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

End effector and transfer robot

Technical Field

The utility model relates to the technical field of refrigerator processing and production, in particular to an end pick-up and a transfer robot.

Background

The sheet metal material end effector usually comprises 1 mobile jib, 2 auxiliary poles that are parallel to each other and 4 sucking discs, and 2 auxiliary poles fixed mounting are on the mobile jib, and 1 sucking disc is installed near each of auxiliary pole's both ends. In order to provide a certain versatility for the end effector, so as to be applicable to sheet metal materials with different sizes or shapes, patent document with the grant publication number CN 211993018U proposes a mechanical arm end effector with telescopic ends, wherein the distance between 2 auxiliary rods can be adjusted, and the suction cup can slide along the auxiliary rods. On the one hand, in this technical scheme 2 vice poles are parallel to each other, can only carry the sheet metal material that has symmetrical shape. On the other hand, in the technical scheme, in order to enable the adjustable distance between the two suckers on the same 1 auxiliary rod to be larger, the auxiliary rod is designed to be longer in length, and when the auxiliary rod is applied to sheet metal materials with smaller sizes, the overlong auxiliary rod is easy to interfere with other equipment.

Disclosure of Invention

In view of the above problems, the present utility model provides an end effector that at least partially solves the above problems, and aims to solve the problem that the prior art cannot carry sheet metal materials with asymmetric shapes, so as to achieve the effect of improving the versatility of the end effector.

A further object of the present utility model is to provide an end effector, which solves the problem that the long auxiliary rod is easy to interfere with other devices in the prior art, and achieves the effect of improving the usability of the end effector.

Specifically, the utility model provides the following technical scheme:

an end effector includes a primary stem, at least three secondary stems, and at least three suction cups. Two opposite sides of the main rod are fixedly connected with two sliding rails, 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 is adjustable.

Optionally, a transmission part is arranged 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 to slide along the corresponding sliding rail when working, thereby changing the distance between the auxiliary rods on one side of the main rod, and enabling the corresponding auxiliary rod on one side of the main rod to slide along the corresponding sliding rail when the transmission part does not work.

Optionally, one end of each auxiliary rod is slidably connected to the corresponding sliding rail through a connecting seat;

the transmission part comprises a transmission device arranged between the two auxiliary rods; the transmission device comprises a screw rod, the screw rod extends along the length direction of the main rod, and the screw rod is rotationally connected to the connecting seat corresponding to one auxiliary rod; and the screw rod is in threaded sleeve connection with the connecting seat corresponding to the other auxiliary rod.

Optionally, the number of the auxiliary bars at two sides of the main bar is equal, and the number of the driving devices at two sides of the main bar is equal, which are respectively a first driving device and a second driving device which are correspondingly arranged;

and a connecting device is arranged between a connecting seat which is correspondingly connected with the lead screw in a rotating way and is correspondingly connected with the lead screw in a rotating way by the first transmission device, so that the two auxiliary rods synchronously move.

Optionally, the first driving part is further included;

the first transmission device and the second transmission device which are correspondingly arranged work under the drive of the same first driving part; the first driving part is arranged on the corresponding connecting device.

Optionally, the first driving part comprises a first motor, and the first motor is fixedly connected to the connecting device; the output shaft of the motor is fixedly connected with two driving chain wheels which are axially arranged at intervals along the output shaft;

the two driving chain wheels are connected with two driven chain wheels which are respectively and fixedly connected with the lead screw of the first transmission device and the lead screw of the second transmission device through two chains.

Optionally, the device further comprises second driving parts, wherein the number of the second driving parts is equal to that of the transmission devices; each of the second driving parts is configured to drive one transmission device; the second driving part is arranged on the corresponding connecting device.

Optionally, the end effector further includes a third driving portion, and a part or all of the auxiliary rods are connected to the third driving portion, where each third driving portion is configured to drive one or more auxiliary rods to slide along the corresponding sliding rail.

Optionally, each of the suction cups is mounted to the secondary rod by a steering knuckle.

On the other hand, the utility model also provides a transfer robot which comprises a mechanical arm and the end picking device fixedly connected with the mechanical arm.

According to the end effector provided by the utility model, two sliding rails are arranged on two opposite sides of the main rod, and at least three auxiliary rods are connected to the sliding rails in a sliding manner, namely, the number of the auxiliary rods and the positions of the auxiliary rods relative to one end of the main rod can be freely set, so that the problem that sheet metal materials in an asymmetric shape cannot be conveyed in the prior art can be solved, and the effect of improving the universality of the end effector is achieved. On the other hand, the auxiliary rod consists of two or more auxiliary rods which are detachably connected, when the left-right spacing of the sheet metal material is larger, the auxiliary rods can be connected, the length of the auxiliary rod is prolonged, the adjustable distance range between the sucker and the main rod is enlarged, when the left-right spacing of the sheet metal material is smaller, the redundant auxiliary rods can be removed, the length of the auxiliary rod is shortened, and the effect of avoiding interference with equipment is achieved; or the auxiliary rod is a telescopic rod, and the adjustable distance range between the sucker and the main rod can be increased and the interference between the sucker and equipment can be avoided by extending or shortening the length of the auxiliary rod at one end far away from the main rod through telescoping.

Furthermore, the end pick-up device is provided with the transmission part, one or more auxiliary rods are driven to slide along the corresponding sliding rail through the transmission part, so that labor can be reduced, the working efficiency is improved, and the production cost is reduced.

The above, as well as additional objectives, advantages, and features of the present utility model will become apparent to those skilled in the art from the following detailed description of a specific embodiment of the present utility model when read in conjunction with the accompanying drawings.

Drawings

Some specific embodiments of the utility model will be described in detail hereinafter by way of example and not by way of limitation with reference to the accompanying drawings. The same reference numbers will be used throughout the drawings to refer to the same or like parts or portions. It will be appreciated by those skilled in the art that the drawings are not necessarily drawn to scale. In the accompanying drawings:

FIG. 1 is a schematic block diagram of an end effector according to one embodiment of the present utility model;

FIG. 2 is a schematic top view of an end effector according to one embodiment of the present utility model;

FIG. 3 is a schematic side view of an end effector according to one embodiment of the present utility model;

FIG. 4 is a schematic block diagram of a portion of the structure of an end effector according to one embodiment of the present utility model;

fig. 5 is a schematic enlarged view at a in fig. 4.

Detailed Description

An end effector and a carrier robot according to an embodiment of the present utility model are described below with reference to fig. 1 to 5. In the description of the present embodiment, it should be understood that the terms "first" and "second" 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 at least one such feature, i.e. one or more such features. 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. When a feature "comprises or includes" a feature or some of its coverage, this indicates that other features are not excluded and may further include other features, unless expressly stated otherwise.

Unless specifically stated or limited otherwise, the terms "disposed," "mounted," "connected," "secured," "coupled," and the like should be construed broadly, as they may be connected, either permanently or removably, or integrally; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. Those of ordinary skill in the art will understand the specific meaning of the terms described above in the present utility model as the case may be.

Furthermore, in the description of the present embodiments, a first feature "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but being in contact through another feature therebetween. That is, in the description of the present embodiment, the first feature being "above", "over" and "upper" the second feature includes the first feature being directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature "under", "beneath", or "under" a second feature may be a first feature directly under or diagonally under the second feature, or simply indicate that the first feature is less level than the second feature.

In the description of the present embodiment, a description referring to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Fig. 1 is a schematic block diagram of an end effector according to an embodiment of the present utility model, and in combination with fig. 2-5, the present utility model provides an end effector comprising a main stem 1, at least three secondary stems 3, and at least three suction cups 4. Two sliding rails 2 are fixedly connected to two opposite sides of the main rod 1, and each sliding rail 2 extends along the length direction of the main rod 1. One end of each auxiliary rod 3 is slidably connected to one slide rail 2, and each slide rail 2 is connected to at least one auxiliary rod 3. Each suction cup 4 is slidably mounted to one of the secondary bars 3, and each secondary bar 3 is provided with at least one suction cup 4. The auxiliary lever 3 includes at least two auxiliary levers 31 detachably connected in the length direction.

In this embodiment, two sliding rails 2 are disposed on two opposite sides of the main rod 1, at least three auxiliary rods 3 are slidably connected to the sliding rails 2, that is, the number of the auxiliary rods 3 and the positions of the auxiliary rods 3 relative to one end of the main rod 1 can be set freely, and the relative positions or relative distances between the auxiliary rods 3 can be adjusted, so that the problem that sheet metal materials in asymmetric shapes cannot be carried in the prior art can be solved, and the effect of improving the universality of the end pick-up is achieved. On the other hand, in this embodiment, the auxiliary rod 3 is composed of two or more auxiliary rods 31 which are detachably connected, and when the left-right spacing of the sheet metal material is large, the auxiliary rods 31 can be connected, so that the total length of the auxiliary rod 3 is prolonged, and the adjustable distance range between the suction cup 4 and the main rod 1 is enlarged. In the present embodiment, the auxiliary lever 3 is not limited to at least two auxiliary levers 31, and may be one auxiliary lever 31. Alternatively, the auxiliary lever 3 may leave only one auxiliary lever 31 after removing the remaining auxiliary levers 31. When the left-right spacing of the sheet metal material is smaller, the redundant auxiliary rod 31 can be removed, the total length of the auxiliary rod 3 is shortened, and the effect of avoiding interference with equipment is achieved.

In some embodiments of the present utility model, the plurality of auxiliary rods 31 may have the same outer diameter and the same length or different lengths. In this embodiment, the auxiliary rods 31 are universal parts, and any two auxiliary rods 31 can be mutually abutted so as to improve the universality of the auxiliary rods 31. Two or more auxiliary bars 31 having the same or different lengths may be used in combination, so that the adjustable range of the total length of one auxiliary bar 3 is large, and the auxiliary bar is suitable for sheet metal materials of various shapes and sizes.

In some embodiments of the present utility model, the plurality of auxiliary rods 31 are connected by threaded sockets. In this embodiment, one end of each auxiliary rod 31 is provided with a threaded tube, and the other end is provided with a threaded rod, so that any two auxiliary rods 31 can be butted with each other. On the other hand, after the two auxiliary rods 31 are connected in a threaded sleeve manner, the effect of adjusting the total length of the auxiliary rods can be achieved by rotating one auxiliary rod 31.

In some embodiments of the end effector of the present utility model, the secondary stem 3 is a telescopic stem such that the distance between the end of the secondary stem 3 remote from the primary stem 1 and the primary stem 1 is adjustable. In this embodiment, the auxiliary rod 3 is a telescopic rod, and by means of telescopic extension, the length of the end, far away from the main rod 1, of the auxiliary rod 3 can be lengthened or shortened, so that the adjustable distance range between the sucker 4 and the main rod 1 can be increased, and interference with equipment can be avoided.

In some embodiments of the end effector of the present utility model, as shown in fig. 1 and 4, a transmission part 5 is disposed between the auxiliary bars 3 on one side of the main bar 1 where at least two auxiliary bars 3 are disposed, so that the transmission part 5 drives at least one corresponding auxiliary bar 3 to slide along the corresponding slide rail 2 when in operation, thereby changing the distance between the auxiliary bars 3 on one side of the main bar 1, and the corresponding auxiliary bars 3 on one side of the main bar 1 slide synchronously along the corresponding slide rail 2 when the transmission part 5 is not in operation. Specifically, the transmission portion 5 is provided between some or all of the auxiliary levers 3 on the side of the main lever 1 where at least two auxiliary levers 3 are provided, that is, the transmission portion 5 is provided between some or all of the auxiliary levers 3 on the side of the main lever 1.

In this embodiment, the transmission part 5 is used to connect two or more auxiliary rods 3 located at one side of the main rod 1, and the transmission part 5 can use a linear moving device or a rotary moving device to adjust the distance between the two or more connected auxiliary rods 3. In this way, labor can be reduced. On the other hand, by adopting the transmission part 5, the corresponding sub rod 3 can be driven to slide along the slide rail 2 more precisely. In particular, when the transmission part 5 is not operated, the distance between two or more sub-rods 3 can be fixed, and when one of the sub-rods 3 is moved, the plurality of sub-rods 3 connected with the transmission part 5 slide along the slide rail 2 synchronously.

It should be noted that the two or more auxiliary rods 3 connected to the transmission unit 5 are not necessarily adjacent auxiliary rods 3, and the two or more auxiliary rods 3 may be located at a spaced position. For example, a first auxiliary lever, a second auxiliary lever and a third auxiliary lever are sequentially provided at one side of the main lever 1, and the transmission part 5 may connect the first auxiliary lever and the third auxiliary lever, adjust or fix the distance between the first auxiliary lever and the third auxiliary lever, as long as the adjustment manner does not interfere with the second auxiliary lever.

In some alternative embodiments of the end effector of the present utility model, the transmission portion 5 may connect not only a plurality of secondary rods 3 on the same side of the primary rod 1, but also two or more secondary rods 3 on both sides of the primary rod 1. In this way, the spacing of two or more connected secondary bars 3 can be adjusted, making the adjustment of the end effector more convenient.

In some embodiments of the present utility model, as shown in fig. 1 and 5, a respective end of each secondary rod 3 is slidably connected to a corresponding slide rail 2 through a connecting seat; the transmission part 5 includes a transmission device 51 provided between the two sub-levers 3, that is, in the sub-levers 3 corresponding to the transmission part 5, the transmission device 51 may be provided between any two sub-levers 3 without generating motion interference. Preferably, the transmission part 5 corresponds to the transmission device 51 between every two adjacent auxiliary rods 3 along the extending direction of the main rod among the auxiliary rods 3. The transmission device 51 comprises a screw rod 511, the screw rod 511 extends along the length direction of the main rod 1, the screw rod 511 is rotatably connected to a corresponding connecting seat of one auxiliary rod 3 through a mounting seat 513, and the screw rod 511 is in threaded sleeve connection with a corresponding connecting seat of the other auxiliary rod 3 through a driving seat 512.

In this example, the rotational connection between mount 513 and lead screw 511 may be a sliding rotation or a rolling rotation. For example, the mount 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 mount 513 and the screw 511 along the length of the screw 511. Screw sleeve connects between drive seat 512 and screw 511, can set up the screw hole in the drive seat 512, screw hole and the threaded rod intermeshing of screw 511, because the drive seat 512 is fixed connection with the connecting seat of an auxiliary rod 3, when screw 511 rotates, drive seat 512 produces the removal along the length direction of screw 511 to drive the connecting seat and drive auxiliary rod 3 and remove along slide rail 2, realize that auxiliary rod 3 removes to the different positions of mobile jib 1.

In some embodiments of the end effector of the present utility model, as shown in fig. 1-4, the number of secondary levers 3 on both sides of the primary lever 1 is equal, and the number of driving devices 51 on both sides of the primary lever 1 is equal, which are respectively a first driving device 52 and a second driving device 53 that are correspondingly arranged; a connecting device 54 is arranged between a connecting seat corresponding to the mounting seat 513 corresponding to the first transmission device 52 and a connecting seat corresponding to the mounting seat 513 corresponding to the second transmission device 53, so that the two auxiliary rods 3 synchronously move.

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 two sides of the main rod 1 can slide along the sliding rail 2 independently under the driving of the transmission device 51. The connecting device 54 is used for fixing two connecting seats which are respectively positioned at two sides of the main rod 1 and are close to each other, so that the relative distance between the auxiliary rods 3 corresponding to the two connecting seats is unchanged. Thus, when one of the sub-levers 3 is pushed, the other sub-lever 3 slides on the slide rail 2 in synchronization. The connecting device 54 is matched with the first transmission device 52 and the second transmission device 53, so that a plurality of auxiliary rods 3 on two sides of the main rod 1 are provided with auxiliary rods 3 with constant relative distance and auxiliary rods 3 with adjustable distance independent of each other, and the convenience of operation of the end pick-up is improved.

In some embodiments of the present utility model, as shown in fig. 4-5, the end-effector further comprises a first drive portion 55; the first transmission device 52 and the second transmission device 53 which are correspondingly arranged work under the drive of the same first driving part 55; the first driving portions 55 are provided on the corresponding connection devices 54.

In this embodiment, by driving the first driving part 55 and the second driving device 53 simultaneously, the cost of the end effector can be reduced, and the complexity of the operation of the end effector can be reduced. Since the connecting device 54 is fixedly connected with the two connecting portions 6, the user can push the connecting device 54 or the corresponding auxiliary rod 3, so that the whole first driving portion 55, the first transmission device 52, the second transmission device 53 and the corresponding auxiliary rods 3 can synchronously move along the sliding rail 2.

In some embodiments of the present utility model, the connection portion 6 is provided with a tightening means. The fastening device is a fastening screw or the like, the fastening screw is in threaded connection with the connecting portion 6, the end head of the fastening screw faces the sliding rail 2 or the main rod 1, and the relative positions of the connecting portion 6 and the main rod 1 or the sliding rail 2 can be fixed by screwing the fastening screw, so that the sheet metal material can be conveniently carried.

In some embodiments of the present utility model, as shown in fig. 4-5, the first drive portion 55 includes a first motor 551, the first motor 551 being fixedly connected to the connection device 54; the output shaft of the motor is fixedly connected with two driving chain wheels 552 which are axially arranged at intervals along the output shaft; the two drive sprockets 552 are connected by two chains to two driven sprockets 553 which are fixedly connected to the lead screws 511 of the first and second transmission 52, 53, respectively.

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

In some embodiments of the present utility model, the end effector further comprises a second driving portion, the number of which is equal to the number of the actuators 51; each second driving part is configured to drive one transmission 51; the second driving portions are provided on the corresponding connection devices 54.

In this embodiment, each transmission 51 corresponds to a second driving portion, that is, each transmission 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, and will not be described again.

In some embodiments of the present utility model, the end effector further comprises a plurality of third driving portions. And a third driving part is connected with part or all of the auxiliary rods 3, and each third driving part is configured to drive one or more auxiliary rods to slide along the corresponding sliding rail, namely the third driving part is configured to drive the corresponding connected auxiliary rods 3 to slide along the corresponding sliding rail 2.

In this embodiment, the third driving portion can directly drive one auxiliary rod 3 to slide along the sliding rail 2. The third driving part may have various forms, for example, a micro motor and a roller are arranged on one auxiliary rod 3 or on the connecting part 6, the roller and the sliding rail 2 or the main rod 1 generate non-slip rolling, and the micro motor drives the roller to rotate, so that the auxiliary rod 3 is driven to move along the sliding rail 2. In this embodiment, a third driving portion may be provided on each sub-lever 3 or on the connecting portion 6, so that each sub-lever 3 can be independently operated. The transmission part 5 can also be used for connecting a plurality of auxiliary rods 3 together and sharing a third driving part, so that the production cost can be reduced.

In some embodiments of the present utility model, as shown in fig. 1-3, each suction cup 4 is mounted to the secondary stem 3 by a steering knuckle 7. The steering knuckle 7 is slidably mounted on the secondary lever 3, and the position of the suction cup 4 on the secondary lever 3 can be adjusted. The steering joint 7 has a plurality of dimensions of steering function, and can be matched with sheet metal materials with different surfaces to carry the sheet metal materials.

In some embodiments of the transfer robot of the present utility model, the transfer robot includes a robotic arm and the above-described end effector fixedly connected to the robotic arm. Specifically, the mechanical arm is connected with one end of the main rod of the end effector. Through adopting this end effector for but transfer robot carries the sheet metal material of asymmetric shape, and can be used to the sheet metal equipment of multiple size, avoid interfering with the sheet metal equipment.

By now it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the utility model have been shown and described herein in detail, many other variations or modifications of the utility model consistent with the principles of the utility model may be directly ascertained or inferred from the present disclosure without departing from the spirit and scope of the utility model. Accordingly, the scope of the present utility model should be understood and deemed to cover all such other variations or modifications.

Claims (10)

1. An end effector, comprising:

the two opposite sides of the main rod are fixedly connected with two sliding rails, 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;

at least three suction cups, each of which is slidably mounted to one of the secondary bars, each of which is mounted with at least one suction cup;

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 is adjustable.

2. The end effector as claimed in claim 1, wherein,

the transmission part is arranged between the auxiliary rods on one side of the main rod, at least one corresponding auxiliary rod is driven to slide along the corresponding sliding rail by the transmission part during working, the distance between the auxiliary rods on one side of the main rod is changed, and the corresponding auxiliary rod on one side of the main rod synchronously slides along the corresponding sliding rail when the transmission part does not work.

3. The end effector as claimed in claim 2, wherein,

the corresponding end of each auxiliary rod is connected with the corresponding sliding rail in a sliding way through a connecting seat;

the transmission part comprises a transmission device arranged between the two auxiliary rods; the transmission device comprises a screw rod, the screw rod extends along the length direction of the main rod, the screw rod is rotationally connected to the connecting seat corresponding to one auxiliary rod, and the screw rod is in threaded sleeve connection with the connecting seat corresponding to the other auxiliary rod.

4. An end effector according to claim 3, wherein the number of secondary bars on both sides of the primary bar is equal, and the number of transmissions on both sides of the primary bar is equal, respectively corresponding first and second transmissions;

and a connecting device is arranged between a connecting seat which is correspondingly connected with the lead screw in a rotating way and is correspondingly connected with the lead screw in a rotating way by the first transmission device, so that the two auxiliary rods synchronously move.

5. The end effector as set forth in claim 4 further comprising a first drive portion;

the first transmission device and the second transmission device which are correspondingly arranged work under the drive of the same first driving part; the first driving part is arranged on the corresponding connecting device.

6. An end effector according to claim 5 wherein the first drive portion comprises a first motor fixedly connected to the connection means; the output shaft of the motor is fixedly connected with two driving chain wheels which are axially arranged at intervals along the output shaft;

the two driving chain wheels are connected with two driven chain wheels which are respectively and fixedly connected with the lead screw of the first transmission device and the lead screw of the second transmission device through two chains.

7. An end effector as claimed in claim 4, further comprising a second drive, the number of second drives being equal to the number of transmissions; each of the second driving parts is configured to drive one transmission device; the second driving part is arranged on the corresponding connecting device.

8. An end effector as claimed in claim 1, further comprising a plurality of third drives;

and part or all of the auxiliary rods are connected with the third driving parts, and each third driving part is configured to drive one or more auxiliary rods to slide along the corresponding sliding rail.

9. The end effector as claimed in claim 1, wherein,

each sucker is mounted on the auxiliary rod through a steering joint.

10. A transfer robot comprising a robotic arm and an end effector as claimed in any one of claims 1 to 9 fixedly connected to the robotic arm.