CN219027546U - End effector and robot - Google Patents

Abstract

The utility model provides an end effector and a robot, wherein the end effector comprises: the device comprises a frame, a first link group, a pickup assembly, a pitch changing assembly and a driving assembly, wherein the first link group is movably arranged in the frame and comprises a plurality of first rods which are arranged side by side along a first direction; each first rod piece is provided with a plurality of pickup assemblies, and each pickup assembly is used for picking up an object to be picked up; at least one end of the first connecting rod group is provided with the variable-pitch assembly; the driving assembly is arranged on the frame and connected with the distance changing assembly, and the driving assembly is configured to drive the distance changing assembly to change the posture so that the distance changing assembly is used for at least adjusting the distance between the first rods. The utility model can flexibly adjust the taking interval and the placing interval.

Description

End effector and robot

Technical Field

The utility model relates to the technical field of robot application, in particular to an end effector and a robot.

Background

With the development of intelligent robots and the annual rise of labor cost, the adoption of robots for unstacking and carrying articles has been widely applied to industries such as industrial production, and the robots replace repeated single manual labor, so that the manual labor can be saved.

The traditional robot end effector usually takes one or takes one row when working, can not flexibly adjust the space for taking and the space for placing according to the characteristics and the use requirement of the carried objects, is very limited in use, and influences the efficiency of unstacking.

Disclosure of Invention

The utility model provides an end effector and a robot, which can flexibly adjust the taking interval and the placing interval.

In order to achieve the above object, the present utility model provides an end effector comprising:

a frame;

the first connecting rod group is movably arranged in the rack and comprises a plurality of first rod pieces which are arranged side by side along a first direction;

the picking assemblies are arranged on the first rod pieces respectively and are used for picking up objects to be picked up;

the pitch changing assembly is arranged at least one end of the first connecting rod group;

the driving assembly is arranged on the frame and connected with the distance changing assembly, and the driving assembly is configured to drive the distance changing assembly to change the posture so that the distance changing assembly is used for at least adjusting the distance between the first rods.

According to the end effector provided by the utility model, the distance changing assembly is arranged at least one end of the first connecting rod group, and the distance changing assembly can flexibly adjust the distance between the first rod pieces, so that the distance between the picking assemblies connected with the first rod pieces is changed, the end effector is flexible and convenient to use, the distance between the picking assemblies can be adjusted according to the characteristics of objects to be transported and the use requirements, the distance placed after the objects to be picked can be adjusted, and the application range of the end effector is enlarged.

In one possible implementation, the pitch assembly includes:

the guide frame is connected to the driving assembly, and a guide groove is formed in the guide frame;

the connecting rod unit, the connecting rod unit includes a plurality of parallelogram link mechanisms, parallelogram link mechanism has two pairs of apex angles along diagonal distribution, and wherein a pair of apex angle all is connected with first pivot, and wherein another pair of apex angle all is connected with the second pivot, and two adjacent parallelogram link mechanisms share one first pivot, and two one of them second pivot is connected with the gyro wheel, the gyro wheel rolls and sets up in the guide way.

In one possible embodiment, each first shaft of the pitch assembly connected to the first link set is correspondingly connected to each first lever.

In one possible embodiment, the guide groove of the pitch assembly connected to the first link set extends in a first direction.

In one possible implementation, the pick-up assembly includes: the fixed mount is connected with the first rod piece in a sliding way;

the first picking assembly is arranged on the fixing frame and is used for absorbing the object to be picked up under negative pressure; and/or

The second picking assembly is arranged on the fixing frame and used for magnetically adsorbing the object to be picked.

In one possible implementation, the driving assembly includes:

the motor is fixedly connected to the frame;

the screw nut mechanism comprises a screw and an internal thread block, the screw is rotationally arranged on the frame, the screw is connected with an output shaft of the motor, the internal thread block is in threaded connection with the outer peripheral surface of the screw, and the internal thread block is fixedly connected with the guide frame.

In one possible implementation manner, the device further comprises a second connecting rod group, the second connecting rod group is movably arranged in the frame, the second connecting rod group is located on the upper side or the lower side of the first connecting rod group, the second connecting rod group comprises a plurality of second rod pieces which are arranged side by side along a second direction, and the fixing frames of the picking assemblies are all connected with one first rod piece and one second rod piece in a sliding mode.

In one possible implementation manner, at least one end of the second link group is connected with the distance changing assembly, the distance changing assembly connected to the second link group is used for adjusting the distance between two adjacent second rods, and the guide groove connected to the distance changing assembly of the second link group extends along the second direction.

In one possible implementation manner, two ends of the second rod piece are connected with connecting plates, and each first rotating shaft of the variable-pitch assembly connected to the second connecting rod group is correspondingly connected with each connecting plate.

In one possible implementation manner, the second rod is provided with a first sliding rail, the first sliding rail is arranged along the first direction, and a first sliding block is arranged on one surface of the fixing frame facing the second rod and slides along the first sliding rail.

In one possible implementation manner, the rack comprises a pair of first vertical plates and a pair of second vertical plates, and the first vertical plates and the second vertical plates are connected end to form a rectangular frame;

the inner walls of the first vertical plates are provided with guide rails which extend along the second direction, and one surface of the connecting plate, which faces the guide rails, is provided with guide sliding blocks sliding along the guide rails;

the inner wall of the second vertical plate is provided with a first sliding groove, the first sliding groove extends along the first direction, and the first rotating shaft slides along the first sliding groove.

The utility model also provides a robot comprising the end effector.

According to the end effector provided by the utility model, the objects placed in one array can be changed to be placed in another array, so that different tray packaging requirements are met, the distance between each row and each column can be quickly changed through the distance changing assembly, and the efficiency of unstacking is greatly improved.

The end effector and the robot provided by the utility model can realize the displacement arrangement rapidly, avoid occupying excessive robot beats and improve the carrying efficiency.

The end effector provided by the utility model can change the objects placed in one array to another array for placement so as to meet different tray packaging requirements, and the distance between each row and each column can be quickly changed through the distance changing assembly, so that the efficiency of unstacking is greatly improved

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects caused by the technical features of the technical solutions described above, other technical problems that may be solved by the end effector and the robot provided by the embodiments of the present utility model, other technical features included in the technical solutions, and beneficial effects caused by the technical features will be described in further detail in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of an end effector according to an embodiment of the present utility model;

fig. 2 is a schematic partial perspective view of an end effector according to an embodiment of the present utility model;

fig. 3 is a schematic view of a partial perspective view of an end effector according to an embodiment of the present utility model;

fig. 4 is a schematic partial perspective view of an end effector according to an embodiment of the present utility model;

fig. 5 is a cross-sectional view of an end effector provided by an embodiment of the present utility model;

fig. 6 is a schematic perspective view of a link unit of an end effector according to an embodiment of the present utility model;

fig. 7 is a schematic perspective view of a second rod and a pickup assembly of the end effector according to an embodiment of the present utility model;

fig. 8 is a front view of an end effector according to an embodiment of the present utility model;

fig. 9 is a left side view of an end effector according to an embodiment of the present utility model;

fig. 10 is a schematic view of a partial perspective view of an end effector according to an embodiment of the present utility model;

fig. 11 is a top view of an end effector according to an embodiment of the present utility model;

fig. 12 is a schematic partial perspective view of an end effector according to an embodiment of the present utility model.

Reference numerals illustrate:

10-a frame;

11-a first riser;

111-guide rails;

12-a second riser;

121-a first chute;

122-a second chute;

13-a third riser;

14-top plate;

15-a hand-changing disc;

20-a first set of links;

21-a first lever;

30-a second linkage;

31-a second lever;

311-a first slide rail;

32-connecting plates;

321-guiding slide blocks;

a 40-pick-up assembly;

41-fixing frame;

411-first slider;

412-a mounting plate;

4121-mounting holes;

413-a fixed plate;

421-suction cup;

423-an adsorption chamber;

50-a pitch-changing assembly;

51-a guide frame;

511-guide slots;

52-a link unit;

521-parallelogram linkage;

522-a first spindle;

523-a second spindle;

524-a roller;

60-a drive assembly;

61-an electric motor;

62-a lead screw nut mechanism;

621-a lead screw;

622-internally threaded block.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present utility model more apparent, the technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

The robot end picking device in the related art can carry objects to the classified places, and can carry out efficient carrying and stacking on the basis of keeping the shape and the properties of the objects unchanged, repeated and tired object carrying work can be completed instead of manpower to a certain extent, labor force is saved, and carrying efficiency is improved. However, the space between the picked objects or the space between the placed objects cannot be conveniently and rapidly adjusted, so that the use is very limited, the carrying requirements of the objects to be picked with different sizes are difficult to meet, and the requirements of the trays with different sizes for placing the objects are also difficult to meet.

In view of the above background, the distance-changing component can be improved to flexibly adjust the distance between the first rod pieces, so that the distance between the picking components connected with the first rod pieces is changed, the use is flexible and convenient, the distance between the picking components can be adjusted according to the characteristics of carrying objects and the size and specification of a placing tray, and the application range of the end-picking device is enlarged.

The following describes an end effector and a robot provided by embodiments of the present utility model with reference to the accompanying drawings.

Referring to fig. 1, 2 and 3, an embodiment of the present utility model provides an end effector, including: the device comprises a frame 10, a first connecting rod group 20, a pickup assembly 40, a pitch changing assembly 50 and a driving assembly 60, wherein the first connecting rod group 20 is movably arranged in the frame 10, and the first connecting rod group 20 comprises a plurality of first rods 21 which are arranged side by side along a first direction; each first rod 21 is provided with a plurality of pickup assemblies 40, and the pickup assemblies 40 are used for picking up objects to be picked up; at least one end of the first link set 20 is provided with a pitch assembly 50; the driving assembly 60 is disposed on the frame 10, and the driving assembly 60 is connected to the pitch changing assembly 50, and the driving assembly 60 is configured to drive the posture of the pitch changing assembly 50 to change, so that the pitch changing assembly 50 is used for adjusting the spacing between at least the first rods 21.

According to the end effector provided by the utility model, the distance changing assembly 50 is arranged at least one end of the first connecting rod group 20, and the distance changing assembly 50 can flexibly adjust the distance between the first rod pieces 21, so that the distance between the picking assemblies 40 connected with the first rod pieces 21 is changed, the end effector is flexible and convenient to use, the distance between the picking assemblies 40 can be adjusted according to the characteristics of objects to be transported and the use requirements, the distance placed after the objects to be picked can be adjusted, and the application range of the end effector is enlarged.

In the present embodiment, the first direction refers to the direction indicated by the arrow X in fig. 3 and 4.

In one possible embodiment, referring to fig. 3 and 4, the first linkage 20 includes a plurality of first bars 21 arranged side by side in the first direction, wherein the number of the first bars 21 may be 4, 5, 6, 10, etc., which is not particularly limited herein.

In one possible implementation, the plurality of pickup assemblies 40 disposed on the first bars 21 are arranged in a row, so that when each of the first bars 21 moves closer to or away from each other, the pickup assemblies 40 in the row are driven to move synchronously, so as to realize the adjustment of the distance between the pickup assemblies 40 along the first direction. The number of the pickup assemblies 40 connected to each first rod 21 may be 5, 6, 8, 10, or the like, which is not particularly limited herein.

In one possible embodiment, referring to fig. 3 and 5, in order to improve the balance and stability of the first link set 20, the first link set 20 is provided with a distance varying assembly 50 at both ends thereof, so that the shaking of the first links 21 can be reduced and the stability of the movement of each first link 21 can be improved when the distance between the first links 21 is adjusted.

In one possible implementation, the pitch assembly 50 includes: a guide frame 51 and a link unit 52, the guide frame 51 is connected to the driving assembly 60, and a guide groove 511 is formed in the guide frame 51; referring to fig. 5 and 6, the link unit 52 includes a plurality of parallelogram linkages 521, the parallelogram linkages 521 form two pairs of opposite angles, wherein one pair of opposite angles is connected with a first rotation shaft 522, the other pair of opposite angles is connected with a second rotation shaft 523, two adjacent parallelogram linkages 521 share one first rotation shaft 522, one second rotation shaft 523 of the two second rotation shafts 523 is connected with a roller 524, and the roller 524 is rollingly disposed in the guide groove 511.

In one possible implementation, the parallelogram linkage 521 includes four links, with two adjacent links connected by a first pivot 522 or a second pivot 523, enclosing a parallelogram, where two first pivots 522 are located at one pair of diagonal positions of the parallelogram and two second pivots 523 are located at the other pair of diagonal positions of the parallelogram.

In one possible implementation, the two parallelogram linkages 521 sharing one first shaft 522 further share two long links, where each long link includes a first segment and a second segment that are connected to each other, the first shaft 522 is disposed through a position where the first segment and the second segment of the two long links are connected, the first segment of each long link forms one link of one parallelogram linkage 521, and the second segment of each long link forms one link of the adjacent other parallelogram linkage 521.

In one possible implementation, referring to fig. 2 and 3, the parallelogram linkages 521 of the pitch assembly 50 connected to the first linkage 20 are arranged along a first direction, and the first shafts 522 of the pitch assembly 50 connected to the first linkage 20 are correspondingly connected to the first bars 21. In this structure, when each parallelogram link mechanism 521 is deformed, each first rod member 21 can be driven to move by the first rotating shaft 522, so as to adjust the distance between two adjacent first rod members 21.

In one possible implementation, the guide slots 511 of the pitch assemblies 50 connected to the first linkage 20 extend in a first direction. The guide groove 511 plays a role of guiding the movement of the second rotation shaft 523 such that the roller 524 coupled to the second rotation shaft 523 rolls in the first direction within the guide groove 511.

In one possible implementation, referring to fig. 5 and 7, the pickup assembly 40 includes: the fixing frame 41, the first picking assembly and/or the second picking assembly, and the fixing frame 41 is in sliding connection with the first rod piece 21; the first picking assembly is arranged on the fixing frame 41 and is used for absorbing the object to be picked up under negative pressure; the second picking assembly is disposed on the fixing frame 41, and the second picking assembly is used for magnetically attracting the object to be picked up.

In one possible implementation, the first pick-up assembly includes a suction cup 421 and a negative pressure generator, the suction cup 421 is fixedly connected to the bottom of the fixing frame 41, the bottom of the suction cup 421 forms a suction cavity 423, and the negative pressure generator is communicated with the suction cavity 423.

In one possible implementation, the number of the negative pressure generators may be one, and the negative pressure generators are communicated with the suction chambers 423 of the suction cups 421 through a plurality of air pipes, so that the pressure in the suction chambers 423 is less than the external atmospheric pressure, thereby sucking the object to be picked up. The negative pressure generator may be fixedly mounted to the frame 10.

In one possible implementation, the suction end of the suction cup 421 is downward, so that the suction cup 421 is convenient to contact and suction the object to be picked up, the suction cup 421 can be made of silica gel or rubber material, and when the object to be picked up is sucked by negative pressure, the object to be picked up can be prevented from being damaged due to rigid collision, thereby protecting the object to be picked up.

In one possible implementation, the second pick-up assembly comprises a magnetic member (not shown) attached to the bottom of the holder 41. The magnetic member may be, for example, a magnet block or an electromagnetic block, and the object to be picked up is attracted by means of magnetic attraction, and the object to be picked up in this example includes, but is not limited to, metal iron objects such as metal plates, screws and the like, and also may be a magnet.

In one possible implementation, mount 41 includes a mounting plate 412 and a mounting plate 413, mounting plate 413 being interconnected with mounting plate 412, wherein mounting plate 412 is located in a vertical plane and mounting plate 413 is located in a horizontal plane, and the first pick-up assembly and/or the second pick-up assembly are connected to mounting plate 413.

In one possible implementation, the mounting plate 412 is provided with a mounting hole 4121, and the first rod 21 is disposed in the mounting hole 4121 in a penetrating manner, which may be a structure that the first rod 21 is fixedly connected with the mounting hole 4121 relatively, and when the interval between the first rods 21 is changed, the fixing frame 41 is driven to move stably.

In one possible implementation, the mounting plate 412 is provided with a mounting hole 4121, and the mounting plate 412 may slide along the axial direction of the first rod 21 through the mounting hole 4121, so as to realize the relative sliding between the fixing frame 41 and the first rod 21. Of course, in order to improve the smoothness of the sliding of the fixing frame 41 along the first rod 21, a sleeve may be provided between the mounting hole 4121 and the first rod 21, and the first rod 21 may be a cylindrical polish rod.

In one possible implementation, referring to fig. 8 and 9, the driving assembly 60 includes: a motor 61 and a screw nut mechanism 62, the motor 61 being fixedly connected to the frame 10; the screw nut mechanism 62 includes a screw 621 and an internal screw block 622, the screw 621 is rotatably provided on the frame 10, and the screw 621 is connected to an output shaft of the motor 61, the internal screw block 622 is screwed to an outer peripheral surface of the screw 621, and the internal screw block 622 is fixedly connected to the guide frame 51. The motor 61 drives the screw 621 to rotate, so that the internal screw block 622 moves along the axial direction of the screw 621, thereby driving the guide frame 51 to move.

In one possible implementation, the axial direction of the screw 621 may be a vertical direction, so that the guide frame 51 is driven to move up and down by the internal thread block 622.

When the internal screw block 622 drives the guide frame 51 to move upward, the roller 524 moves upward along with the guide groove 511, under the pulling action of the second rotating shaft 523, each parallelogram linkage 521 is deformed, the height of each parallelogram linkage 521 is increased, the length is reduced, that is, the distance between the pair of second rotating shafts 523 is increased, the distance between the pair of first rotating shafts 522 is reduced, so that the distance between each first rod 21 correspondingly connected with each first rotating shaft 522 is reduced, each first rod 21 drives the connecting pickup assembly 40 to move, and the reduction of the distance between the pickup assemblies 40 connected with different first rods 21 is realized.

On the contrary, when the internal thread block 622 drives the guide frame 51 to move downwards, the roller 524 moves downwards along with the guide groove 511, under the pulling action of the second rotating shaft 523, each parallelogram linkage 521 is deformed, the height of each parallelogram linkage 521 is reduced, the length is increased, that is, the distance between the pair of second rotating shafts 523 is reduced, the distance between the pair of first rotating shafts 522 is increased, so that the distance between each first rod 21 correspondingly connected with each first rotating shaft 522 is increased, each first rod 21 drives the connecting pickup assembly 40 to move, and the increase of the distance between the pickup assemblies 40 connected with different first rods 21 is realized, thereby being suitable for picking up larger-sized objects to be picked up, or enabling the distance between the objects to be picked up to be placed to be larger.

In other possible embodiments, the driving assembly 60 may also be an air cylinder, and the air cylinder is connected with the guide frame 51 to directly push the guide frame 51 to move up and down.

In one possible implementation, referring to fig. 3 and 4, the end effector further includes a second link assembly 30, where the second link assembly 30 is movably disposed inside the frame 10, and the second link assembly 30 is located on an upper side or a lower side of the first link assembly 20, and the second link assembly 30 includes a plurality of second bars 31 arranged side by side along a second direction, and the fixing frames 41 of each pick-up assembly 40 are slidably connected to one first bar 21 and one second bar 31. With the structure, the distance between the pickup assemblies 40 can be adjusted along the first direction, and the distance between the pickup assemblies 40 can be adjusted along the second direction, so that the device is flexible and convenient to use.

According to the end effector provided by the utility model, the objects placed in one array can be changed to be placed in another array so as to meet different tray packaging requirements, and the distance between each row and each column can be quickly changed through the distance changing assembly 50, so that the efficiency of unstacking is greatly improved.

The second direction in the present embodiment refers to the direction indicated by the arrow Y in fig. 3 and 4.

In one possible implementation, referring to fig. 4 and 10, at least one end of the second linkage 30 is connected to a pitch assembly 50, and the pitch assembly 50 connected to the second linkage 30 is used to adjust the spacing between two adjacent second bars 31.

In one possible implementation, it may be that both ends of the second linkage 30 are connected with the pitch assemblies 50, which is beneficial to improving the stability of the movement of the second linkage 30.

In one possible implementation, referring to fig. 2 and 11, there are two driving assemblies 60, one of the two driving assemblies 60 drives the first rod 21 to move through the distance changing assembly 50 to change the distance between the adjacent two first rods 21, and the other of the two driving assemblies 60 drives the second rod 31 to move through the distance changing assembly 50 to change the distance between the adjacent two second rods 31, so that the distance between each picking assembly 40 can be independently adjusted in the first direction, the distance between each picking assembly 40 can be independently adjusted in the second direction, and the distance between each picking assembly 40 can be cooperatively adjusted in the first direction and the second direction.

In one possible implementation, the first direction and the second direction are two directions perpendicular to each other in a horizontal plane, thus allowing the pick-up assembly 40 to adjust not only the row spacing but also the column spacing.

In one possible implementation, referring to fig. 10, in order for the driving assembly 60 to drive the pitch assembly 50, the guide groove 511 of the pitch assembly 50 connected to the second linkage 30 extends in the second direction. The roller 524 of the second rotary shaft 523 is rollingly disposed in the guide groove 511, ensuring that the second rotary shaft 523 moves in the second direction.

In one possible implementation, referring to fig. 4 and 7, the connection plates 32 are connected to both ends of the second rod 31, and each first rotation shaft 522 of the pitch assembly 50 connected to the second link group 30 is correspondingly connected to each connection plate 32. When the pitch changing assembly 50 is deformed, the first rotating shaft 522 drives the connecting plate 32 to move, so that the second rod 31 connected to the connecting plate 32 moves, and the pick-up assembly 40 connected to the second rod 31 is driven to adjust the pitch along the second direction.

In one possible implementation, the second rod 31 is provided with a first sliding rail 311, the first sliding rail 311 is disposed along a first direction, a surface of the fixing frame 41 facing the second rod 31 is provided with a first sliding block 411, and the first sliding block 411 slides along the first sliding rail 311. With this structure, when each first lever 21 moves in the first direction, the first slider 411 slides along the first slide rail 311, ensuring that adjustment of the pitch between the pickup assemblies 40 in the first direction can be achieved, and the pickup assemblies 40 can be kept in a stable state.

In one possible implementation, referring to fig. 1 and 11, the frame 10 includes a pair of first upright plates 11 and a pair of second upright plates 12, and the first upright plates 11 and the second upright plates 12 are connected end to form a rectangular frame.

In one possible implementation, referring to fig. 2, the inner walls of the first risers 11 are each provided with a guide rail 111, the guide rails 111 extending in the second direction, and the side of the connection plate 32 facing the guide rails 111 is provided with a guide slider 321 sliding along the guide rails 111. By sliding the guide slide block 321 along the guide rail 111, on one hand, smoothness and balance of movement of the second rod member 31 can be improved, and on the other hand, the height of the second rod member 31 relative to the frame 10 can be ensured not to be changed, so that use stability is improved.

In one possible implementation, referring to fig. 12, the inner walls of the second riser 12 are each provided with a first chute 121, the first chute 121 extending in a first direction, and the first rotation shaft 522 sliding along the first chute 121. The first rotating shaft 522 slides along the first sliding groove 121, so that the height of the first rotating shaft 522 relative to the frame 10 is kept unchanged, and the use stability is improved.

In one possible implementation, the inner wall of the second riser 12 is further provided with a second chute 122, the second chute 122 is disposed along a vertical direction, and an end of the second rotating shaft 523 facing away from the roller 524 is slidably disposed in the second chute 122 and slides along the second chute 122.

In one possible implementation, referring to fig. 1, the frame 10 further includes a pair of third vertical plates 13, and the pair of third vertical plates 13 are connected to the top end of the rectangular frame, two ends of the pair of third vertical plates 13 are connected to the pair of second vertical plates 12, and two driving assemblies 60 may be respectively disposed on the pair of third vertical plates 13.

In one possible implementation, a hand-changing plate 15 is attached to the top of the frame 10. The hand-changing disc 15 may be fixed on the upper surfaces of the top plates 14 connected to the tops of the pair of third vertical plates 13, and the hand-changing disc 15 is used for being connected with a mechanical arm of a robot, so that the hand-changing disc is convenient to connect with or detach from the mechanical arm of the robot.

The utility model also provides a robot comprising the end effector. The end effector may be a robot arm coupled to the robot.

The working principle of the robot provided by the embodiment is as follows: the robot drives the end pick-up device to move vertically downwards above the objects to be picked up of the unstacking array, the robot drives the end pick-up device to move vertically upwards to push down and adsorb the sucker 421 of the picking assembly 40 on the surface of the objects to be picked up, the robot drives the end pick-up device to move vertically upwards to lift the objects to be picked up, the distance-changing assemblies 50 are respectively driven by the two driving assemblies 60, the equidistant distance changing along the first direction and the equidistant distance changing along the second direction can be respectively realized, and when the distance between the first direction and the second direction is adjusted to be suitable for stacking, the picked objects to be picked up are put down. Therefore, the robot destacking operation can realize the picking and placing of multiple rows and multiple columns of articles every time, and the working efficiency is improved.

The end effector and the robot provided by the utility model can realize the displacement arrangement rapidly, avoid occupying excessive robot beats and improve the carrying efficiency.

According to the end effector provided by the utility model, the objects placed in one array can be changed to be placed in another array so as to meet different tray packaging requirements, and the distance between each row and each column can be quickly changed through the distance changing assembly 50, so that the efficiency of unstacking is greatly improved.

In the description of the present utility model, it should be understood that the terms "center", "length", "width", "thickness", "top", "bottom", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", "axial", "circumferential", etc. are used to indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the referred location or element must have a specific orientation, in a specific configuration and operation, and therefore should not be construed as limiting the present utility model.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly attached, detachably attached, or integrally formed; can be mechanically connected, electrically connected or can be communicated with each other; can be directly connected or indirectly connected through an intermediate medium, and can lead the interior of two elements to be communicated or lead the two elements to be in interaction relationship. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

In the present utility model, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims (12)

1. An end effector, comprising:

a frame (10);

the first connecting rod group (20) is movably arranged in the rack (10), and the first connecting rod group (20) comprises a plurality of first rods (21) which are arranged side by side along a first direction;

-a picking assembly (40), each first bar (21) being provided with a number of said picking assemblies (40), said picking assemblies (40) being adapted to pick up objects to be picked up;

a pitch varying assembly (50), at least one end of the first linkage (20) being provided with the pitch varying assembly (50);

the driving assembly (60) is arranged on the frame (10), the driving assembly (60) is connected with the variable-pitch assembly (50), and the driving assembly (60) is configured to drive the variable-pitch assembly (50) to change the posture so that the variable-pitch assembly (50) is used for at least adjusting the distance between the first rods (21).

2. The end-effector as claimed in claim 1, wherein the pitch assembly (50) comprises:

the guide frame (51), the guide frame (51) is connected to the driving assembly (60), and a guide groove (511) is formed in the guide frame (51);

the connecting rod unit (52), the connecting rod unit (52) includes a plurality of parallelogram link mechanisms (521), parallelogram link mechanism (521) have along two pairs of apex angles of diagonal distribution, and wherein a pair of apex angle all is connected with first pivot (522), and wherein another pair of apex angle all is connected with second pivot (523), and two adjacent parallelogram link mechanisms (521) share one first pivot (522), and two one of them second pivot (523) is connected with gyro wheel (524), gyro wheel (524) roll and set up in guide slot (511).

3. An end pick-up according to claim 2, wherein each first pivot (522) of the pitch assembly (50) connected to the first link set (20) is correspondingly connected to each first lever (21).

4. An end pick-up according to claim 2, wherein the guide slot (511) of the pitch assembly (50) connected to the first set of links (20) extends in a first direction.

5. An end-effector according to any one of claims 2-4, wherein the pick-up assembly (40) comprises: the fixing frame (41), the fixing frame (41) is connected with the first rod piece (21) in a sliding way;

the first pickup assembly is arranged on the fixing frame (41) and is used for absorbing the object to be picked up under negative pressure; and/or

The second picking assembly is arranged on the fixing frame (41) and is used for magnetically adsorbing the object to be picked.

6. An end effector according to any one of claims 2-4, wherein the drive assembly (60) comprises:

a motor (61), the motor (61) being fixedly connected to the frame (10);

the screw nut mechanism (62), screw nut mechanism (62) include lead screw (621) and internal thread piece (622), lead screw (621) rotate and set up on frame (10), just lead screw (621) with output shaft of motor (61), internal thread piece (622) threaded connection in the outer peripheral face of lead screw (621), just internal thread piece (622) with leading truck (51) fixed connection.

7. The end effector as claimed in claim 5, further comprising a second link group (30), wherein the second link group (30) is movably disposed inside the frame (10), and the second link group (30) is disposed on an upper side or a lower side of the first link group (20), the second link group (30) includes a plurality of second rod members (31) arranged side by side along a second direction, and the fixing frame (41) of each pick-up assembly (40) is slidably connected to one of the first rod members (21) and one of the second rod members (31).

8. An end pick-up according to claim 7, wherein at least one end of the second set of links (30) is connected to the pitch assembly (50), the guide slot (511) of the pitch assembly (50) connected to the second set of links (30) extending in the second direction, the pitch assembly (50) connected to the second set of links (30) being adapted to adjust the spacing between two adjacent second bars (31).

9. The end effector as claimed in claim 7, wherein the second lever (31) has connection plates (32) connected to both ends thereof, and each of the first rotation shafts (522) of the pitch change assembly (50) connected to the second link group (30) is correspondingly connected to each of the connection plates (32).

10. An end pick-up according to claim 7, wherein the second lever (31) is provided with a first slide rail (311), the first slide rail (311) being arranged along the first direction, a face of the holder (41) facing the second lever (31) being provided with a first slider (411), the first slider (411) sliding along the first slide rail (311).

11. The end effector as claimed in claim 9, wherein the frame (10) comprises a pair of first risers (11) and a pair of second risers (12), the first risers (11) and the second risers (12) being joined end to form a rectangular frame;

the inner walls of the first vertical plates (11) are respectively provided with a guide rail (111), the guide rails (111) extend along the second direction, and one surface of the connecting plate (32) facing the guide rails (111) is provided with a guide sliding block (321) sliding along the guide rails (111);

the inner walls of the second vertical plates (12) are provided with first sliding grooves (121), the first sliding grooves (121) extend along the first direction, and the first rotating shafts (522) slide along the first sliding grooves (121).

12. A robot comprising an end effector as claimed in any one of claims 1 to 11.

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