CN114311325A

CN114311325A - End effector mechanism

Info

Publication number: CN114311325A
Application number: CN202111664579.8A
Authority: CN
Inventors: 邹亮; 刘大伟; 苏俊超
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2021-12-31
Filing date: 2021-12-31
Publication date: 2022-04-12

Abstract

The application provides a terminal actuating mechanism, relates to building construction equipment technical field. The end effector includes: a base; the punching unit is slidably arranged on the base along a preset direction and is used for drilling a construction surface; the mounting unit is arranged on the base in a sliding mode along the preset direction and used for mounting the piece to be mounted into the hole of the construction surface; the switching unit comprises a first guide piece, a second guide piece, a reversing piece and a switching driving piece, the first guide piece is connected to the punching unit, the second guide piece is connected to the mounting unit, the reversing piece is arranged on the base, and the first guide piece and the second guide piece are in transmission connection with the reversing piece respectively. The tail end actuating mechanism can switch the positions of the punching unit and the installation unit through the switching unit, so that the punching unit and the installation unit can be rapidly switched in place, punching and installation work of the to-be-installed parts can be performed according to operation requirements, and installation efficiency of the to-be-installed parts is improved.

Description

End effector mechanism

Technical Field

The application relates to the technical field of building construction equipment, in particular to an end executing mechanism.

Background

In the electromechanical installation construction operation, there are a large amount of punches and inflation screw installation work, and the characteristics of this kind of work are: the prior art designs some automation devices, but in practical use, the automation degree is low, manual assistance is still needed to replace the actuator, or other types of automation devices are needed to realize different functions, and the efficiency is not high.

Disclosure of Invention

The application aims to provide an end executing mechanism which can solve the problem that the existing expansion screw mounting work efficiency is not high.

The embodiment of the application is realized as follows:

an embodiment of the present application provides an end effector, including:

a base;

the punching unit is slidably arranged on the base along a preset direction and is used for drilling a construction surface;

the mounting unit is arranged on the base in a sliding mode along the preset direction and used for mounting the piece to be mounted into a hole of a construction surface;

the switching unit comprises a first guide piece, a second guide piece, a reversing piece and a switching driving piece, the first guide piece is connected to the punching unit, the second guide piece is connected to the mounting unit, the reversing piece is arranged on the base, and the first guide piece and the second guide piece are in transmission connection with the reversing piece respectively;

when the switching driving piece drives the first guide piece to move towards the construction surface relative to the base along the preset direction, the second guide piece simultaneously moves away from the construction surface relative to the base along the preset direction; when the switching driving piece drives the first guide piece to move along the preset direction relative to the base away from the construction surface, the second guide piece simultaneously moves along the preset direction relative to the base towards the construction surface.

Through the effect of switching unit, can accomplish fast between unit and the installation unit of punching and switch to in carry out different construction operations to the construction face, the final completion treats the installation work of installed part, need not effectively improve the efficiency of construction.

In addition, according to the end effector provided by the embodiment of the application, the following additional technical features can be provided:

in an optional embodiment of the present application, the first guide piece and the second guide piece are both guide racks, the reversing piece is a reversing gear, and the first guide piece and the second guide piece are respectively located on both sides of the reversing gear and are all engaged with the reversing gear.

The guide rack can be directly meshed with the reversing gear, the first guide piece and the second guide piece are respectively located on two sides of the reversing gear, the driving directions of the two reversing racks are opposite, the linkage of the punching unit and the installation unit is realized, the movement direction is changed, the installation unit can be upwards jacked when the punching unit retracts, or the punching unit extends out, the installation unit retracts, interference cannot be caused mutually, and the switching efficiency is high.

In an alternative embodiment of the present application, the punching unit includes a first seat plate and a punching electric hammer fixed to the first seat plate, the first seat plate is slidably connected to the base, and the first guide member is fixedly connected to the first seat plate.

The punching electric hammer can slide relative to the base along with the first base plate, and the first guide piece can guide the movement of the punching electric hammer by guiding the movement of the first base plate.

In an alternative embodiment of the present application, the switching drive is a linear drive, and an output end of the linear drive is connected to the first seat plate and/or the first guide.

The linear driving piece can be selectively connected with the first seat plate or the first guide piece according to the installation space or the condition of the used connecting piece, or simultaneously connected with the first seat plate and the first guide piece, and finally the linear driving piece can drive the punching electric hammer to move.

In an alternative embodiment of the present application, the mounting unit includes a second seat plate and a mounting electric hammer fixed to the second seat plate, the second seat plate is slidably connected to the base, and the second guide is fixedly connected to the second seat plate.

The mounting electric hammer may slide with respect to the base along with the second seat plate, and the second guide may guide the movement of the mounting electric hammer by guiding the movement of the second seat plate.

In the optional embodiment of this application, the installation unit still includes the subassembly of shifting, the subassembly of shifting includes the driving piece of shifting and the driving medium of shifting, the driving piece of shifting connect in the second bedplate, the output of the driving piece of shifting with the driving medium of shifting connects, the installation electric hammer is including the knob of shifting, the driving medium of shifting with the knob of shifting connects, the driving piece during operation of shifting, the fender position of installation electric hammer can be adjusted.

The shift assembly may be used to screw a shift knob of the installation electric hammer so that the installation electric hammer changes operating modes to facilitate automatic installation of the to-be-installed part.

In an optional embodiment of the application, the gear shift transmission part includes a gear shift rack and a gear shift wheel, the gear shift rack is connected with the output end of the gear shift driving part, the gear shift wheel is rotatably arranged in the second seat plate and coaxially connected with the gear shift knob, and the gear shift rack is engaged with the gear shift wheel.

The gear shifting rack can be matched with the gear shifting gear, so that the gear shifting button is driven by the gear shifting driving piece to be screwed, and the working mode of installing the electric hammer is changed.

In an optional embodiment of the application, the mounting unit further includes a screw chuck, the screw chuck is disposed at the output end of the mounting unit, and the mounting unit is capable of driving the screw chuck to move in the preset direction or to drive the screw chuck to rotate, so that the mounting member is mounted in the hole.

The screw chuck can the centre gripping treat the installed part, and the unit drive of facilitating the installation is treated the installed part motion.

In an alternative embodiment of the present application, the screw cartridge comprises:

the threaded sleeve is used for connecting the mounting unit and is provided with an internal threaded hole which is formed along the preset direction and used for fixing a piece to be mounted;

the guide sleeve is slidably sleeved on the threaded sleeve and provided with a working position and an initial position which are distributed along the preset direction;

the elastic piece is sleeved on the threaded sleeve and is abutted by the threaded sleeve and the guide sleeve, and the elastic piece has a tendency of keeping the guide sleeve at the initial position; and

a position sensor disposed on the threaded sleeve;

when the guide sleeve moves to the working position, the position sensor sends an in-place signal, so that the mounting unit stops driving action along the preset direction.

The internal thread hole of the threaded sleeve can be fixed to treat the mounting piece, the guide sleeve can be used for guiding the mounting piece to enter the internal thread hole, the elastic piece can enable the guide sleeve to reset, and when the guide sleeve moves to the working position, the position sensor can be triggered, so that the mounting equipment to which the tail end executing mechanism belongs can know that the mounting piece is mounted in place.

In an optional embodiment of the present application, the guide sleeve includes guide claws and a sliding sleeve, the guide claws are distributed along a circumferential direction of the sliding sleeve, and the screw chuck further includes a limiting plate that is mounted to the threaded sleeve and limits the sliding sleeve from coming off the threaded sleeve;

when the guide sleeve is located at the initial position, the guide claw penetrates through the limiting plate, the mounting unit drives the screw chuck to move, the guide claw is enabled to abut against the construction surface, the elastic piece is compressed, the guide sleeve moves to the working position, and the guide claw triggers the position sensor.

The guide claw can guide the motion of treating the installed part for treat that the installed part can enter into the internal thread hole smoothly, when the guide claw supported with the construction face, the sliding sleeve can be promoted and compress the elastic component, finally can trigger the position inductor through the guide claw, and the elastic component then can make the uide sleeve reset after the installation.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic view of an end effector provided by an embodiment of the present application;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a schematic view of a screw clamp;

FIG. 4 is a schematic view of the end effector grasping the expansion bolt through the screw collet;

FIG. 5 is a schematic view of the punch unit above;

FIG. 6 is a schematic view of the mounting unit on top;

FIG. 7 is a schematic view of the end effector during drilling of a work surface;

FIG. 8 is a schematic view of the end effector during expansion screw installation.

Icon: 100-end actuator; 11-flange bottom plate; 12-a rail base plate; 13-a linear guide rail; 20-a punching unit; 21-a first seat plate; 22-punching electric hammer; 221-a drill bit; 222-a dust cage; 30-a mounting unit; 31-a second seat plate; 312-a chute; 32-installing an electric hammer; 321-a shift knob; 3212-gear key; 33-screw clamp; 331-a threaded sleeve; 3312-internal threaded hole; 332-a guide sleeve; 3321-guide jaw; 3322-sliding sleeve; 333-elastic member; 334-position sensors; 335-a limit plate;

40-a switching unit; 41-a first guide; 42-a second guide; 43-a reversing member; 44-switching the drive; 51-a shift drive; 52-a shift transmission; 521-a shift rack; 522-shift gears; 200-expansion screw; 300-a screw box; 1000-construction surface.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present application, it should be noted that the terms "inside", "outside", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the product conventionally places when used, and are only used for convenience of description and simplification of description, but do not indicate or imply that the device or element to which the reference is made must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present application. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is also to be noted that, unless otherwise explicitly specified or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

Referring to fig. 1 and 2, an embodiment of the present application provides an end effector 100, including:

a base;

the punching unit 20, the punching unit 20 is slidably arranged on the base along a preset direction, and the punching unit 20 is used for drilling the construction surface 1000;

the installation unit 30, the installation unit 30 is slidably arranged on the base along a preset direction, and the installation unit 30 is used for installing the piece 200 to be installed into the hole of the construction surface 1000;

the switching unit 40, the switching unit 40 includes the first guide 41, the second guide 42, the reversing element 43 and switches the driving unit 44, the first guide 41 links to the perforating unit 20, the second guide 42 links to the mounting unit 30, the reversing element 43 is set up in the base, the first guide 41 and the second guide 42 are connected with the reversing element 43 in a driving way respectively;

when the switching driving element 44 drives the first guiding element 41 to move towards the construction surface 1000 relative to the base along the preset direction, the second guiding element 42 simultaneously moves away from the construction surface 1000 relative to the base along the preset direction; when the switching drive 44 drives the first guide 41 in the predetermined direction relative to the base away from the work surface 1000, the second guide 42 simultaneously moves in the predetermined direction relative to the base toward the work surface 1000.

The base of the embodiment includes a flange bottom plate 11 and a guide rail bottom plate 12, the flange bottom plate 11 can be used for being connected with a mechanical arm of the robot, and the guide rail bottom plate 12 is vertically arranged on the flange bottom plate 11 and is provided with a linear guide rail 13.

In fig. 5, the punching unit 20 is located above the mounting unit 30, and can be used for punching a construction surface 1000 (as shown in fig. 7); in fig. 6, the mounting unit 30 is located above the punching unit 20, and may be used to mount the to-be-mounted member 200 into a hole (as shown in fig. 8) on the construction surface 1000, the hole may be drilled by the punching unit 20, or may be drilled by another mechanism, and then the to-be-mounted member 200 is mounted by the mounting unit 30, and a person skilled in the art may flexibly use the end effector 100 of the present application according to the actual working environment and working requirements, or may mount the end effector 100 to a robot arm of a robot, so as to facilitate automated working.

In brief, by the action of the switching unit 40, the switching between the punching unit 20 and the installation unit 30 can be rapidly completed, so that different construction operations can be performed on the construction surface 1000, the installation work of the to-be-installed member 200 can be finally completed, and the construction efficiency is effectively improved. The to-be-installed member 200 in the present embodiment is an expansion screw, and it can be understood that other to-be-installed members, such as expansion screws, which need to be hammered and screwed together to achieve installation, may also adopt the solution of the present application.

With reference to fig. 1, the first guide member 41 and the second guide member 42 of the present embodiment are both guide racks, the reversing member 43 is a reversing gear, and the first guide member 41 and the second guide member 42 are respectively located at two sides of the reversing gear and both engaged with the reversing gear. The guide rack and the reversing gear can be directly meshed, and the first guide part 41 and the second guide part 42 are respectively arranged on two sides of the reversing gear, so that the driving directions of the two reversing racks are opposite, the linkage of the punching unit 20 and the mounting unit 30 is realized, the moving direction is changed, the mounting unit 30 can be upwards jacked when the punching unit 20 retracts, or the punching unit 20 extends, the mounting unit 30 retracts, the mutual interference cannot be generated, and the switching efficiency is high.

Specifically, the punching unit 20 of the present embodiment includes a first seat plate 21 and a punching electric hammer 22, the punching electric hammer 22 is fixed to the first seat plate 21, the first seat plate 21 is slidably coupled to the base, and the first guide 41 is fixedly coupled to the first seat plate 21. The punch hammer 22 can slide with respect to the base along with the first seat plate 21, and the first guide 41 guides the movement of the punch hammer 22 by guiding the movement of the first seat plate 21. As shown in fig. 1, the dust collecting cover 222 is further disposed on the periphery of the drill 221 of the electric drilling hammer 22 of the present embodiment, and the dust collecting cover 222 can prevent dust from overflowing during drilling, so as to avoid pollution to the construction environment.

In the present embodiment, the switching driver 44 is a linear driver, and an output end of the linear driver is connected to the first seat plate 21 and/or the first guide 41. In detail, the present embodiment employs a cylinder as the linear driving member. Of course, a linear driving device such as an electric cylinder or an oil cylinder may be used as the linear driving member.

The linear driving member may be selectively connected to the first seat plate 21 or the first guide 41, or both the first seat plate 21 and the first guide 41, depending on the installation space or the connecting member used, and finally may move the electric punch hammer 22.

Specifically, the mounting unit 30 of the present embodiment includes a second seat plate 31 and a mounting electric hammer 32, the mounting electric hammer 32 is fixed to the second seat plate 31, the second seat plate 31 is slidably connected to the base, and the second guide 42 is fixedly connected to the second seat plate 31. The mounting electric hammer 32 can slide with respect to the base along with the second seat plate 31, and the second guide 42 can guide the movement of the mounting electric hammer 32 by guiding the movement of the second seat plate 31.

Further, the mounting unit 30 of this embodiment further includes a shift assembly, the shift assembly includes a shift driving member 51 and a shift transmission member 52, the shift driving member 51 is connected to the second seat plate 31, an output end of the shift driving member 51 is connected to the shift transmission member 52, the mounting electric hammer 32 includes a shift knob 321, the shift transmission member 52 is connected to the shift knob 321, and when the shift driving member 51 works, a gear of the mounting electric hammer 32 can be adjusted.

The shift assembly may be used to screw the shift knob 321 of the mounting electric hammer 32 such that the mounting electric hammer 32 changes the operation mode to facilitate automatic mounting of the standby part 200.

It will be appreciated that when the gear used to mount the hammer 32 can be adjusted by remote adjustment, it is also contemplated that no shifting assembly is provided, further simplifying construction and reducing cost. For example, a control command may be preset on a robot to which the end effector 100 is attached, and then the electric hammer 32 may be attached to be controlled by a controller of the robot to shift gears when necessary. The function and structure of the electric hammer 32 can refer to a common electric hammer, and can drive the drill bit to hammer, and also can drive the drill bit to rotate, so as to realize the hammering of the to-be-installed part 200, and the to-be-installed part is knocked into the hole and screwed to complete the fixation. In the present embodiment, the shift stages are divided into a first stage, a second stage and a third stage, the first stage is that only the hammer does not rotate, the second stage is that the hammer rotates, and the third stage is that only the hammer rotates.

Referring to fig. 1, the shift transmission member 52 of the present application includes a shift rack 521 and a shift gear 522, the shift rack 521 is connected to an output end of the shift driving member 51, the shift gear 522 is rotatably disposed on the second seat plate 31 and coaxially connected to the shift knob 321, and the shift rack 521 is engaged with the shift gear 522. Here, a sliding groove 312 may be further provided on the second seat plate 31, a back portion of the shift rack 521 is slidably provided on the sliding groove 312 so as to stabilize the moving direction, and the shift rack 521 can cooperate with the shift gear 522 so that the shift button is driven to be screwed by the shift driving member 51 to change the operation mode of mounting the electric hammer 32. For example, in fig. 8, the positions of the shift racks 521 are different, so that during the lifting process, the gears of the shift knob 321 are adjusted, as shown in fig. 8, the gear key 3212 of the left end actuator 100 (labeled on the shift gear 522 in the present embodiment, corresponding to the gear identifier on the shift knob 321) points to the lower side, and the gear key 3212 of the right end actuator 100 points to the upper side.

Referring to fig. 3, the mounting unit 30 of the present embodiment further includes a screw chuck 33, the screw chuck 33 is disposed at an output end of the mounting unit 30, and when the mounting unit 30 works, the screw chuck 33 can be driven to move along a predetermined direction or the screw chuck 33 can be driven to rotate, so that the component 200 to be mounted is mounted in the hole.

The screw clamp 33 can clamp the member to be mounted 200, so that the mounting unit 30 can drive the member to be mounted 200 to move.

The screw cartridge 33 includes:

a threaded sleeve 331 for connecting the mounting unit 30, wherein the threaded sleeve 331 has an internal threaded hole 3312 formed along a predetermined direction, and the internal threaded hole 3312 is used for fixing the to-be-mounted component 200 (when the structure to be fixed on the to-be-mounted component is a structure other than a thread, the internal threaded hole 3312 may be designed to be another internal hole structure capable of meeting the fixing requirement);

the guide sleeve 332, the guide sleeve 332 is slidably sleeved on the threaded sleeve 331, and the guide sleeve 332 has a working position and an initial position distributed along a preset direction on the threaded sleeve 331;

the elastic piece 333 is sleeved on the threaded sleeve 331 and is abutted by the threaded sleeve 331 and the guide sleeve 332, and the elastic piece 333 tends to keep the guide sleeve 332 at an initial position; and

a position sensor 334, the position sensor 334 being disposed on the threaded sleeve 331;

when the guide sleeve 332 moves to the working position, the position sensor 334 sends out the in-position signal, so that the driving action of the installation unit 30 along the preset direction is stopped.

The threaded sleeve 331 has an internally threaded bore 3312 for receiving the member to be mounted 200, a guide sleeve 332 for guiding the member to be mounted 200 into the internally threaded bore 3312, and an elastic member 333 for resetting the guide sleeve 332, and when the guide sleeve 332 is moved to the working position, the position sensor 334 is triggered to make the mounting device (e.g., a robot) to which the end effector 100 belongs know that the member to be mounted 200 is mounted in place.

The guide sleeve 332 comprises guide claws 3321 and a sliding sleeve 3322, the guide claws 3321 are distributed along the circumferential direction of the sliding sleeve 3322, the screw clamp 33 further comprises a limiting plate 335, the limiting plate 335 is mounted on the threaded sleeve 331 and limits the sliding sleeve 3322 from falling out of the threaded sleeve 331;

when the guide sleeve 332 is at the initial position, the guide claw 3321 penetrates through the limit plate 335, and when the mounting unit 30 drives the screw clamp 33 to move and the guide claw 3321 presses against the construction surface 1000, the elastic member 333 is compressed, the guide sleeve 332 moves to the working position, and the guide claw 3321 triggers the position sensor 334. The guide jaw 3321 can guide the movement of the member to be installed 200 so that the member to be installed 200 can smoothly enter the internally threaded hole 3312, when the guide jaw 3321 abuts against the construction surface 1000, the sliding sleeve 3322 can be pushed and compress the elastic member 333, and finally the position sensor 334 can be triggered by the guide jaw 3321, and the elastic member 333 can reset the guide sleeve 332 after the installation is finished.

The principle of the embodiment is as follows:

during current inflation screw installation construction, it is not high to rely on artifical operating efficiency alone to have the safety risk, and when utilizing erection equipment to carry out automation mechanized operations, need different equipment to punch, then install the inflation screw again, efficiency improves to some extent, but overall efficiency still needs further promotion, and different operation equipment need artifical change and installation, can cause a large amount of losses of time equally. If different functional devices are simply installed on the robot, mutual interference exists easily, and the actual operation is still not facilitated. Thus, the present application provides an end effector 100 that can be used to punch and install a component 200 into place.

Referring to fig. 4, the mechanical arm may first move the mounting electric hammer 32 and the screw chuck 33 to the upper side of the screw box 300, and then shift the mounting electric hammer 32 to the third position, because of the guiding claw 3321, the guiding claw 3321 may guide the to-be-mounted member 200 to a position facing the internal thread 3312 during the process of contacting the to-be-mounted member 200, and the screw rod of the to-be-mounted member 200 may contact the hole wall of the internal thread 3312 during the process of further lowering the screw chuck 33, and because the screw chuck 33 is always rotating, the screw rod may be screwed into the internal thread 3312, thereby completing the fixing of the to-be-mounted member 200. Then the arm can drive and wait that installed part 200 rises, accomplishes and gets material work.

Referring to fig. 7, the switching driving member 44 can raise and hold the entire punching unit 20, and at the same time, the hammer 32 is driven by the reversing gear to move and lower a distance. Make the electric hammer 22 that punches can punch to the construction face 1000, dust cage 222 can prevent effectively that the dust from spilling at this in-process, and the arm is driving the in-process that punches electric hammer 22 and rise, because installation electric hammer 32 takes to treat that installed part 200 has downstream and keep, therefore can not make and treat that installed part 200 pestles to construction face 1000, avoid construction face 1000 and treat that installed part 200 is itself impaired, also avoid installation unit 30 impaired, simultaneously can not hinder the propulsion of the drill bit 221 of punching unit 20. Of course, if space permits, it is also possible to consider the installation unit 30 being lowered while the drill bit 221 is being raised by the shift actuator 51 alone, so that the installation unit 30 is prevented from interfering with the drilling operation.

After the punching is completed, referring to fig. 8, the structure shown on the left side of fig. 8 is a schematic diagram of the end effector 100 when the electric hammer 32 is in the first gear, and during the installation, the switching driving member 44 drives the first guiding member 41 in the reverse direction, so that the first guiding member 41 drives the punching unit 20 to descend, and simultaneously the second guiding member 42 drives the installation unit 30 to ascend and hold.

The robotic arm gradually lifts the mounting unit 30 (as the same as above, the lifting movement of the mounting unit 30 can also be realized by the driving of the switching driving member 44 when the space allows), and in the process, the mounting electric hammer 32 continuously drives the screw chuck 33 to hammer upwards, so that the component 200 to be mounted can be inserted into the hole drilled by the previous drilling unit 20. When the guide claw 3321 of the guide sleeve 332 abuts against the construction surface 1000, the whole guide sleeve 332 is kept stationary relative to the construction surface 1000, while the threaded sleeve 331 can continue to move upwards, and the guide sleeve 332 slides relative to the threaded sleeve 331 from the initial position to the working position, and meanwhile, the elastic element 333 (a spring is adopted in the embodiment) is compressed and accumulated. When the guide sleeve 332 is in the working position, the guide pawl 3321 triggers the position sensor 334 disposed in the threaded sleeve 331, at this time, the robot to which the end effector 100 is mounted can know that the to-be-mounted part 200 has been hammered into position, and then the shift driving member 51 can be controlled to work, so that the gear to which the electric hammer 32 is mounted is switched to the gear shown in the end effector 100 on the right side of fig. 8, that is, the third gear, so that the screw of the to-be-mounted part 200 is screwed and tightened, and the to-be-mounted part 200 is fixed, and at this time, the whole to-be-mounted part 200 has been mounted. The position sensor 334 may also be a travel switch, a micro switch, an optical fiber sensor, a proximity switch, or the like, and when it is detected that the hammer is in place, it may further detect whether the hammer is in place. Of course, it is also possible to detect that the hammer is in place only, determine that the member to be mounted 200 has been inserted to the required depth, and then the robot can control the screwing for a certain time and directly confirm that it has been screwed down.

After the installation part 200 is fixed, the robot controls and controls the installation electric hammer 32 to rotate reversely, so that the screw clamp head 33 rotates reversely relative to the installation part 200, in the process of rotating reversely, the mechanical arm also drives the whole tail end executing mechanism 100 to descend, so that the installation part 200 is separated from the screw clamp head 33, and the guide sleeve 332 resets under the action of the spring, so that the next installation work of the installation part 200 is performed.

As can be seen from the above, the whole operation process does not require human intervention, and the drilling unit 20 or the mounting unit 30 is not required to be better mounted on the end effector 100, and the switching unit 40 can be switched without interference to each other by the operation thereof, so that the respective operations can be performed smoothly.

In summary, the end effector 100 of the present application can switch the positions of the punching unit 20 and the installation unit through the switching unit 40, so that the punching unit 20 and the installation unit 30 can be rapidly switched in place, so as to punch holes and install the to-be-installed member 200 according to the operation requirement, thereby improving the installation efficiency of the to-be-installed member 200.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An end effector, comprising:

a base;

2. The end effector as claimed in claim 1, wherein the first and second guides are guide racks, the reversing element is a reversing gear, and the first and second guides are located on either side of the reversing gear and are both engaged with the reversing gear.

3. The end effector as claimed in claim 2, wherein the punch unit includes a first seat plate and a punch hammer, the punch hammer being fixed to the first seat plate, the first seat plate being slidably connected to the base, the first guide being fixedly connected to the first seat plate.

4. The end effector as claimed in claim 3, wherein the switch drive is a linear drive, the output end of which is connected to the first seat plate and/or the first guide.

5. The end effector as claimed in claim 2, wherein the mounting unit includes a second seat plate and a mounting hammer, the mounting hammer being secured to the second seat plate, the second seat plate being slidably connected to the base, the second guide being fixedly connected to the second seat plate.

6. The end effector as claimed in claim 5, wherein the mounting unit further comprises a shift assembly including a shift drive member and a shift drive member, the shift drive member is connected to the second base plate, an output end of the shift drive member is connected to the shift drive member, the mounting hammer includes a shift knob, the shift drive member is connected to the shift knob, and the shift drive member is operative such that a gear of the mounting hammer can be adjusted.

7. The end effector as claimed in claim 6, wherein the shift actuator includes a shift rack and a shift gear, the shift rack is connected to the output of the shift actuator, the shift gear is rotatably disposed on the second seat plate and coaxially connected to the shift knob, and the shift rack is engaged with the shift gear.

8. The end effector as claimed in claim 1, wherein the mounting unit further comprises a screw chuck disposed at an output end of the mounting unit, and the mounting unit is operable to move the screw chuck in the predetermined direction or rotate the screw chuck, so that the member to be mounted is mounted in the hole.

9. The end effector mechanism of claim 8, wherein the screw cartridge comprises:

a position sensor disposed on the threaded sleeve;

10. The end effector mechanism according to claim 9, wherein the guide sleeve comprises guide claws and a sliding sleeve, the guide claws are distributed along a circumferential direction of the sliding sleeve, and the screw collet further comprises a limiting plate which is mounted on the threaded sleeve and limits the sliding sleeve from coming off the threaded sleeve;