second fixing seat is connected with the second end of the supporting part through the third connecting part, and the second fixing seat is connected with the end effector body through the fourth connecting part;
the light emitter is arranged on the first fixing seat, and the light receiver is arranged on the second fixing seat.
5. The end effector as claimed in any one of claims 2-4, wherein said resilient connecting member comprises:
the screw rod is connected with one side, far away from the adsorption side, of the grabbing sucker and penetrates through the through hole;
the spring piece is positioned on one side of the upper surface which is far away from the supporting piece and sleeved on the screw rod;
wherein, the spring part is in under the first state, the one end of screw rod back to snatch the sucking disc stop in support piece's upper surface, and, the spring part is in under the second state, the one end of screw rod back to snatch the sucking disc can stretch out along support piece's forward direction support piece's upper surface.
6. The end effector as claimed in claim 2, wherein said through holes are plural, said gripping suction cups are plural, and said resilient connecting members are plural.
7. The end effector as claimed in claim 6, wherein said collision detection assembly comprises:
the trigger switches are all positioned on one side close to the upper surface of the supporting piece and are respectively arranged opposite to each elastic connecting piece, and a preset height is reserved between each trigger switch and the supporting piece;
when the extending height of any one elastic connecting piece extending out of the upper surface of the supporting piece reaches the preset height, the elastic connecting piece triggers a trigger switch corresponding to the elastic connecting piece so as to send the collision detection signal.
8. A control method of an end effector, characterized in that the end effector includes a gripping mechanism and a collision detecting assembly, the control method comprising:
acquiring a collision detection signal of the collision detection component;
determining the collision state of the grabbing mechanism according to the collision detection signal;
and controlling the grabbing mechanism according to the collision state.
9. The end effector control method according to claim 8, wherein controlling the gripping mechanism according to the collision state includes:
if the collision state is determined to be non-collision, controlling the grabbing mechanism to continue to press down;
and if the collision state is determined to be collision, controlling the grabbing mechanism to stop pressing down.
10. A sorting system, comprising:
sorting equipment;
the end effector of any of claims 1-7, disposed on the sorting equipment;
a controller connected to the sorting apparatus, the end effector, for performing the method of controlling the end effector of claim 8 or 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041128.7A CN114248286A (en) | 2022-01-14 | 2022-01-14 | End effector, control method of end effector, and sorting system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210041128.7A CN114248286A (en) | 2022-01-14 | 2022-01-14 | End effector, control method of end effector, and sorting system |
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| CN114248286A true CN114248286A (en) | 2022-03-29 |
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| CN202210041128.7A Pending CN114248286A (en) | 2022-01-14 | 2022-01-14 | End effector, control method of end effector, and sorting system |
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Cited By (1)
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