CN117049046A - Loading and unloading robot end effector and robot - Google Patents

Abstract

The invention discloses a loading and unloading robot end effector and the robot, which include: a conveying mechanism, which is connected to a mechanical arm through a first connecting piece; a slideway and a settling trough are provided inside; the slideway and the settling trough are arranged in vertical communication; and a sliding mechanism. , slidingly connected inside the slideway; the vacuum adsorption mechanism has one end slidingly connected with the conveying mechanism, and the other end is detachably connected with the sliding mechanism. The vacuum adsorption mechanism slides along the slideway through the sliding mechanism and can settle in the settling tank. The vacuum adsorption mechanism The width is not limited to the width of the slide, and can be as close to the width of the inner wall of the end effector as possible. When grabbing smaller goods on the inner wall of the container, the adsorption range is larger and the grasping is firmer, greatly improving the improve the crawling efficiency.

Description

A loading and unloading robot end effector and robot

Technical field

The invention relates to the field of robot technology, and in particular to a loading and unloading robot end effector and a robot.

Background technique

In recent years, warehousing automation and intelligent technology have developed rapidly. In production work, it is often necessary to transport goods from one place to another. As major logistics companies are faced with the reduction in the number of loading and unloading personnel, low loading and unloading efficiency, and low safety of manual loading and unloading, Waiting for pain points, automatic loading and unloading has become a logistics technology of global concern.

At present, most automatic vehicle loading and unloading systems at home and abroad are in the semi-automatic stage. There are few robots that realize unmanned fully automatic loading and unloading. Manual intervention is still required to complete the loading and unloading work with forklifts, conveyor belt conveyors and other equipment. And have been developed There are still shortcomings in fully automatic cargo loading and unloading equipment. For example, the loading and unloading robot ULTRA developed by American system integrator Bastian Solution and the loading and unloading robot of Tangshan Hairong Robot Research Institute. Their overall solutions integrate robotic arms, conveyors and end effectors. , supports automatic loading and unloading of cartons in containers, but the transmission mechanism of the suction cup group of the end effector used is located on both sides of the conveyor belt, causing the width of the suction cup group to be limited by the transmission on both sides during the settling process The width of the mechanism, and the transmission mechanisms on both sides are set inside the end effector, so the width of the suction cup group cannot cover the width of the end effector. When grabbing goods close to the left or right inner wall of the container, due to There is a certain distance between the suction cup group and the side wall of the end effector. However, the smaller the width of the cargo box, the smaller the suction cup grabbing area, which leads to the reduction of suction power and easy falling of goods. It is even impossible to grab small-sized goods and cannot adapt to various orientations. Dimensional cargo grabbing.

Contents of the invention

The object of the present invention is to provide an end-execution device for a loading and unloading robot to solve the problem mentioned in the above-mentioned background technology that the width of the suction cup set of the existing automatic loading and unloading robot is limited by the width of the tracks on both sides, thereby affecting the cargo on the side walls of the container. Capturing problem.

In order to achieve the above object, the present invention provides the following technical solution: a loading and unloading robot end effector, including: a conveying mechanism, connected to the mechanical arm through a first connecting piece, with a slideway and a settling trough inside, and the settling trough is connected to the The slideway is connected, and the settling tank is lower than the slideway; a sliding mechanism is slidingly connected inside the slideway; a vacuum adsorption mechanism has one end slidingly connected with the conveying mechanism, and the other end is detachably connected with the sliding mechanism connection, the vacuum adsorption mechanism can settle in the settling tank, the width of the vacuum adsorption mechanism is greater than the width of the sliding mechanism and less than the width of the conveying mechanism

Optionally, it also includes: a pitch and yaw mechanism, one end of which is rotatably connected to the transport mechanism, and the other end of which is fixedly connected to the mechanical arm; a sensing mechanism, which is detachably connected to the transport mechanism.

Optionally, the conveying mechanism includes: an actuator housing, which is in the shape of a shovel. There are partitions on the left and right sides of the actuator housing along the symmetry line. The partitions are distributed in parallel to form a slideway. Grooves are provided on the partition to form a settling trough; a plurality of conveyor belts are symmetrically distributed inside the actuator housing and located outside the slideway and the settling trough. There is a baffle, which is fixedly connected to the actuator housing; a first motor is drivingly connected to a plurality of the conveyor belts through a roller transmission shaft, a roller, and a transmission chain.

Optionally, a first guide rail is also provided on the partition board. Both ends of the first guide rail extend downward and obliquely. A second guide rail is fixedly connected below the groove. The first guide rail is connected to the first guide rail. The grooves are connected.

Optionally, the sliding mechanism includes: a parallel linkage mechanism, which is arranged parallel to the conveyor belt. The parallel linkage mechanism consists of a first transmission member, a second transmission member, a third transmission member (203) and a fourth transmission member. The transmission parts are enclosed and formed; the transmission parts and the transmission parts are arranged parallel to the conveyor belt; the transmission parts and the moving parts are rotatably connected to the first transmission part and the third transmission part. on both sides of the member, and form a quadrangular prism surrounded by the first transmission member and the third transmission member, and the fourth transmission member extends to the side away from the first transmission member; the second connecting member, Fixedly connected to the bottom of the fourth transmission part; the transmission belt has a driving wheel connected to one end and a driven wheel connected to the other end, and drives the first transmission part, the second transmission part, and the third transmission part through a motor. The fourth transmission member slides back and forth along the slideway; the first transmission wheel is fixedly connected to the fourth transmission member, is located above the third transmission member, and is slidingly connected to the first guide rail; The second transmission wheel is fixedly connected to the fourth transmission member and is located below the third transmission member. When the first transmission wheel slides to the groove, the second transmission wheel and the second transmission wheel are The guide rail is slidingly connected; the fifth transmission member is fixedly connected to an end of the first transmission member away from the fourth transmission member.

Optionally, the vacuum adsorption mechanism includes: a suction cup, fixedly connected to an end of the fifth transmission member facing away from the fourth transmission member; an air inlet, fixedly connected to the fifth transmission member, and with the The suction cup is connected; the air pipe has one end connected with the air inlet and the other end connected with the air compression equipment; the protective cover is fixedly connected with the partition; the drag chain is connected to the air pipe and connected with the protective cover Sliding connection.

Optionally, the pitch and yaw mechanism includes: a tensile member; a fourth connecting member and a fifth connecting member respectively hinged with both ends of the tensile member; a third connecting member with one end hinged with the fourth connecting member. , the other end is fixedly connected to the conveying mechanism through a fixed rod; the fixing member is fixedly connected to the mechanical arm, and is fixedly connected to the fifth connecting piece through the first connecting rod.

Optionally, the pitch and yaw mechanism includes: a second connector; an eighth connector and a ninth connector, respectively fixedly connected to both ends of the second connector; a seventh connector, one end of which is connected to the The eighth connecting piece is hinged, and the other end is fixedly connected to the conveying mechanism through a fixed rod; the fourth motor is fixedly connected to the mechanical arm, and is hinged to the ninth connecting piece through a crankshaft.

Optionally, the pitch and yaw mechanism also includes: a top plate and a bottom plate, both connected to one end of the conveying mechanism close to the mechanical arm; a yaw component that abuts the inside of the fixed rod and has one end fixed by The disk is rotatably connected to the top plate, and the other end is rotatably connected to the bottom plate through a bearing.

Optionally, the yaw component includes: a third motor with a motor shaft inside; a connecting plate with one end connected to the motor shaft and the other end fixedly connected to the fixed plate; and a bearing sleeved on the third motor. the bottom; the base, which is in contact with the bearing; the encoder, which is fixedly connected with the base and is electrically connected with the third motor.

Another embodiment of the present invention is a robot including any one of the above-mentioned loading and unloading robot end effectors.

Compared with the prior art, the beneficial effects of the present invention are: in the present invention, the conveying mechanism is connected to the mechanical arm through the first connecting piece, and a slideway and a settling tank are provided inside; the sliding mechanism is slidingly connected to the slideway Inside; the vacuum adsorption mechanism slides along the slideway through the sliding mechanism and can settle in the settling tank. The width of the vacuum adsorption mechanism is not limited to the width of the slideway and can approach the end effector to the maximum extent. The width of the inner wall allows the adsorption range to be larger and the grip to be firmer when grabbing smaller goods on the inner wall of the container, which greatly improves the grabbing efficiency.

Description of the drawings

Figure 1 is a schematic diagram of the first three-dimensional structure of the present invention.

Figure 2 is a schematic diagram of the structure of the present invention viewed from below.

Figure 3 is a second three-dimensional structural schematic diagram of the present invention.

Figure 4 is a schematic front view of the structure of the present invention.

Figure 5 is a schematic cross-sectional structural diagram of the present invention.

Figure 6 is a schematic diagram of the connection state between the present invention and the robotic arm.

Figure 7 is a first three-dimensional structural schematic diagram of the sliding mechanism of the present invention.

Figure 8 is a second three-dimensional structural schematic diagram of the sliding mechanism of the present invention.

Figure 9 is a third three-dimensional structural schematic diagram of the sliding mechanism of the present invention.

Figure 10 is a schematic diagram of the gas circuit structure of the present invention.

Figure 11 is a schematic diagram of the exploded state of the yaw assembly of the present invention.

In the picture: 1-suction cup, 2-sliding mechanism, 201-first transmission part, 202-second transmission part, 203-third transmission part, 204-fourth transmission part, 205-first transmission wheel, 206-th Second transmission wheel, 207-fifth transmission part, 208-air inlet, 3-partition plate, 301-first guide rail, 302-second guide rail, 303-groove, 4-transmission belt, 5-actuator housing, 501-conveyor belt, 502-drum drive shaft, 6-limit plate, 7-first connector, 8-first sensor, 9-first motor, 901-driving wheel, 902-driven wheel, 10-second Motor, 11-robot roller, 12-transmission chain, 13-second connector, 14-drag chain, 15-protective cover, 16-first radar, 17-second radar, 18-fixed bracket, 19-th Second sensor, 20-yaw component, 2001-third motor, 2002-connection plate, 2003-encoder, 2004-bearing, 2005-base, 21-fixed plate, 22-top plate, 23-bottom plate, 24-fixed rod , 25-limiting sleeve, 26-rotating shaft, 27-balance component, 2701-third connecting piece, 2702-fourth connecting piece, 2703-tension member, 2704-fifth connecting piece, 2705-first connecting rod , 2706-Fixed piece, 28-Roller, 2801-Sixth connecting piece, 29-Pitch transmission assembly, 2901-Seventh connecting piece, 2902-Eighth connecting piece, 2903-Second connecting rod, 2904-Ninth connecting piece , 30-crankshaft, 31-fourth motor, 32-air compression channel, 33-destruction valve, 34-throttle valve, 35-pressure reducing valve, 36-supply valve, 37-vacuum pump, 38-flow switch, 39- Vacuum filter, 40-first pressure gauge, 41-second pressure gauge, 42-pressure sensor

Detailed ways

The solution of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, not all of them.

It should be noted that the terms "first", "second", etc. in the description and claims of this application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that data so used may be interchanged where appropriate for the embodiments of the application described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, e.g., a process, method, system, product, or apparatus that encompasses a series of steps or units and need not be limited to those explicitly listed. Those steps or elements may instead include other steps or elements not expressly listed or inherent to the process, method, product or apparatus.

In this application, the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "middle", The orientations or positional relationships indicated by "vertical", "horizontal", "horizontal", "longitudinal", etc. are based on the orientations or positional relationships shown in the drawings. These terms are mainly used to better describe the present application and its embodiments and are not intended to limit the indicated device, element or component to having a specific orientation, or to be constructed and operated in a specific orientation.

Moreover, some of the above terms may also be used to express other meanings in addition to indicating orientation or positional relationships. For example, the term "upper" may also be used to express a certain dependence relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to specific circumstances.

In addition, the terms "installed," "set," "provided," "connected," "connected to," and "socketed" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or between two devices, components or components. internal connectivity. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

It should be noted that, as long as there is no conflict, the embodiments and features in the embodiments of this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and embodiments.

Please refer to Figures 1-11. A loading and unloading robot end effector of the present invention includes: a conveying mechanism, connected to the mechanical arm through the first connector 7, with a slideway and a settling tank inside; a sliding mechanism, slidingly connected to Inside the slideway; a vacuum adsorption mechanism, one end of which is slidingly connected to the conveying mechanism, and the other end of which is detachably connected to the sliding mechanism. The vacuum adsorption mechanism can settle in the settling tank. The vacuum adsorption mechanism has The width is greater than the width of the sliding mechanism and smaller than the width of the conveying mechanism

It can be seen from the above that the beneficial effect of the present invention is that in the present invention, the conveying mechanism is connected to the mechanical arm through the first connecting piece 7, and a slideway and a settling tank are provided inside; the sliding mechanism is slidingly connected inside the slideway. ; The vacuum adsorption mechanism slides along the slideway through the sliding mechanism and can settle in the settling tank. The width of the vacuum adsorption mechanism is not limited to the width of the slideway and can approach the inner wall of the end effector to the maximum extent. When grabbing smaller goods on the inner wall of the container, the adsorption range is larger and the grasping is firmer, greatly improving the grabbing efficiency.

Another embodiment of the present invention also includes: a pitch and yaw mechanism, used to adjust the pitch angle and deflection angle of the conveying mechanism, with one end rotatably connected to the conveying mechanism and the other end fixedly connected to the mechanical arm; a sensing mechanism , used to sense the state of the sliding mechanism and the distance of the measured object from the vacuum adsorption mechanism, and is detachably connected to the conveying mechanism.

It can be understood that the sensing mechanism includes four first sensors 8. In the embodiment of the present application, the first sensors 8 are photoelectric sensors, which are arranged in pairs on both sides of the slideway and are respectively arranged on each side of the slideway. At both ends of the sliding area of the sliding mechanism, when the photoelectric sensor detects that the grabbed object has entered, it can send an instruction to the end effector to grab the goods in the next section to realize automatic loading and unloading; the sensing mechanism also includes The first radar 16 and the second radar 17 are both detachably connected to the bottom of the conveying mechanism. The first radar 16 and the second radar 17 are perpendicular to each other and are used to detect the horizontal and vertical directions of the conveying mechanism. The distance between the ground direction and the obstacle; the sensing mechanism also includes a fixed bracket 18, which is detachably connected to the bottom of the conveying mechanism. A camera is installed on the fixed bracket 18 for collecting images of the captured objects. ; The sensing mechanism also includes a second sensor 19. In the embodiment of the present application, the second sensor 19 is a laser ranging sensor, which is detachably connected to the front end of the conveying mechanism and is used to measure the distance between the vacuum adsorption mechanism and The distance of the grabbed object.

As can be seen from the above, the beneficial effect of the present invention is that in the present invention, the pitch angle and deflection angle of the conveyor mechanism can be adjusted according to needs, the distance of the object to be grasped can be measured based on the sensing module, and the vacuum adsorption can be autonomously controlled The mechanism is fine-tuned to achieve fully automatic loading and unloading, which greatly improves automation efficiency.

In another embodiment of the present invention, the conveying mechanism includes: an actuator housing 5, which is in the shape of a shovel. The interior of the actuator housing 5 is provided with partitions 3 on both left and right sides along the symmetry line. The partition plates 3 are distributed in parallel to form a slideway, and a groove 303 is provided on the partition plate 3 to form a settling tank; a plurality of conveyor belts 501 are symmetrically distributed inside the actuator housing 5, and are located between the slideway and Outside the settling tank, a baffle is provided inside the conveyor belt 501, and the baffle is fixedly connected to the actuator housing 5; the first motor 9 communicates with the plurality of conveyor belts 501 through a roller drive shaft. 502, roller, transmission chain 12 transmission connection.

In another embodiment of the present invention, a first guide rail 301 is also provided on the partition 3. Both ends of the first guide rail 301 extend downward obliquely, and a second guide rail is fixedly connected below the groove 303. 302. The first guide rail 301 is connected with the groove 303.

In another embodiment of the present invention, the sliding mechanism includes: a parallel linkage mechanism, which is arranged parallel to the conveyor belt 501. The parallel linkage mechanism consists of a first transmission member 201, a second transmission member 202, a third transmission member 202, and a third transmission member 201. The transmission member 203 and the fourth transmission member 204 are formed together; the transmission member 201 and the transmission member 203 are arranged parallel to the conveyor belt; the transmission member 202 and the transmission member 204 are rotatably connected to the conveyor belt. The two sides of the first transmission member 201 and the third transmission member 203 are surrounded by the first transmission member 201 and the third transmission member 203 to form a rectangular prism. The fourth transmission member 204 is directed away from the One side of the first transmission member 201 extends; the second connecting member 13 is fixedly connected to the bottom of the third transmission member 203; the transmission belt 4 has a driving wheel 901 connected to one end and a driven wheel 902 connected to the other end, and passes through The motor 10 drives the first transmission member 201, the second transmission member 202, the third transmission member 203, and the fourth transmission member 204 to slide back and forth along the slideway; the first transmission wheel 205, and the The fourth transmission member 204 is fixedly connected and is located above the third transmission member 203 and is slidingly connected to the first guide rail 301; the second transmission wheel 206 is fixedly connected to the fourth transmission member 204 and is located above the third transmission member 203. Under the third transmission member 203, when the first transmission wheel 205 slides to the groove, the second transmission wheel 206 is slidingly connected with the second guide rail 302; the fifth transmission member 207 is with the third transmission member 207. One end of a transmission member 201 facing away from the fourth transmission member 204 is fixedly connected.

It can be seen from the above that the beneficial effect of the present invention is that in the present invention, the vacuum adsorption mechanism is driven by the sliding mechanism and slides back and forth along the first guide rail 301. Both ends of the first guide rail 301 are Extending obliquely downward, when the sliding mechanism slides to the front end of the first guide rail 301, the second transmission wheel 206 sinks and drives the fourth transmission member 204, the second transmission member 202, and all the other components. The first transmission member 201 and the vacuum adsorption mechanism sink and tilt forward, which is convenient for grabbing; when the sliding mechanism slides to the rear end of the first guide rail 301, the second transmission wheel 206 sink and drive the fourth transmission member 204, the second transmission member 202, the first transmission member 201, and the vacuum adsorption mechanism to sink and tilt forward. At this time, the sliding mechanism and the vacuum The adsorption mechanism sinks into the settling tank, and the objects to be grabbed can move toward the direction of the robotic arm along the conveying mechanism; otherwise, the order of unloading is reversed, and the objects to be grabbed can be pushed in the opposite direction, which greatly improves the efficiency of being grabbed. Loading and unloading efficiency of grabbed objects.

In another embodiment of the present invention, the vacuum adsorption mechanism includes: a suction cup 1, fixedly connected to an end of the fifth transmission member 207 away from the fourth transmission member 204; an air inlet 208, connected to the fifth transmission member 204. The transmission member 207 is fixedly connected and communicates with the suction cup 1; the air pipe has one end connected with the air inlet 208 and the other end connected with the air compression equipment; the protective cover 15 is fixedly connected with the partition 3; the drag chain 14 , sleeved on the trachea, and slidingly connected with the protective cover.

It can be understood that the air pipe and the air compression equipment are connected in sequence with an air compression channel 32, a destruction valve 33, a throttle valve 34, a flow switch 38, and a vacuum filter 39. The throttle valve 34 and the flow rate A supply valve 36, a pressure reducing valve 35, and a vacuum pump 37 are also connected in sequence between the switches 38. The flow switch 38 is also connected to a first pressure gauge 40 and a pressure sensor 42. The vacuum filter 39 is also connected to a second pressure sensor. surface.

As can be seen from the above, the beneficial effect of the present invention is that in embodiments of the present invention, vacuum isolation can be achieved by using a built-in vacuum check valve in an integrated suction cup group, or can be individually connected through the air inlet 208 of each suction cup 1 The vacuum logic valve realizes that vacuum does not interfere with each other.

In another embodiment of the present invention, the pitch and yaw mechanism includes: a tension member 2703, which is a spring in this embodiment; a fourth connection member 2702 and a fifth connection member 2704, which are connected to both ends of the tension member 2703 respectively. Hinged; the third connecting piece 2701 has one end hinged with the fourth connecting piece 2702, and the other end is fixedly connected with the conveying mechanism through the fixing rod 24; the fixing piece 2706 is fixedly connected to the mechanical arm and passes through the first The connecting rod 2705 is fixedly connected to the fifth connecting piece 2704.

As can be seen from the above, the beneficial effect of the present invention is that in the present invention, the spring is connected to the conveying mechanism, so that the conveying mechanism maintains a balanced state, reducing the difficulty of adjusting the pitch angle of the conveying mechanism, and reducing the impact on the pitch motor. Performance requirements, that is, the motor can be selected with smaller torque, lower cost and lighter weight, which also greatly improves the service life of the equipment.

In another embodiment of the present invention, the pitch and yaw mechanism includes: a second connector 2903; an eighth connector 2902 and a ninth connector 2904, which are respectively fixedly connected to both ends of the second connector 2903; The seventh connecting piece 2901 has one end articulated with the eighth connecting piece 2902, and the other end is fixedly connected with the conveying mechanism through the fixed rod 24; the fourth motor 31 is fixedly connected to the mechanical arm, and connected with the crankshaft 30 through the crankshaft 30. The ninth connecting piece 2904 is hinged.

It can be seen from the above that the beneficial effect of the present invention is that in the present invention, the fourth motor 31 drives the connecting piece, so that the pitch angle of the conveying mechanism can be adjusted according to needs, which greatly improves the grabbing efficiency.

In another embodiment of the present invention, the pitch and yaw mechanism also includes: a top plate 22 and a bottom plate (23), both of which are connected to one end of the conveying mechanism close to the mechanical arm; a yaw component 20, which is in contact with the mechanical arm. The fixed rod 24 has one end connected to the top plate 22 through a fixed plate 21 and the other end connected to the bottom plate 23 through a bearing.

In another embodiment of the present invention, the yaw assembly 20 includes: a third motor 2001 with a motor shaft inside; a connecting plate 2002 with one end connected to the motor shaft and the other end fixedly connected to the fixed plate 21; bearings 2004 is sleeved on the bottom of the third motor 2001; the base 2005 is in contact with the bearing 2004; the encoder 2003 is fixedly connected to the base 2005 and is electrically connected to the third motor 2001.

As can be seen from the above, the beneficial effect of the present invention is that through the rotational connection between the rotating shaft of the third motor 2001 and the bearing 2004, the deflection angle of the trial conveying mechanism can be adjusted according to needs, which greatly improves the grasping efficiency. efficiency.

Working principle: In the present invention, the conveying mechanism is connected to the mechanical arm through the first connecting piece 7, and a slideway and a settling tank are provided inside; the sliding mechanism is slidingly connected inside the slideway; the vacuum adsorption mechanism passes through the sliding mechanism Sliding along the slide, it can settle in the settling tank. The width of the vacuum adsorption mechanism will not be limited by the width of the slide. It can approach the width of the inner wall of the end effector to the maximum extent. When grabbing the inner wall of the container, For smaller goods, the adsorption range is larger and the grip is firmer, which greatly improves the gripping efficiency; the pitch angle and deflection angle of the conveyor mechanism can be adjusted according to the needs, and the distance between the objects that need to be gripped is determined based on the sensing module. Measure and autonomously control the fine-tuning of the vacuum adsorption mechanism to realize fully automatic loading and unloading, which greatly improves the automation efficiency; the vacuum adsorption mechanism is driven by the sliding mechanism and slides back and forth along the first guide rail 301. Both ends of the first guide rail 301 extend downward and obliquely. When the sliding mechanism slides to the front end of the first guide rail 301, the second transmission wheel 206 sinks and drives the fourth transmission member 204 , the second transmission member 202, the first transmission member 201, and the vacuum adsorption mechanism sink and tilt forward, which is convenient for grabbing; when the sliding mechanism slides to the rear of the first guide rail 301 At the end, the second transmission wheel 206 sinks and drives the fourth transmission member 204, the second transmission member 202, the first transmission member 201, and the vacuum adsorption mechanism to sink and tilt forward. At this time, the sliding mechanism and the vacuum adsorption mechanism sink into the settling tank, and the objects to be grabbed can move in the direction of the robotic arm along the conveying mechanism; otherwise, the order of unloading is reversed, and the objects to be grabbed are moved in the opposite direction. Just push in the direction, which greatly improves the loading and unloading efficiency of the picked objects; the spring is connected to the conveying mechanism, so that the conveying mechanism maintains a balanced state, reducing the difficulty of adjusting the pitch angle of the conveying mechanism, and greatly improving the equipment's efficiency. Service life; through the fourth motor 31 driving the connecting piece, the pitch angle of the conveying mechanism can be adjusted according to needs, greatly improving the grabbing efficiency; through the rotating shaft of the third motor 2001 and the bearing The 2004 rotary connection allows the deflection angle of the trial conveyor mechanism to be adjusted according to needs, greatly improving the grabbing efficiency.

The above are only embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent transformations made using the contents of the description and drawings of the present invention, or directly or indirectly applied in related technical fields, are equally included in within the scope of patent protection of this invention.

Claims (10)

1. An end effector for a loading and unloading robot, which is characterized in that it includes: The conveying mechanism is connected to the mechanical arm through the first connecting piece (7), and is equipped with a slideway and a settling tank inside; A sliding mechanism, slidingly connected inside the slideway; A vacuum adsorption mechanism has one end slidably connected to the conveying mechanism and the other end detachably connected to the sliding mechanism. The vacuum adsorption mechanism can settle in the settling tank. The width of the vacuum adsorption mechanism is larger than that of the sliding mechanism. The width is smaller than the width of the conveying mechanism. 2. The end effector of the loading and unloading robot according to claim 1, further comprising: The pitch and yaw mechanism has one end rotatably connected to the conveyor mechanism and the other end fixedly connected to the mechanical arm; A sensing mechanism is detachably connected to the conveying mechanism. 3. The end effector of the loading and unloading robot according to claim 1, characterized in that the conveying mechanism includes: The actuator housing (5) is in the shape of a shovel. There are partitions (3) on the left and right sides of the actuator housing (5) along the symmetry line. The partitions (3) are distributed in parallel to form a slide. channel, the partition plate (3) is provided with a groove (303) to form a settling tank; A plurality of conveyor belts (501) are symmetrically distributed inside the actuator housing (5) and located outside the slideway and the settling tank. There are baffles inside the conveyor belts (501). The baffle is fixedly connected to the actuator housing (5); The second motor (10) is drivingly connected to the plurality of conveyor belts (501) through the roller transmission shaft (502), rollers, and transmission chains (12). 4. The end effector of the loading and unloading robot according to claim 3, characterized in that a first guide rail (301) is also provided on the partition (3), and both ends of the first guide rail (301) are Extending obliquely downward, a second guide rail (302) is fixedly connected below the groove (303), and the first guide rail (301) is connected with the groove (303). 5. The end effector of the loading and unloading robot according to claim 4, wherein the sliding mechanism includes: A parallel linkage mechanism is arranged parallel to the conveyor belt (501). The parallel linkage mechanism consists of a first transmission member (201), a second transmission member (202), a third transmission member (203) and a fourth transmission member. Pieces (204) are encircled and formed; The transmission belt (4) has one end connected to the driving wheel (901) and the other end connected to the driven wheel (902), and drives the parallel link mechanism to reciprocate along the slideway through the first motor (9); The first transmission wheel (205) is fixedly connected to the fourth transmission member (204), is located above the third transmission member (203), and is slidingly connected to the first guide rail (301); The second transmission wheel (206) is fixedly connected to the fourth transmission member (204) and is located below the third transmission member (203). The first transmission wheel (205) slides into the groove. , the second transmission wheel (206) is slidingly connected to the second guide rail (302); The fifth transmission member (207) is fixedly connected to an end of the first transmission member (201) away from the fourth transmission member (204). 6. The end effector of the loading and unloading robot according to claim 5, characterized in that the vacuum adsorption mechanism includes: The suction cup (1) is fixedly connected to an end of the fifth transmission member (207) facing away from the fourth transmission member (204); The air inlet (208) is fixedly connected to the fifth transmission member (207) and communicates with the suction cup (1); An air pipe, one end of which is connected to the air inlet (208), and the other end of which is connected to the air compression equipment; The protective cover (15) is fixedly connected to the partition (3); The drag chain (14) is sleeved on the air pipe and slidingly connected with the protective cover. 7. The end effector of the loading and unloading robot according to claim 2, characterized in that the pitch and yaw mechanism includes: Tension members (2703); The fourth connecting piece (2702) and the fifth connecting piece (2704) are respectively hinged with the two ends of the tension member (2703); The third connecting piece (2701) has one end hinged with the fourth connecting piece (2702), and the other end fixedly connected with the conveying mechanism through the fixed rod (24); The fixing part (2706) is fixedly connected to the mechanical arm, and is fixedly connected to the fifth connecting part (2704) through the first connecting rod (2705). 8. The end effector of the loading and unloading robot according to claim 2, wherein the pitch and yaw mechanism includes: Second connector (2903); The eighth connecting piece (2902) and the ninth connecting piece (2904) are fixedly connected to the two ends of the second connecting piece (2903) respectively; The seventh connecting piece (2901) has one end hinged with the eighth connecting piece (2902), and the other end fixedly connected with the conveying mechanism through a fixed rod (24); The fourth motor (31) is fixedly connected to the mechanical arm, and is hingedly connected to the ninth connecting member (2904) through the crankshaft (30). 9. The end effector of the loading and unloading robot according to claim 7 or 8, characterized in that the pitch and yaw mechanism further includes: The top plate (22) and the bottom plate (23) are both connected to one end of the conveying mechanism close to the mechanical arm; The yaw assembly (20) is in contact with the inside of the fixed rod (24), and one end is rotatably connected to the top plate (22) through the fixed plate (21), and the other end is rotatably connected to the bottom plate (23) through a bearing. connect; The yaw component (20) includes: The third motor (2001) has a motor shaft inside; The connecting plate (2002) has one end connected to the motor shaft and the other end fixedly connected to the fixed plate (21); Bearing (2004), sleeved on the bottom of the third motor (2001); The base (2005) is in contact with the bearing (2004); The encoder (2003) is fixedly connected to the base (2005) and electrically connected to the third motor (2001). 10. A robot, characterized by comprising the end effector of the loading and unloading robot according to any one of claims 1-9.