CN-117157175-B - End effector and kit of end effectors

Abstract

The end effector includes one or more orifice plates provided with a plurality of orifices, a buffer for use with the one or more orifice plates, a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins, and a biasing portion that biases the plurality of outer pins toward the inside. The plurality of inner pins penetrate the plurality of holes and the cushion material so as to be movable a first distance in a penetrating direction of the plurality of holes with respect to the one or more orifice plates.

Inventors

• Ju Diyi
• KONO KAZUNORI
• MATSUYAMA YOSHINARI
• Nagaka Yuka

Assignees

• 松下知识产权经营株式会社

Dates

Publication Date

20260505

Application Date

20220218

Priority Date

20210330

Claims (9)

1. 1. An end effector, wherein, The end effector includes: more than one orifice plate provided with a plurality of orifices; a buffer for use with the one or more aperture plates; a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins, and A biasing portion for biasing the plurality of outer pins inward, The inward force is applied from the plurality of outer pins to a side surface of the object via the plurality of inner pins to support the object, The plurality of inner pins penetrate the plurality of holes and the cushion material so as to be movable a first distance in a penetrating direction of the plurality of holes with respect to the one or more orifice plates, The plurality of outer pins are fixed to the one or more orifice plates so as not to move in a penetrating direction of the plurality of orifices.
2. 2. The end effector as claimed in claim 1, wherein, The plurality of outer pins have a length less than a value obtained by subtracting the first distance from a length of the plurality of inner pins.
3. 3. The end effector according to claim 1 or 2, wherein, A sleeve is mounted on the opposite end of the plurality of pins from the end of the pins that contacts the object.
4. 4. The end effector according to claim 1 or 2, wherein, An end of the plurality of inner pins on a side contacting the object is tapered.
5. 5. The end effector according to claim 1 or 2, wherein, And performing anti-slip processing on the area contacted with the object in the plurality of inner pins.
6. 6. The end effector according to claim 1 or 2, wherein, The end of the outer pins on the side close to the object has a rounded corner.
7. 7. The end effector according to claim 1 or 2, wherein, The urging portion includes an inclined portion movable in a penetrating direction of the plurality of holes, and the inclined portion has rounded corners.
8. 8. The end effector according to claim 1 or 2, wherein, The more than one pore plates are two pore plates, The buffer member is sandwiched between the two orifice plates.
9. 9. A kit of end effectors, wherein, The end effector kit includes: The end effector of any one of claims 1 to 8, and Other end effectors that are capable of being supported by the end effector.

Description

End effector and kit of end effectors Technical Field The present invention relates to an end effector and a kit of end effectors. Background Patent document 1 describes a robot arm including a suction unit such as an electromagnet for sucking a workpiece and a shape following unit including 6 or more pins lowered by its own weight for following the shape of the workpiece, the robot arm fixing the workpiece by using a support hook for supporting the workpiece from below according to the need of lifting and lowering a fixing pin as required, and according to the need of a heavy weight or the like. Prior art literature Patent literature Patent document 1 Japanese patent laid-open No. 10-264068 Disclosure of Invention The present invention has been made in view of the above-described conventional circumstances, and an object thereof is to provide an end effector capable of supporting an object (e.g., a workpiece). An end effector according to an aspect of the present invention includes one or more orifice plates provided with a plurality of orifices, a buffer for use with the one or more orifice plates, a plurality of pins including a plurality of inner pins and a plurality of outer pins disposed outside the plurality of inner pins, and a biasing portion for biasing the plurality of outer pins toward the inside. The plurality of inner pins penetrate the plurality of holes and the cushion material so as to be movable a first distance in a penetrating direction of the plurality of holes with respect to the one or more orifice plates. According to the present invention, an end effector capable of supporting an object such as a workpiece can be provided. Drawings Fig. 1 is a longitudinal sectional view showing an example of a state of an end effector in a standby stage. Fig. 2 is a longitudinal sectional view showing an example of a state of the end effector in the modulus-taking stage. Fig. 3 is a longitudinal sectional view showing an example of a state of the end effector in the support stage. Fig. 4 is an enlarged view of a portion including a protrusion in an example of a structure of an end effector. Fig. 5 is a longitudinal sectional view showing an example of a state of the end effector in the push-out stage. Fig. 6 is a conceptual diagram showing a case where the end effector supports the object in the gravity direction. Fig. 7 is a longitudinal sectional view showing an example of a state of the end effector in the support stage. Fig. 8 is a conceptual diagram illustrating a case where the end effector corresponding to fig. 7 supports an object in a horizontal direction. Fig. 9 is a perspective view showing an example of the structure of an end effector according to a second embodiment of the present invention. Fig. 10 is a plan view showing an example of the structure of an end effector according to a second embodiment of the present invention. Fig. 11 is a front view showing an example of the structure of an end effector according to a second embodiment of the present invention. Fig. 12 is a side view showing an example of the structure of an end effector according to a second embodiment of the present invention. Fig. 13 is a bottom view showing an example of the structure of an surgical end effector according to the second embodiment of the present invention. Fig. 14 is a perspective view showing an internal structure of an end effector according to a second embodiment of the present invention. Fig. 15 is an exploded perspective view showing the internal structure of an end effector according to a second embodiment of the present invention. Fig. 16 is a cross-sectional view showing an internal structure of an end effector according to a second embodiment of the present invention. Fig. 17 is a conceptual diagram showing an example of the installation of the orifice plate. Fig. 18 is a comparison of the outer and inner pins and the sleeve of the second embodiment of the present invention. Fig. 19 is a conceptual diagram showing a flow of supporting an object by an end effector according to a second embodiment of the present invention. Fig. 20 is a conceptual diagram showing a flow of a process until the end effector according to the second embodiment of the present invention releases the supported object and returns to the initial state. Fig. 21 is a longitudinal sectional view showing an example of the end effector in a supported state. Fig. 22 is a conceptual diagram illustrating a case where the end effector corresponding to fig. 21 supports an object in the horizontal direction. Fig. 23 is a conceptual diagram illustrating a shape near a first end of an inner pin. Fig. 24 is a conceptual diagram of the inner pin shown in fig. 23 viewed from the direction from the first end toward the second end. Fig. 25 is a diagram showing an example of the anti-slip processing performed in the second region of the inner pin. Fig. 26 is a block diagram showing an example of a hardware configuration of a control sys