CN219705219U - End effector and transfer robot - Google Patents

Abstract

The utility model relates to an end pick-up and a transfer robot, and belongs to the technical field of refrigerator processing and production. The end effector includes a primary stem, at least three secondary stems, and at least three suction cups. Two sliding rails are fixedly connected to two opposite sides of the main rod, and each sliding rail extends along the length direction of the main rod. One end of each auxiliary rod is connected with one sliding rail in a sliding way, and each sliding rail is at least connected with one auxiliary rod. Each sucker is slidably mounted on one auxiliary rod, and each auxiliary rod is provided with at least one sucker. The auxiliary rod comprises at least two auxiliary rods which are detachably connected in the length direction; or the auxiliary rod is a telescopic rod, so that the distance between one end of the auxiliary rod far away from the main rod and the main rod can be adjusted. The utility model can solve the problem that the sheet metal material with an asymmetric shape cannot be carried in the prior art, and can also solve the problem that the auxiliary rod is easy to interfere with equipment, thereby achieving the effect of improving the universality of the end effector.

Description

A pick-up and handling robot

Technical field

The utility model relates to the technical field of refrigerator processing and production, and in particular to an end picker and a handling robot.

Background technique

The sheet metal material end picker usually consists of a main rod, two parallel auxiliary rods and 4 suction cups. The 2 auxiliary rods are fixedly installed on the main rod, and a suction cup is installed near both ends of the auxiliary rod. In order to make the end picker have a certain degree of versatility and be suitable for sheet metal materials of different sizes or shapes, the patent document with the authorization announcement number CN 211993018U proposes a telescopic end picker at the end of a robotic arm, in which the two auxiliary rods The spacing can be adjusted and the suction cup can slide along the auxiliary rod. On the one hand, the two auxiliary rods in this technical solution are parallel to each other and can only transport sheet metal materials with symmetrical shapes. On the other hand, in this technical solution, in order to make the adjustable distance between the two suction cups on the same auxiliary rod larger, the auxiliary rod itself is designed to be longer in length. When applied to sheet metal materials with smaller sizes, , an excessively long auxiliary rod can easily interfere with other equipment.

Utility model content

In view of the above problems, the present invention proposes an end pick that at least partially solves the above problems, aiming to solve the problem in the prior art that asymmetrically shaped sheet metal materials cannot be handled, and achieve the effect of improving the versatility of the end pick.

A further object of the present invention is to provide an end pick-up device that solves the problem in the prior art that an excessively long auxiliary rod easily interferes with other equipment, thereby achieving the effect of improving the usability of the end pick-up device.

Specifically, the utility model provides the following technical solutions:

An end picker includes a main rod, at least three auxiliary rods and at least three suction cups. Two slide rails are fixedly connected to opposite sides of the main rod, and each slide rail extends along the length direction of the main rod. One end of each of the auxiliary rods is slidingly connected to one of the slide rails, and each of the slide rails is connected to at least one of the auxiliary rods. Each suction cup can be slidably mounted on one of the auxiliary rods, and each auxiliary rod is equipped with at least one suction cup. The auxiliary rod includes at least two auxiliary rods that are detachably connected along the length direction; or the auxiliary rod is a telescopic rod, so that the distance between the end of the auxiliary rod away from the main rod and the main rod is Adjustable.

Optionally, a transmission part is provided between the auxiliary rods on one side of the main rod where at least two auxiliary rods are arranged, so that the transmission part drives at least one corresponding auxiliary rod during operation. Slide along the corresponding slide rail, thereby changing the distance between the auxiliary rods on one side of the main rod, and causing the corresponding auxiliary rods on one side of the main rod to move when the transmission part is not working. The auxiliary rod slides synchronously along the corresponding slide rail.

Optionally, the corresponding end of each auxiliary rod is slidingly connected to the corresponding slide rail through a connecting seat;

The transmission part includes a transmission device disposed between the two auxiliary rods; the transmission device includes a screw, the screw extends along the length direction of the main rod, and the screw is rotatably connected to a The connecting seat corresponding to the auxiliary rod; and the screw is threadedly connected to the connecting seat corresponding to the other auxiliary rod.

Optionally, the number of the auxiliary rods on both sides of the main rod is equal, and the number of transmission devices on both sides of the main rod is equal, which are respectively the corresponding first transmission device and the second transmission device;

A connecting device is provided between the corresponding connecting seat of the first transmission device and the corresponding connecting seat of the second transmission device that is rotatably connected to the screw, so that the two pairs Rods move synchronously.

Optionally, it also includes a first driving part;

The corresponding first transmission device and the second transmission device work under the drive of the same first driving part; the first driving part is provided on the corresponding connecting device.

Optionally, the first driving part includes a first motor, which is fixedly connected to the connecting device; the output shaft of the motor is fixedly connected to two driving chains spaced axially along the output shaft. wheel;

The two driving sprockets are connected to two passive sprockets that are respectively fixedly connected to the screws of the first transmission device and the second transmission device through two chains.

Optionally, a second driving part is also included, the number of the second driving part is equal to the number of the transmission devices; each of the second driving parts is configured to drive one transmission device; the second driving part is configured on the corresponding connecting device.

Optionally, the end pick also includes a third driving part, part or all of the auxiliary rods are connected to the third driving part, and each of the third driving parts is configured to drive one or more of the auxiliary rods along the Slide corresponding to the slide rail.

Optionally, each suction cup is mounted on the auxiliary rod through a steering joint.

On the other hand, the present application also provides a handling robot, which includes a mechanical arm and the above-mentioned end picker fixedly connected to the mechanical arm.

This application provides an end pick. Two slide rails are provided on opposite sides of the main rod, and at least three auxiliary rods are slidingly connected to the slide rails. That is to say, the number of auxiliary rods and the position of the auxiliary rods relative to the main rod The position of one end can be set freely, which can solve the problem in the existing technology that asymmetrically shaped sheet metal materials cannot be handled, and achieve the effect of improving the versatility of the end picker. On the other hand, in this application, the auxiliary rod is composed of two or more detachably connected auxiliary rods. When the distance between the left and right of the sheet metal material is large, multiple auxiliary rods can be connected to extend the length of the auxiliary rod and increase the size of the suction cup and the main rod. When the distance between the left and right sides of the sheet metal material is small, the redundant auxiliary rod can be removed and the length of the auxiliary rod can be shortened to avoid interference with the equipment; or the auxiliary rod can be a telescopic rod. Lengthen or shorten the length of the end of the auxiliary rod away from the main rod to increase the adjustable distance range between the suction cup and the main rod while avoiding interference with the equipment.

Furthermore, the end pick provided by this application is provided with a transmission part, and the transmission part drives one or more auxiliary rods to slide along the corresponding slide rails, which can reduce labor, improve work efficiency, and reduce production costs.

Based on the following detailed description of specific embodiments of the present invention in conjunction with the accompanying drawings, those skilled in the art will further understand the above and other objects, advantages and features of the present invention.

Description of drawings

Some specific embodiments of the present invention will be described in detail below by way of illustration and not limitation with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar parts or portions. Those skilled in the art will appreciate that these drawings are not necessarily drawn to scale. In the attached picture:

Figure 1 is a schematic structural diagram of an end pickup according to an embodiment of the present invention;

Figure 2 is a schematic top view of an end pick according to an embodiment of the present invention;

Figure 3 is a schematic side view of an end pick according to one embodiment of the present invention;

Figure 4 is a schematic structural diagram of a partial structure of an end pickup according to an embodiment of the present invention;

FIG. 5 is a schematic enlarged view of position A in FIG. 4 .

Detailed ways

The picker and the handling robot according to the embodiment of the present invention will be described below with reference to FIGS. 1 to 5 . In the description of this embodiment, it should be understood that the terms "first" and "second" are only used for descriptive purposes and cannot be understood to indicate or imply the relative importance or implicitly indicate the number of indicated technical features. . Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features, that is, include one or more of the features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically limited. When a feature "includes or includes" one or some of the features it encompasses, unless specifically described otherwise, this indicates that other features are not excluded and may further be included.

Unless otherwise expressly stipulated and limited, the terms "set", "mounted", "connected", "connected", "fixed" and "coupled" should be understood in a broad sense. For example, it can be a fixed connection or a removable connection. Detachable connection, or integration; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary; it can be an internal connection between two elements or an interaction between two elements, unless otherwise There are clear limits. Those of ordinary skill in the art should be able to understand the specific meanings of the above terms in the present invention according to specific circumstances.

In addition, in the description of this embodiment, the first feature "above" or "below" the second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but is through additional characteristic contact between them. That is to say, in the description of this embodiment, the terms "above", "above" and "above" the second feature include the first feature being directly above and diagonally above the second feature, or simply indicating the level of the first feature. Higher than the second feature. The first feature being "below", "below", or "under" the second feature may mean that the first feature is directly below or diagonally below the second feature, or it may simply mean that the first feature is less horizontally than the second feature.

In the description of this embodiment, reference to the description of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is meant to be combined with the description. The specific features, structures, materials or characteristics described in the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Figure 1 is a schematic structural diagram of an end pick according to an embodiment of the present invention. Combined with Figures 2-5, the present utility model provides an end pick, including a main rod 1, at least three auxiliary rods 3 and At least three suckers 4. Two slide rails 2 are fixedly connected to opposite sides of the main pole 1 , and each slide rail 2 extends along the length direction of the main pole 1 . One end of each auxiliary rod 3 is slidingly connected to a slide rail 2, and each slide rail 2 is connected to at least one auxiliary rod 3. Each suction cup 4 can be slidably installed on an auxiliary pole 3, and each auxiliary pole 3 is equipped with at least one suction cup 4. The auxiliary rod 3 includes at least two auxiliary rods 31 detachably connected along the length direction.

In this embodiment, two slide rails 2 are provided on opposite sides of the main rod 1, and at least three auxiliary rods 3 are slidingly connected to the slide rails 2. That is to say, the number of auxiliary rods 3 and the relative position of the auxiliary rods 3 with respect to the main rod The position of one end of 1 can be freely set, and the relative position or relative distance between the plurality of auxiliary rods 3 can be adjusted. In this way, the problem of being unable to handle asymmetrically shaped sheet metal materials in the existing technology can be solved, and the end pick-up can be improved. The effect of device versatility. On the other hand, in this embodiment, the auxiliary rod 3 is composed of two or more detachably connected auxiliary rods 31. When the distance between the left and right sides of the sheet metal material is large, multiple auxiliary rods 31 can be connected to extend the total length of the auxiliary rod 3. , increase the adjustable distance range between the suction cup 4 and the main rod 1. It should be noted that in this embodiment, the auxiliary rod 3 is not limited to at least two auxiliary rods 31 , and may also be one auxiliary rod 31 . In other words, after the remaining auxiliary rods 31 are removed, only one auxiliary rod 31 remains in the auxiliary rod 3 . When the distance between the left and right sides of the sheet metal material is small, the redundant auxiliary rod 31 can be removed and the total length of the auxiliary rod 3 can be shortened to avoid interference with the equipment.

In some embodiments of the end pick of the present invention, the outer diameters of the plurality of auxiliary rods 31 are the same, and the lengths may be the same or different. In this embodiment, the auxiliary rod 31 is a universal part, and any two auxiliary rods 31 can be connected to each other to improve the versatility of the auxiliary rod 31 . Two or more auxiliary rods 31 with the same or different lengths can be used in conjunction, so that the total length of an auxiliary rod 3 can be adjusted within a larger range and is suitable for sheet metal materials of various shapes and sizes.

In some embodiments of the end pick of the present invention, multiple auxiliary rods 31 are connected through threaded sleeves. In this embodiment, one end of each auxiliary rod 31 is provided with a threaded pipe, and the other end is provided with a threaded rod, so that any two auxiliary rods 31 can be docked with each other. On the other hand, after the two auxiliary rods 31 are threaded and connected, by rotating one auxiliary rod 31, the effect of adjusting the total length of the auxiliary rod can also be achieved.

In some embodiments of the end pick of the present invention, the auxiliary rod 3 is a telescopic rod, so that the distance between the end of the auxiliary rod 3 away from the main rod 1 and the main rod 1 is adjustable. In this embodiment, the auxiliary rod 3 is a telescopic rod. By telescopically extending or shortening the length of the end of the auxiliary rod 3 away from the main rod 1, the adjustable distance between the suction cup 4 and the main rod 1 can be increased. range, and avoid interference with equipment.

In some embodiments of the end pick of the present invention, as shown in Figures 1 and 4, a transmission part 5 is provided between the secondary poles 3 on one side of the main pole 1 where at least two secondary poles 3 are provided, so as to When the transmission part 5 is working, it drives at least one corresponding auxiliary rod 3 to slide along the corresponding slide rail 2, thereby changing the distance between the auxiliary rods 3 on one side of the main rod 1, and when the transmission part 5 is not working, the main The corresponding auxiliary rod 3 on one side of the rod 1 slides along the corresponding slide rail 2 synchronously. Specifically, a transmission part 5 is provided between some or all of the auxiliary rods 3 on one side of the main rod 1 where at least two auxiliary rods 3 are provided, that is, the transmission part 5 is provided on one side of the main rod 1 between part or all of the auxiliary poles 3.

In this embodiment, the transmission part 5 is used to connect two or more auxiliary rods 3 located on one side of the main rod 1. The transmission part 5 can use a linear moving device or a rotational moving device to adjust two or more connected auxiliary rods. 3 spacing. In this way, labor can be reduced. On the other hand, by using the transmission part 5 , the corresponding auxiliary rod 3 can be driven to slide along the slide rail 2 more accurately. In particular, when the transmission part 5 is not working, the distance between two or more auxiliary rods 3 can be fixed. At this time, when one of the auxiliary rods 3 is moved, the plurality of auxiliary rods 3 connected to the transmission part 5 will all move along the same axis synchronously. Slide rail 2 slides.

It should be noted that the two or more auxiliary rods 3 connected by the transmission part 5 are not necessarily adjacent auxiliary rods 3, and the two or more auxiliary rods 3 may be at intervals. For example, one side of the main rod 1 is provided with a first auxiliary rod, a second auxiliary rod and a third auxiliary rod in sequence. The transmission part 5 can connect the first auxiliary rod and the third auxiliary rod to adjust the first auxiliary rod. The distance between the auxiliary rod and the third auxiliary rod may be fixed, as long as the adjustment method does not interfere with the second auxiliary rod.

In some optional embodiments of the end pick of the present invention, the transmission part 5 not only connects multiple auxiliary rods 3 located on the same side of the main rod 1, but can also simultaneously connect two or more auxiliary rods 3 located on both sides of the main rod 1. Auxiliary rod 3. In this way, the distance between two or more connected auxiliary rods 3 can be adjusted, making the adjustment of the end pickup more convenient.

In some embodiments of the end pick of the present invention, as shown in Figures 1 and 5, the corresponding end of each auxiliary rod 3 is slidingly connected to the corresponding slide rail 2 through a connecting seat; the transmission part 5 includes two There is a transmission device 51 between two auxiliary rods 3 , that is to say, in the auxiliary rods 3 corresponding to the transmission part 5 , there can be a transmission device 51 between any two auxiliary rods 3 as long as there is no motion interference. Preferably, in the auxiliary rod 3 corresponding to the transmission part 5, there is a transmission device 51 between every two adjacent auxiliary rods 3 along the extension direction of the main rod. The transmission device 51 includes a screw 511, which extends along the length direction of the main rod 1. The screw 511 is rotatably connected to a corresponding connecting seat of the auxiliary rod 3 through a mounting base 513, and the screw 511 is threaded through a drive base 512. Connected to the corresponding connecting seat of the other auxiliary rod 3.

In this example, the rotational connection between the mounting base 513 and the screw 511 may be sliding rotation or rolling rotation. For example, the mounting seat 513 is provided with a sliding bearing or a rolling bearing, and the screw 511 is connected to the bearing. There is no relative movement between the mounting base 513 and the screw 511 along the length direction of the screw 511 . The driving seat 512 and the screw 511 are threaded and connected. A threaded hole can be provided in the driving seat 512. The threaded hole meshes with the threaded rod of the screw 511. Since the driving seat 512 is fixedly connected to the connecting seat of an auxiliary rod 3, When the screw 511 rotates, the driving seat 512 moves along the length direction of the screw 511, thereby driving the connecting seat and the auxiliary rod 3 to move along the slide rail 2, so that the auxiliary rod 3 moves to different positions of the main rod 1.

In some embodiments of the end pick of the present invention, as shown in Figures 1 to 4, the number of auxiliary rods 3 on both sides of the main rod 1 is equal, and the number of transmission devices 51 on both sides of the main rod 1 Equal, they are respectively the corresponding first transmission device 52 and the second transmission device 53; the connection seat corresponding to the mounting seat 513 corresponding to the first transmission device 52 and the connection seat corresponding to the mounting seat 513 corresponding to the second transmission device 53 A connecting device 54 is provided between them to enable the two auxiliary rods 3 to move synchronously.

In this embodiment, the first transmission device 52 and the second transmission device 53 are respectively used for the plurality of auxiliary rods 3 on one side of the main rod 1, so that the plurality of auxiliary rods 3 on both sides of the main rod 1 can be independently driven. It slides along the slide rail 2 under the drive of the device 51. The connecting device 54 is used to fix two connecting seats located on both sides of the main pole 1 that are close to each other, so that the relative distance between the auxiliary poles 3 corresponding to the two connecting seats remains unchanged. In this way, when one of the auxiliary rods 3 is pushed, the other auxiliary rod 3 will slide on the slide rail 2 synchronously. The connecting device 54 cooperates with the first transmission device 52 and the second transmission device 53 so that the plurality of auxiliary rods 3 on both sides of the main rod 1 include both auxiliary rods 3 with a constant relative distance and mutually independent and adjustable spacing. Auxiliary rod 3 improves the convenience of operation of the end picker.

In some embodiments of the end pick of the present invention, as shown in Figures 4-5, the end pick also includes a first driving part 55; the corresponding first transmission device 52 and the second transmission device 53 are arranged at the same time. It works under the driving of a first driving part 55; the first driving part 55 is arranged on the corresponding connecting device 54.

In this embodiment, a first driving part 55 drives the first transmission device 52 and the second transmission device 53 simultaneously, which can reduce the cost of the end pick and reduce the complexity of the operation of the end pick. Since the connecting device 54 is fixedly connected to the two connecting parts 6, the user can push the connecting device 54, or correspond to one of the auxiliary rods 3, so that the entire first driving part 55, the first transmission device 52, the second transmission device 53 and the corresponding A plurality of auxiliary rods 3 move along the slide rail 2 synchronously.

In some embodiments of the end pick of the present invention, a tightening device is provided on the connecting portion 6 . The tightening device may be a set screw, etc. The set screw is threadedly connected to the connecting part 6. The end of the set screw faces the slide rail 2 or the main rod 1. By tightening the set screw, the connecting part 6 can be connected to the main rod 1. Or the relative position of the slide rail 2 is fixed to facilitate the transportation of sheet metal materials.

In some embodiments of the end pick of the present invention, as shown in Figures 4-5, the first driving part 55 includes a first motor 551, and the first motor 551 is fixedly connected to the connecting device 54; the output shaft of the motor is fixed Connect two driving sprockets 552 spaced apart along the axial direction of the output shaft; the two driving sprockets 552 connect two passive sprockets 552 fixedly connected to the lead screws 511 of the first transmission device 52 and the second transmission device 53 through two chains. Sprocket 553.

In this embodiment, the motor is used as the power output device, and the chain drive can provide relatively precise transmission, so that the corresponding auxiliary rod 3 can be positioned on the slide rail 2 more accurately. When the motor rotates forward and reverse, the chain drive can also accurately drive the corresponding auxiliary rod 3.

In some embodiments of the end pick of the present invention, the end pick also includes second driving parts, the number of the second driving parts is equal to the number of transmission devices 51; each second driving part is configured to drive one transmission device. 51; The second driving part is provided on the corresponding connection device 54.

In this embodiment, each transmission device 51 corresponds to a second driving part, that is to say, each transmission device 51 can move independently. The second driving part may be provided with a power device and a transmission device 51 similar to those of the first driving part 55, which will not be described again.

In some embodiments of the end pickup of the present invention, the end pickup further includes a plurality of third driving parts. Some or all of the auxiliary rods 3 are connected to third driving parts, and each of the third driving parts is configured to drive one or more of the auxiliary rods to slide along the corresponding slide rail, that is, the third driving part is configured to drive the corresponding connection. The auxiliary rod 3 slides along the corresponding slide rail 2.

In this embodiment, the third driving part can directly drive an auxiliary rod 3 to slide along the slide rail 2 . The third driving part can have various forms. For example, a micro motor and a roller are provided on a auxiliary rod 3 or on the connecting part 6. The roller generates non-slip rolling between the slide rail 2 or the main rod 1, and the micro motor drives the roller. Rotate, thus driving the auxiliary rod 3 to move along the slide rail 2 . In this embodiment, a third driving part can be provided on each auxiliary rod 3 or the connecting part 6, so that each auxiliary rod 3 can operate independently. Several auxiliary rods 3 can also be connected through five transmission parts to share a third driving part, thus reducing production costs.

In some embodiments of the end picker of the present invention, as shown in Figures 1-3, each suction cup 4 is installed on the auxiliary rod 3 through a steering joint 7. The steering joint 7 is slidably mounted on the auxiliary rod 3, and the position of the suction cup 4 on the auxiliary rod 3 can be adjusted. The steering joint 7 has multi-dimensional steering functions and can match and transport sheet metal materials with different surfaces.

In some embodiments of the handling robot of the present invention, the handling robot includes a robotic arm and the above-mentioned end picker fixedly connected to the robotic arm. Specifically, the mechanical arm is connected to one end of the main rod of the end picker. By using this end picker, the handling robot can handle asymmetrically shaped sheet metal materials, and can be used on sheet metal equipment of various sizes to avoid interference with the sheet metal equipment.

At this point, those skilled in the art will realize that although a plurality of exemplary embodiments of the present invention have been shown and described in detail herein, the present invention may still be implemented according to the spirit and scope of the present invention. Many other variations or modifications consistent with the principles of the invention can be directly identified or deduced from the disclosure of the invention. Therefore, the scope of the present invention should be understood and deemed to cover all such other variations or modifications.

Claims (10)

1. An end pick-up device, characterized in that it includes: Main rod, two slide rails are fixedly connected to the opposite sides of the main rod, and each of the slide rails extends along the length direction of the main rod; At least three auxiliary rods, one end of each of the auxiliary rods is slidingly connected to one of the slide rails, and each of the slide rails is connected to at least one of the auxiliary rods; At least three suction cups, each of the suction cups can be slidably mounted on one of the auxiliary rods, and each of the auxiliary rods is equipped with at least one of the suction cups; The auxiliary rod includes at least two auxiliary rods that are detachably connected along the length direction; or the auxiliary rod is a telescopic rod, so that the distance between the end of the auxiliary rod away from the main rod and the main rod is Adjustable. 2. The terminal device according to claim 1, characterized in that, A transmission part is provided between the auxiliary rods on one side of the main rod on which at least two auxiliary rods are arranged, so that the transmission part drives at least one corresponding auxiliary rod along the corresponding auxiliary rod during operation. The slide rail slides, thereby changing the distance between the auxiliary rods on one side of the main rod, and when the transmission part is not working, the corresponding auxiliary rods on one side of the main rod synchronously move along the Slide corresponding to the slide rail. 3. The terminal device according to claim 2, characterized in that, The corresponding end of each auxiliary rod is slidingly connected to the corresponding slide rail through a connecting seat; The transmission part includes a transmission device disposed between the two auxiliary rods; the transmission device includes a screw, the screw extends along the length direction of the main rod, and the screw is rotatably connected to a The connecting seat corresponding to the auxiliary rod is on the connecting seat corresponding to the auxiliary rod, and the screw is threadedly connected to the connecting seat corresponding to the other auxiliary rod. 4. The end pick according to claim 3, characterized in that the number of the auxiliary rods on both sides of the main rod is equal, and the number of transmission devices on both sides of the main rod is equal, respectively. Correspondingly provided first transmission device and second transmission device; A connecting device is provided between the corresponding connecting seat of the first transmission device and the corresponding connecting seat of the second transmission device that is rotatably connected to the screw, so that the two pairs Rods move synchronously. 5. The end pickup according to claim 4, further comprising a first driving part; The corresponding first transmission device and the second transmission device work under the drive of the same first driving part; the first driving part is provided on the corresponding connecting device. 6. The end pick according to claim 5, characterized in that the first driving part includes a first motor, the first motor is fixedly connected to the connecting device; the output shaft of the motor is fixedly connected to the two driving sprockets arranged at axial intervals along the output shaft; The two driving sprockets are connected to two passive sprockets that are respectively fixedly connected to the screws of the first transmission device and the second transmission device through two chains. 7. The end pick according to claim 4, further comprising a second driving part, the number of the second driving part is equal to the number of the transmission device; each second driving part is configured To drive a transmission device; the second driving part is provided on the corresponding connecting device. 8. The end pick-up device according to claim 1, characterized in that the end pick-up device further includes a plurality of third driving parts; Some or all of the auxiliary rods are connected to the third driving part, and each of the third driving parts is configured to drive one or more of the auxiliary rods to slide along the corresponding slide rail. 9. The terminal device according to claim 1, characterized in that, Each suction cup is mounted on the auxiliary rod through a steering joint. 10. A handling robot, characterized by comprising a mechanical arm and an end picker according to any one of claims 1 to 9 fixedly connected to the mechanical arm.