CN113650044B

CN113650044B - End picking device

Info

Publication number: CN113650044B
Application number: CN202010400373.3A
Authority: CN
Inventors: 王显旺; 吴明福
Original assignee: Beijing Jingdong Qianshi Technology Co Ltd
Current assignee: Beijing Jingdong Qianshi Technology Co Ltd
Priority date: 2020-05-12
Filing date: 2020-05-12
Publication date: 2023-01-31
Anticipated expiration: 2040-05-12
Also published as: CN113650044A

Abstract

The present disclosure provides an end effector. The end effector includes a mounting plate and a telescoping mechanism. The telescopic mechanism comprises a plurality of telescopic rods. Wherein the telescoping mechanism is mounted on the mounting plate; wherein the telescoping end of the telescoping rod is configured to connect to a vacuum chuck. The telescopic rod comprises a cavity penetrating through the telescopic end part. The cavity is respectively communicated with the vacuum sucker and the vacuum air source.

Description

End picking device

Technical Field

The present disclosure relates to the field of warehouse logistics, and more particularly, to an end effector.

Background

With the development of the logistics industry, the automatic sorting of goods has higher requirements. At present, the picking of goods in a box by utilizing an industrial robot or a mechanical arm end connecting end effector is an application mode of automatic picking.

The end effector is typically configured with a telescoping rod (or extension rod) having a single or multiple suction cups mounted to the end of the telescoping rod. The telescopic rod is made of a pipe material, and the vacuum pipeline is connected with a vacuum source through a sucker, a hollow extension rod and a hose. The telescopic link can extend to reach the bottom of the cargo box during working, and the goods are picked up, carried and placed through the vacuum chuck.

In the course of implementing the disclosed concept, the inventor finds that there is at least the following problem in the prior art, and the existing end pick is very effective for a single goods or goods with close size, but if the goods are of more types and have larger size and weight difference, the size and the number of the suckers cannot meet the goods sorting requirement, and the work efficiency of goods sorting is influenced.

Disclosure of Invention

In view of this, the disclosed embodiments provide an end effector having a plurality of telescoping rods.

The disclosed embodiments provide an end effector. The end effector includes a mounting plate and a telescoping mechanism. The telescopic mechanism comprises a plurality of telescopic rods. Wherein the telescoping mechanism is mounted on the mounting plate. Wherein the telescopic end of the telescopic rod is configured to be connected with a vacuum chuck; the telescopic rod is internally provided with a cavity penetrating through the telescopic end part, and the cavity is respectively communicated with the vacuum sucker and the vacuum air source.

According to an embodiment of the present disclosure, the telescoping mechanism includes a plurality of telescoping devices. The telescopic device comprises a supporting structure and the telescopic rod. The support structure is mounted on the mounting plate. The telescopic rod is movably connected with the supporting structure. Wherein the telescoping rod is telescopically movable relative to the support structure.

According to an embodiment of the present disclosure, the support structure comprises a screw nut pair. The screw-nut pair comprises a screw and a nut. The lead screw is rotatably mounted in the mounting plate. The nut is sleeved on the screw rod. The nut can move along the axial direction of the screw rod along with the rotation of the screw rod. Wherein, the telescopic link is fixedly connected with the nut. According to an embodiment of the present disclosure, the support structure further comprises a connection plate. Wherein, a part of the connecting plate is connected with the nut, and the other part is connected with the telescopic rod. According to an embodiment of the present disclosure, the end effector includes three of the telescoping devices.

According to an embodiment of the present disclosure, the telescoping mechanism further comprises a guiding mechanism. The guiding mechanism comprises a plurality of tracks which correspond to the plurality of telescopic rods one to one. Each telescopic rod moves in a telescopic mode along the corresponding track.

According to an embodiment of the present disclosure, the guide mechanism includes a support shaft, a first guide plate, and a second guide plate. The support shaft is installed on the mounting plate. The first guide plate is vertically installed on the support shaft. The first guide plate comprises a plurality of first guide holes, wherein each telescopic rod penetrates through the corresponding first guide hole. The second guide plate is vertically installed on the support shaft. The second guide plate comprises a plurality of second guide holes, wherein each telescopic rod penetrates through the corresponding second guide hole. The first guide hole and the second guide hole for the same telescopic rod to pass through form the track.

According to an embodiment of the present disclosure, the telescopic device further comprises a motor. An output shaft of the motor is coaxially connected to the lead screw.

According to an embodiment of the present disclosure, the motor is installed between the first guide plate and the second guide plate.

According to an embodiment of the present disclosure, the end effector further comprises an air supply passage mechanism. The air source passage mechanism comprises a fixed pipe joint, a movable pipe joint, a hose and a vacuum chuck. The fixed pipe joint is mounted on the mounting plate and is configured to be communicated with a vacuum air source. The movable pipe joint is arranged on the telescopic rod and communicated with the cavity. The first end of the hose is communicated with the fixed pipe joint, the second end of the hose is communicated with the movable pipe joint, and the part between the first end and the second end can deform along with the telescopic movement of the telescopic rod. The vacuum chuck is arranged at the telescopic end part of the telescopic rod and communicated with the cavity.

The end effector of the above embodiment has the following advantageous effects: can stretch out through the telescopic link combination of different quantity and form different sucking disc arrays according to the weight and the size isoparametric of goods, realize accurate control and snatch the goods, overcome prior art middle-end effector and only have a telescopic link, can only be to the shortcoming of snatching of the goods of single specification, single weight at every turn, improved the automatic efficiency and the speed of goods selection.

Drawings

For a more complete understanding of the present disclosure and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which:

fig. 1 schematically illustrates an overall configuration of an end effector according to an embodiment of the present disclosure in a non-operating state;

FIGS. 2A-2C schematically illustrate an overall configuration of the end effector shown in FIG. 1 in various operating states;

fig. 3 is a schematic view showing a structure of the end effector shown in fig. 1 with one retractor mounted therein;

fig. 4 is a schematic view showing an extension of the telescopic bar in a partial structure of the end effector shown in fig. 3;

FIG. 5 is a schematic view showing a connection structure of the telescopic rod and the lead screw nut pair shown in a part A of FIG. 3;

fig. 6 is a schematic view showing a structure of a guide mechanism applied to the end effector shown in fig. 1;

FIG. 7A is a schematic diagram illustrating the structure of the air supply passage mechanism of the end effector shown in FIG. 1; and

fig. 7B schematically illustrates an end connection configuration of the air supply passage mechanism shown in fig. 7A.

Detailed Description

Other aspects, advantages, and salient features of the disclosure will become apparent to those skilled in the art from the following detailed description, which, taken in conjunction with the annexed drawings, discloses exemplary embodiments of the disclosure.

In the present disclosure, the terms "include" and "contain," as well as derivatives thereof, mean inclusion without limitation; the term "or" is inclusive, meaning and/or.

In this specification, the various embodiments described below which are used to describe the principles of the present disclosure are by way of illustration only and should not be construed in any way to limit the scope of the invention. The following description with reference to the accompanying drawings is provided to assist in a comprehensive understanding of exemplary embodiments of the present disclosure as defined by the claims and their equivalents. The following description includes various specific details to aid understanding, but such details are to be regarded as illustrative only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the present disclosure. Moreover, descriptions of well-known functions and constructions are omitted for clarity and conciseness. Moreover, throughout the drawings, the same reference numerals are used for similar functions and operations.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B, and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, and C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.). In those instances where a convention analogous to "at least one of A, B, or C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B, or C" would include but not be limited to systems that have A alone, B alone, C alone, A and B together, A and C together, B and C together, and/or A, B, and C together, etc.).

In the context of the present disclosure, when an element is referred to as being "on" or "connected to" another element, it can be directly on or connected to the other element or other elements may be present therebetween. In addition, if a component is "on" another component in one orientation, the component may be "under" the other component when the orientation is reversed. When an element is referred to as being "between" two other elements, it can be directly between the two other elements or intervening elements may be present.

Embodiments of the present disclosure provide an end effector. The end effector includes a mounting plate and a telescoping mechanism. The telescopic mechanism is arranged on the mounting plate and comprises a plurality of telescopic rods. The plurality of telescopic rods can move telescopically. The telescoping end of the telescoping rod is configured to connect to a vacuum chuck. The telescoping pole includes a cavity therein extending through the telescoping end. The cavity is respectively communicated with the vacuum chuck and the vacuum air source. The vacuum air source can generate negative pressure at the vacuum chuck through the cavity, so that when the telescopic end part of the telescopic rod stretches out to drive the vacuum chuck to reach the surface of the goods, the vacuum chuck can be adsorbed on the surface of the goods and generate certain adsorption force on the goods. By means of the adsorption force, the telescopic rod can grab the goods when being contracted, and therefore the goods can be picked.

Compared with the prior art that the end picking device only has one telescopic rod, the end picking device can only aim at goods with single specification and single weight at each time, or goods with very close size and weight are grabbed, the end picking device provided by the embodiment of the disclosure has the plurality of telescopic rods, different sucker arrays can be formed by extending different numbers of telescopic rods in a combined mode according to parameters such as weight and size of the goods, grabbing of the goods with different specifications and weights is achieved, and efficiency and speed of goods picking automation are effectively improved.

According to the embodiment of the disclosure, a plurality of telescopic rods in the telescopic mechanism can move in a telescopic mode. The moving directions of the telescopic rods in telescopic movement can be parallel or non-parallel to each other. In one embodiment, the moving directions of the telescopic movement of the telescopic rods are parallel to each other and perpendicular to the mounting plate.

According to the embodiment of the present disclosure, the telescopic mechanism may be a structure in which a plurality of telescopic rods are provided in one main body, or may include a plurality of independent telescopic devices, in which one telescopic rod is provided in each telescopic device.

According to some embodiments of the present disclosure, the telescopic mechanism may include a main body mounted on the mounting plate and a plurality of telescopic rods respectively telescopically movable with respect to the main body.

According to other embodiments of the present disclosure, the retraction mechanism may include a plurality of retractors. Wherein, every telescoping device includes bearing structure and a telescopic link. Wherein, in each telescoping device, the support mechanism can be mounted on a mounting plate, and the telescoping rod is movably connected with the support structure and can move telescopically relative to the support structure.

In some embodiments, the telescoping device may be a hydraulic telescoping device. Correspondingly, the support structure can be, for example, a hydraulic cylinder. The telescopic rod is movably connected in the hydraulic cylinder through a link mechanism and the like, and is controlled by hydraulic power to move along the hydraulic cylinder in a telescopic mode. Similarly, in other embodiments, the telescopic device may be a pneumatic telescopic device or an electric telescopic device. Correspondingly the support structure may be a pneumatic cylinder or an electric cylinder.

According to one embodiment of the present disclosure, the telescopic device may be a device that drives the telescopic rod to extend and retract by using a lead screw nut pair. In particular, the support structure in the telescopic device may comprise a screw nut pair. The screw-nut pair may comprise a screw and a nut. Wherein the screw is rotatably mounted in the mounting plate. The nut is sleeved on the screw rod. The nut can move along the axial direction of the screw rod along with the rotation of the screw rod. The telescopic rod is fixedly connected with the nut. The linear motion of the axis direction of the nut screw rod can be controlled by controlling the rotation of the screw rod, so that the telescopic motion of the telescopic rod can be controlled. According to the embodiment of the disclosure, the telescopic device utilizes a transmission mode of the screw-nut pair to drive the telescopic rod to stretch, and compared with a hydraulic telescopic device, a pneumatic telescopic device or an electric telescopic device and the like, the telescopic device has the advantages of simple structure, easiness in control, easiness in miniaturization and lower cost.

An exemplary illustration of an end effector 10 according to an embodiment of the present disclosure is provided below in conjunction with the specific embodiments of fig. 1-7B. The end effector 10 includes a plurality of telescoping devices, wherein the telescoping devices are devices that use a screw-nut pair to drive a telescoping rod to telescope.

Fig. 1 schematically illustrates an overall configuration of an end effector 10 in a non-operating state according to an embodiment of the present disclosure. Fig. 2A to 2C schematically show an overall configuration of the end effector 10 shown in fig. 1 in different operating states.

As shown in fig. 1 and fig. 2A to 2C, the end effector 10 includes a mounting plate 1 and a telescopic mechanism 2. The telescopic mechanism 2 is mounted on the mounting plate 1. The telescopic mechanism 2 comprises a plurality of telescopic rods 21. The plurality of telescopic bars 21 are telescopically movable. The telescoping end (i.e., tip) of the telescoping rod 21 is configured to connect to the vacuum chuck 34. The telescopic rod 21 comprises a cavity inside through the telescopic end. The cavity is in communication with the vacuum chuck 34 and a vacuum source, respectively.

Specifically, the telescopic mechanism 2 in the end effector 10 includes a plurality of telescopic devices. Specifically, each telescopic device comprises a set of screw nut pair and a telescopic rod 21, wherein the screw nut pair comprises a screw 22 and a nut 23. The screw rod 22 is rotatably arranged in the mounting plate 1, the nut 23 is sleeved on the screw rod 22, and the nut 23 can move up and down along the axis of the screw rod 22 along with the rotation of the screw rod 22. The nut 23 is fixedly connected with the telescopic rod 21 (for example, fixedly connected through the connecting plate 24), and can drive the telescopic rod 21 to move up and down along the axis of the screw rod 22, so as to realize telescopic motion.

In fig. 1-2C, the end effector 10 includes three telescoping devices, and correspondingly three telescoping rods 21. It is understood that the end effector 10 including three telescopic rods 21 is merely an example, and the number of the actual arrangement is not limited thereto.

The mounting plate 1 may be a flange plate for connecting the end-effector 10 to an industrial robot or a robotic arm. The mounting plate 1 can be provided with a plurality of holes for mounting the telescopic mechanism 2 and the like. The number of holes and the shape of the holes on the mounting plate 1 are not limited by the present disclosure, and the shape of the mounting plate 1 is not limited by the present disclosure, and the shape of the mounting plate 1 may be a regular or irregular polygon like a rectangle, a square, a triangle, etc.

According to the embodiment of the disclosure, the material of the mounting plate 1 is not limited, the material of the mounting plate 1 may be a metal material such as iron, copper, aluminum and alloy, and may also be a carbon fiber composite material such as an epoxy resin-based fiber composite material, a ceramic-based fiber composite material and a glass fiber composite material, the material of the mounting plate 1 in the disclosure is preferably aluminum, and the aluminum mounting plate 1 can effectively reduce the weight of the mounting plate 1, so that the capability of an industrial robot or a mechanical arm to pick heavy goods by using an end effector is improved.

The workflow when an industrial robot or robotic arm operates the end effector 10 for picking of goods is: in the non-operating state, the three telescopic rods 21 are at the uppermost position, as shown in fig. 1. In a working state, when smaller and lighter goods are grabbed, one telescopic rod 21 can be pushed to the lower side by controlling the transmission of one lead screw nut pair, and the goods are grabbed by using a vacuum chuck 34 connected with the telescopic end part of the telescopic rod 21 (as shown in fig. 2A); or, when a large and heavy cargo is grabbed, the two telescopic rods 21 can be pushed to the lower side by controlling the transmission of the two screw-nut pairs, and the cargo is grabbed by the corresponding vacuum chucks 34 (as shown in fig. 2B); or when larger or heavier goods are grabbed, the three telescopic rods 21 can be pushed to the lower part by controlling the transmission of the three screw-nut pairs at the same time to grab the goods (as shown in fig. 2C).

In addition, when the telescopic rods 21 are controlled to extend and retract, the extension lengths of the telescopic rods 21 can be controlled to be the same or different. For example, when picking irregular goods or placing irregular goods, the telescopic rods 21 can be controlled to have different telescopic lengths, so that the vacuum suction cups 34 at the telescopic ends of the telescopic rods 21 form a three-dimensional suction cup array to fit the irregular shapes of the goods, and the picking efficiency for the irregular goods or placing irregular goods is improved.

Fig. 3 is a schematic view showing a structure in which a telescopic device is installed in the end effector 10 shown in fig. 1. Fig. 4 schematically shows a schematic view of the extension of the telescopic bar in a partial structure of the end effector 10 shown in fig. 3.

As shown in connection with fig. 1, 3 and 4, the end effector 10 includes three telescoping devices. Each telescopic device comprises a screw-nut pair and a telescopic rod 21. The spindle-nut pair comprises a spindle 22 and a nut 23.

The screw 22 is rotatably mounted in the mounting plate 1. For example, a hole is formed in the mounting plate 1, and one end of the lead screw 22 is rotatably disposed in the hole via a bearing, so that the lead screw 22 can rotate about its own axis with respect to the mounting plate 1.

The nut 23 is sleeved on the screw rod 22, and the nut 23 can move up and down along the axis of the screw rod 22 along with the rotation of the screw rod 22. According to the embodiment of the present disclosure, the screw-nut pair may be, for example, an internal circulation type ball screw-nut pair, and the number of rows of the nuts 23 is not limited, and may have 2 rows, 3 rows, 4 rows, 5 rows, and the like.

The nut 23 is fixedly connected with the telescopic rod 21, so that the telescopic rod 21 can be driven to move up and down along the axis of the screw rod 22, and the telescopic motion of the telescopic rod 21 is realized. According to an embodiment of the present disclosure, the nut 23 may be fixedly connected to the telescopic rod 21 through a connecting plate 24, which may be referred to as an illustration in fig. 5.

Fig. 5 schematically shows a connection structure diagram of the telescopic rod and the feed screw nut pair shown in a part a of fig. 3.

As shown in fig. 5, each of the telescoping devices of the end effector 10 also includes a connecting plate 24. One part of the connecting plate 24 is connected to the nut 23, and the other part is connected to the telescopic rod 21.

In particular, the connection plate 24 and the telescopic rod 21 may be fixedly connected, i.e. the connection plate 24 and the telescopic rod 21 do not move axially or radially. For example, the telescopic rod 21 and the connecting plate 24 may be connected by a key, a threaded connection, an interference fit, or the like; for example, the end of the telescopic rod 21 may be threaded to have an external thread to rotatably engage with an internally threaded hole in the connecting plate 24; or the telescopic rod 21 and one end of the connecting plate 24 can be welded together by adopting a welding mode. The present disclosure does not limit the connection manner between the telescopic rod 21 and the connecting plate 24.

The connecting plate 24 and the nut 23 may also be fixedly connected, and the connection manner may be similar to the fixed connection manner of the telescopic rod 21 and the connecting plate 24. And will not be described in detail herein.

According to the disclosed embodiment, each telescoping device of the end effector 10 may further include a motor 28. The output shaft of the motor 28 is coaxially connected to the lead screw. When the end effector 10 works, the rotation of the lead screw 22 connected with the motor 28 can be controlled by controlling the rotation of the corresponding motor 28, and then the telescopic motion of the telescopic rod 21 is caused by the transmission mode of the lead screw 22 and the nut 23. The expansion speed and the expansion amount of the expansion link 21 can be controlled by controlling the rotation speed and the rotation amount of the motor 28.

According to an embodiment of the present disclosure, a guiding mechanism may also be provided in the telescopic mechanism 2 of the end effector 10. The guide mechanism may include a plurality of rails (e.g., a rail formed of a plurality of limit holes or limit grooves) corresponding to the plurality of telescopic rods 21 one to one. Each telescopic rod 21 moves telescopically along the corresponding track. The guide mechanism is used for supporting and limiting the telescopic movement of the telescopic rods 21, so that each telescopic rod 21 can be kept parallel to the corresponding screw rod 22 in the telescopic movement track, and the phenomenon that the screw rod is damaged due to radial tension is avoided.

Fig. 6 schematically shows a structural view of the guide mechanism applied to the end effector 10 shown in fig. 1.

As shown in conjunction with fig. 1 and 6, the guide mechanism may include a support shaft 25, a first guide plate 26, and a second guide plate 27. The first guide plate 26 is vertically mounted on the support shaft 25. The second guide plate 27 is vertically installed on the support shaft 25.

The support shaft 25 is mounted on the mounting plate 1.

The first guide plate 26 includes a plurality of first guide holes 261, wherein each telescopic rod 21 passes through the corresponding first guide hole 261.

The second guide plate 27 includes a plurality of second guide holes 271, wherein each expansion link 21 passes through the corresponding second guide hole 271.

Wherein, the first guiding hole 261 and the second guiding hole 271 for the same telescopic rod 21 to pass through form a track corresponding to the telescopic rod 21.

The telescopic bar 21 may be in contact with the first and

second guide plates

26 and 27 through the first and second guide holes 261 and 271, respectively. For example, a detachable guide sleeve may be provided on the inner surface of the first guide hole 271 and the inner surface of the second guide hole 261, and the inner surface of the guide sleeve may slide relative to the telescopic rod 21. The material of the guide sleeve can be rubber, copper, iron and the like. When the telescopic rod 21 slides relative to the guide sleeve, the guide sleeve can provide a good guiding effect, and the telescopic rod 21 cannot be damaged along with the increase of the sliding times. The uide bushing produces the change of being convenient for after damaging because of the friction to have certain damping effect at the goods picking process, avoid causing the vibration damage to whole end effector.

It is to be understood that the size and shape of the first and

second guide plates

26 and 27 in the drawings are merely examples, and the present disclosure does not limit the size and shape of the first and

second guide plates

26 and 27.

According to an embodiment of the present disclosure, the motor 28 may be installed between the first guide plate 26 and the second guide plate 27, as shown in fig. 1, 3, and 4. Since the first and

second guide plates

26 and 27 need to form a track through the corresponding first and second guide holes 261 and 271, the first and

second guide plates

26 and 27 are necessarily spaced apart from each other. According to the embodiment of the present disclosure, the motor 28 is disposed in the space between the first guide plate 26 and the second guide plate 27, and the space between the first guide plate 26 and the second guide plate 27 can be fully utilized, so that the overall structure of the end effector 10 is compact, and the stability of the overall structure of the end effector is increased.

Fig. 7A schematically illustrates a structural view of an air supply passage mechanism of the end effector shown in fig. 1. Fig. 7B schematically illustrates an end connection configuration of the air supply passage mechanism shown in fig. 7A.

As shown in connection with fig. 1, 7A and 7B, the end effector 10 further includes an air supply passage mechanism 3. The air supply passage mechanism 3 includes a fixed pipe joint 31, a movable pipe joint 32, a hose 33, and a vacuum chuck 34. The fixed pipe joint 31 is installed on the installation plate 1 and communicated with a vacuum air source. The movable pipe joint 32 is installed on the telescopic rod 21 and is communicated with the cavity inside the telescopic rod 21, one end of the hose 33 is communicated with the fixed pipe joint 31, and the other end is communicated with the movable pipe joint 32. The hose 33 is deformable in the middle portion thereof in response to the telescopic movement of the telescopic shaft 21, and the vacuum suction cup 34 is mounted on the telescopic end portion of the telescopic shaft 21 and communicates with the cavity inside the telescopic shaft 21.

According to the embodiment of the present disclosure, when the industrial robot or the robot arm operates the end effector to operate, the vacuum source is first operated to evacuate the vacuum chuck 34 through the gas source path mechanism 3, and a negative pressure is generated at the vacuum chuck 34. Air flow circuit as shown in fig. 7A, air enters the cavity inside the telescopic rod 21 along the vacuum suction cup 34, then enters the flexible tube 33 through the movable tube connector 32, and then enters the vacuum air source through the fixed tube connector 31 inside the flexible tube 33, forming an air circuit.

According to the embodiment of the present disclosure, the vacuum chuck 34 may be an oval chuck, a corrugated chuck, a flat chuck, a special chuck, or the like, and may be configured with different sizes according to actual situations, and the goods may be sorted in a contact or non-contact manner.

The end effector 10 of this disclosed embodiment can stretch out through the combination of the telescopic link 21 of different quantity according to the weight of goods and size isoparametric, forms different sucking disc arrays, realizes accurate control and snatchs the goods, overcomes among the prior art end effector and only can be to the goods of single specification, and the goods is different just need to change the shortcoming of end effector, has improved automatic efficiency and the speed of goods selection. Even in emergency operation, damage to one telescoping device or air supply passage mechanism does not affect the working schedule of goods picking, and other telescoping devices and air supply passage mechanisms on the end effector 10 can be used for working.

While the disclosure has been shown and described with reference to certain exemplary embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the disclosure as defined by the appended claims and their equivalents. Accordingly, the scope of the present disclosure should not be limited to the above-described embodiments, but should be defined not only by the appended claims, but also by equivalents thereof.

Claims

1. An end effector, comprising:

a mounting plate, and

the telescopic mechanism is arranged on the mounting plate; the telescoping mechanism comprises a plurality of telescoping devices and a guide mechanism,

wherein the content of the first and second substances,

the telescopic device comprises a supporting structure and a telescopic rod; the support structure is arranged on the mounting plate and comprises a lead screw-nut pair, the lead screw-nut pair comprises a lead screw and a nut, the lead screw is rotatably arranged in the mounting plate, the nut is sleeved on the lead screw, and the nut can move along the axial direction of the lead screw along with the rotation of the lead screw; the telescopic rod is fixedly connected with the nut;

the guide mechanism comprises a support shaft, a first guide plate and a second guide plate; wherein the support shaft is mounted on the mounting plate; the first guide plate is vertically arranged on the support shaft and comprises a plurality of first guide holes, and each telescopic rod penetrates through the corresponding first guide hole; the second guide plate is vertically arranged on the support shaft and comprises a plurality of second guide holes, and each telescopic rod penetrates through the corresponding second guide hole; the first guide hole and the second guide hole for the same telescopic rod to pass through form a track, wherein the guide mechanism comprises a plurality of tracks which correspond to the telescopic rods in the plurality of telescopic devices one by one, and each telescopic rod moves in a telescopic mode along the corresponding track;

wherein the telescopic end of the telescopic rod is configured to be connected with a vacuum chuck;

the telescopic rod is internally provided with a cavity penetrating through the telescopic end part, and the cavity is respectively communicated with the vacuum sucker and the vacuum air source.

2. The end effector of claim 1, wherein the support structure further comprises a connecting plate, wherein,

one part of the connecting plate is connected with the nut, and the other part of the connecting plate is connected with the telescopic rod.

3. An end effector according to claim 1 or 2, wherein the end effector comprises three of said telescopic devices.

4. The end effector of claim 1, wherein the telescoping device further comprises:

and an output shaft of the motor is coaxially connected to the screw rod.

5. The end effector of claim 4, wherein the motor is mounted between the first guide plate and the second guide plate.

6. The end effector of claim 1, further comprising an air supply access mechanism, the air supply access mechanism comprising:

a fixed pipe joint arranged on the mounting plate and communicated with a vacuum air source;

the movable pipe joint is arranged on the telescopic rod and communicated with the cavity;

a hose having a first end in communication with the fixed pipe joint and a second end in communication with the movable pipe joint, wherein a portion between the first end and the second end is deformable in response to the telescopic movement of the telescopic rod; and

and the vacuum sucker is arranged at the telescopic end part of the telescopic rod and is communicated with the cavity.