WO2022218168A1 - 端拾器、机械手和机器人 - Google Patents

端拾器、机械手和机器人 Download PDF

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Publication number
WO2022218168A1
WO2022218168A1 PCT/CN2022/084749 CN2022084749W WO2022218168A1 WO 2022218168 A1 WO2022218168 A1 WO 2022218168A1 CN 2022084749 W CN2022084749 W CN 2022084749W WO 2022218168 A1 WO2022218168 A1 WO 2022218168A1
Authority
WO
WIPO (PCT)
Prior art keywords
pick
pickup device
pickup
sleeve
nut
Prior art date
Application number
PCT/CN2022/084749
Other languages
English (en)
French (fr)
Inventor
张囝
宋国库
汤敬仁
Original Assignee
北京京东乾石科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 北京京东乾石科技有限公司 filed Critical 北京京东乾石科技有限公司
Priority to KR1020237020144A priority Critical patent/KR20230171916A/ko
Priority to EP22787395.7A priority patent/EP4245482A1/en
Priority to JP2023543015A priority patent/JP2024513290A/ja
Priority to US18/257,031 priority patent/US20240066720A1/en
Publication of WO2022218168A1 publication Critical patent/WO2022218168A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
    • B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
    • B25J9/101—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means using limit-switches, -stops
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads

Definitions

  • the present application relates to the technical field of handling equipment, in particular to an end picker, a manipulator and a robot.
  • the end picker is an important part of the manipulator, which uses the pick-up part to pick up the items in order to carry the items from one location to the designated location.
  • the end picker In order to adapt to the pick-up requirements of different items, the end picker needs to replace different pick-up parts. In the related art, the end picker needs to move between the work area and other areas to realize the replacement of the pick-up part, which takes a lot of time to replace the pick-up part and affects the work efficiency.
  • a technical problem to be solved by the present application is to improve the working efficiency of the end picker.
  • an end picker which includes:
  • a pick-up mechanism which is arranged on the mounting base and includes at least two pick-up devices, the at least two pick-up devices are relatively movable, and the pick-up devices include a pick-up portion for picking up articles;
  • the driving mechanism is arranged on the mounting base and is drivingly connected with the pickup mechanism.
  • the drive mechanism drives the at least two pickup devices to move relative to each other, so as to switch the at least two pickup devices to pick up articles.
  • the pick-up device further includes a sleeve, the pick-up portion is disposed at the end of the sleeve, at least two pick-up devices are sleeved in sequence, and can be relatively retractable, and the driving mechanism drives the at least two pick-up devices to extend and retract relatively. At least two pick-up devices are switched to pick up items.
  • the at least two pickup devices include a first pickup device and at least one second pickup device, the first pickup device is fixedly arranged, and the at least one second pickup device is sleeved outside the first pickup device and is opposite to the first pickup device.
  • a pick-up device is retractable and retractable, and the driving mechanism is drivingly connected with at least one second pick-up device, and drives the at least one second pick-up device to extend and retract, so that the at least one second pick-up device and the first pick-up device can pick up articles by switching.
  • the at least two pickup devices include at least two second pickup devices.
  • the driving mechanism includes a driving device corresponding to at least one second pickup device one-to-one, and the driving device is drivingly connected with the second pickup device to drive the second pickup device to extend and retract.
  • the driving device includes a lead screw motor in driving connection with the second pickup device.
  • the driving device further includes a nut seat, and the nut seat connects the nut of the screw motor and the sleeve of the second pickup device, so as to realize the driving connection between the screw motor and the second pickup device.
  • the nut seat includes a first connecting portion and a second connecting portion that are connected to each other, and the first connecting portion and the sleeve are connected by a first pin, or the first connecting portion is snapped with the sleeve and/or, the second connecting portion is connected with the nut through a second pin.
  • the first connecting part is provided with a first cavity, the sleeve is located in the first cavity, and the first connecting part and the sleeve are connected by a first pin; or, the first connecting part includes a snap connection
  • the side wall of the sleeve is provided with a card slot, the clip part is locked in the card slot, and is restricted by the card slot to the radial outer side of the sleeve and the displacement along the axial direction of the sleeve, connecting the second connecting part and the nut
  • the second pin of the sleeve abuts against the outer wall of the sleeve to limit the displacement of the nut seat toward the radial inner side of the sleeve.
  • the side wall of the first cavity is provided with a first hole portion
  • the outer wall of the sleeve is provided with a second hole portion
  • the first hole portion is butted with the second hole portion to form a closed first pin hole
  • the second connecting part is provided with a first through hole communicating with the first pin hole, the first pin shaft passes through the first through hole and is inserted into the first pin hole to connect the sleeve and the first connecting part.
  • the second connecting portion is provided with a second cavity
  • the nut is located in the second cavity
  • the second connecting portion and the nut are connected by a second pin.
  • the side wall of the second cavity is provided with a third hole portion
  • the outer wall of the nut is provided with a fourth hole portion
  • the third hole portion and the fourth hole portion are butted to form a closed second pin hole
  • the second connecting portion is provided with a second through hole communicating with the second pin hole, and the second pin shaft passes through the second through hole and is inserted into the second pin hole to connect the nut and the second connecting portion.
  • the sleeve of the outer pickup device is provided with an escape opening to avoid the expansion and contraction of the inner pickup device.
  • the end picker further includes a limiting device, which is disposed on the mounting seat and limits the displacement of the pickup device.
  • the limit device includes a first limit switch and a second limit switch, the first limit switch and the second limit switch are sequentially arranged along the extension direction of the pickup device, and the first limit switch limits The retracting displacement of the pickup device, and the second limit switch limits the extension displacement of the pickup device.
  • the pickup includes a suction cup.
  • the present application further provides a manipulator, which includes the end picker according to the embodiment of the present application.
  • the present application further provides a robot, which includes the manipulator of the embodiment of the present application.
  • the end picker can complete the replacement of the pickup part in the working area without moving between the working area and other areas. Therefore, Save time and improve work efficiency.
  • FIG. 1 is a schematic diagram of a state of an end picker in the related art when it is placed in a work area.
  • FIG. 2 is a schematic diagram of the state when the end picker moves to the suction cup holder and puts down the existing suction cup in the related art.
  • FIG. 3 is a schematic diagram of the state of the related art when the end picker replaces the required suction cup.
  • FIG. 4 is a schematic diagram of the state in which the end picker returns to the working area in the related art.
  • FIG. 5 is a schematic flow chart of switching suction cups of end pickers in the related art.
  • FIG. 6 is a schematic flowchart of switching suction cups of an end picker according to an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of an end pickup in an embodiment of the present application.
  • FIG. 8 is a schematic diagram of the state of the end picker when the third-stage pick-up device is retracted in the embodiment of the present application.
  • FIG. 9 is a schematic diagram of the state of the end picker when the second-stage pick-up device is retracted in the embodiment of the present application.
  • FIG. 10 shows the cooperation relationship of the three-stage pickup device in the embodiment of the present application.
  • FIG. 11 shows the cooperation relationship between the driving mechanism and the pickup mechanism in the embodiment of the present application.
  • FIG. 12 is an exploded schematic diagram of the combined structure of the nut seat, the nut and the sleeve of the second-stage pickup device in the embodiment of the application.
  • FIG. 13 shows the mating relationship between the nut seat, the nut and the sleeve of the second-stage pickup device in the embodiment of the present application.
  • FIG. 14 shows a schematic diagram of the combined structure of the nut seat, the nut and the sleeve of the third-stage pickup device in the embodiment of the present application.
  • FIG. 15 shows the exploded schematic diagram of FIG. 14 .
  • FIG. 16 shows the mating relationship between the nut seat, the nut and the sleeve of the third-stage pick-up device in FIG. 14 .
  • FIG. 17 shows a schematic diagram of the arrangement of the limiting device in the embodiment of the present application.
  • FIG. 18 shows the cooperation relationship between the limiting device and the driving device corresponding to the third-level pickup device in the embodiment of the present application.
  • FIG. 19 shows the cooperation relationship between the limiting device and the driving device corresponding to the embodiment of the present application and the second-level pickup device.
  • FIG. 20 shows a schematic diagram of a state when the second limit switch is not triggered in the embodiment of the present application.
  • FIG. 21 shows a schematic diagram of a state when the second limit switch is triggered in the embodiment of the present application.
  • orientations indicated by the orientation words such as “front, rear, top, bottom, left, right", “horizontal, vertical, vertical, horizontal” and “top, bottom” etc.
  • positional relationship is usually based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, and these orientations do not indicate or imply the indicated device or element unless otherwise stated. It must have a specific orientation or be constructed and operated in a specific orientation, so it cannot be construed as a limitation on the protection scope of the application; the orientation words “inside and outside” refer to the inside and outside relative to the contour of each component itself.
  • An end picker is a grasping device that is usually attached to the end of a manipulator for grasping items.
  • robots are often used to pick up goods through end pickers to realize the picking of goods.
  • the end picker includes a pick-up part, and the pick-up part is in contact with the item, and the pick-up of the item is realized by means of clamping and grasping, vacuum adsorption or magnetic adsorption.
  • the end picker In order to adapt to the pick-up requirements of different items, the end picker needs to replace different pick-up parts.
  • the process of replacing the pick-up part is actually an ineffective operation. Therefore, it is desirable to reduce the time occupied by the process of replacing the pick-up part and increase the time occupied by the pick-up operation.
  • the end picker needs to move between the working area and the replacement area far from the working area to realize the replacement of the pick-up part, which takes a lot of time and affects work efficiency.
  • the pick-up part of the end picker 20 is a suction cup 25 , and the end picker 20 is in contact with the item through the suction cup 25 , so as to realize the detection of the item. pick up.
  • a quick change mechanism (not shown in the figure) is provided on the end picker 20, and a suction cup holder 8 is specially provided outside the working area A, The suction cup holder 8 is provided with a spare suction cup 25 for the end picker 20 to be replaced.
  • the area where the suction cup holder 8 is located is the replacement area, and the replacement area needs not to affect the normal operation of the picking and placing operation, so it is generally far from the operation area A.
  • the end picker 20 needs to be moved from the working area A to the working area A after the placement of the existing suction cup 25 is completed.
  • the existing suction cup 25 is released by the quick change mechanism, and then, as shown in FIG. Grab the required suction cups, and then, as shown in FIG. 4 , control the end effector 20 from the replacement area to return to the operation area A for the next operation.
  • the embodiment of the present application improves the structure of the end picker, so as to shorten the replacement time of the pick-up part and improve the work efficiency.
  • the end effector 20 includes:
  • the pick-up mechanism 2 is arranged on the mounting base 1 and includes at least two pickup devices 21, the at least two pickup devices 21 are relatively movable, and the pickup devices 21 include a pickup portion 2d for picking up articles; and
  • the drive mechanism 3 is arranged on the mounting base 1 and is drivingly connected with the pickup mechanism 2.
  • the drive mechanism 3 drives the at least two pickup devices 21 to move relative to each other, so that the at least two pickup devices 21 can switchably pick up articles.
  • picking up items by switching means that when one picking part 2d picks up an item, the other picking parts 2d do not pick up the item, and each picking part 2d performs the picking task one by one.
  • the end picker 20 no longer includes only one pickup portion 2d, but at least two pickup portions 2d, and each pickup portion 2d can move relatively under the driving action of the driving mechanism 3 to pick up items in a switchable manner.
  • the replacement of the pick-up part 2d can be done on the end effector 20 itself, that is, the end effector 20 can complete the replacement of the pick-up part 2d on the spot in the work area, since there is no need to move between the work area and other areas. Therefore, the replacement time of the pick-up part can be shortened, so that the end picker 20 can carry out more article pick-up operations, thereby effectively improving the work efficiency.
  • FIG. 6 The work flow of the end picker 20 provided in the embodiment of the present application is shown in FIG. 6 . It can be seen from FIG. 6 that in the embodiment of the present application, the end picker 20 does not need to move between the work area A and the replacement area as a whole after the delivery, but can directly complete the replacement of the pick-up part 2d in the work area. to the next assignment.
  • the embodiments of the present application can omit the steps of "moving to the suction cup holder - putting down the existing suction cup - moving to the required suction cup - grabbing the required suction cup” in the related art,
  • the actions and moving processes corresponding to these links are eliminated, and the ineffective time for the end picker 20 to go to the replacement area to put down and replace the pick-up part 2d, and then return to the work area A, can be effectively shortened. Therefore, the replacement time of the pick-up part can be effectively shortened. , to achieve rapid replacement of the pick-up part, and significantly improve the efficiency.
  • the relative movement forms between the pickup devices 21 can be various.
  • the pickup devices 21 can be extended and retracted relative to each other.
  • the pickup device 21 further includes a sleeve 24 , the pickup portion 2d is disposed at the end of the sleeve 24 , and the aforementioned at least two pickup devices 21 are sleeved in sequence and can be relatively telescopic , the drive mechanism 3 drives the at least two pickup devices 21 to extend and retract relative to each other, so that the at least two pickup devices 21 are switched to pick up articles.
  • the replacement of the pickup portion 2d is realized by the relative expansion and contraction of each pickup device 21 .
  • the pick-up device 21 outside the pick-up part 2d can be driven to retract, and the pick-up part 2d can be exposed, so that the pick-up part 2d can contact the article to realize the pick-up function.
  • the required pick-up part 2d can be driven to extend to contact the object to perform the pick-up task. In this way, based on the relative expansion and contraction of the respective pickup devices 21, the quick replacement of the pickup portion 2d can be completed, and the respective pickup devices 21 can be switched to perform the pickup task.
  • each pickup device 21 Since the nesting method is adopted, in each pickup device 21, the size of the outer pickup portion 2d is larger than that of the inner pickup portion 2d. Therefore, each pickup device 21 expands and contracts relatively to realize the replacement of the pickup portion 2d. , it can realize the replacement of the pick-up parts 2d of different specifications, and can meet the picking-up requirements of articles of different specifications. For example, when the object to be picked up is larger, the outer pickup device 21 can be extended to provide a larger pickup force; and when the object to be picked up is smaller, the larger pickup part 2d cannot effectively pick up the object. The outer pickup device 21 can be driven to retract, so that the inner pickup device 21 can be exposed to pick up smaller items.
  • each pickup device 21 can be called a first-level pickup device, and from the inside to the outside, it can be called a first-level pickup device 2a, a second-level pickup device 2b, and a third-level pickup device, respectively.
  • the pickup portions 2d of the pickup devices 21 at all levels, from the inside to the outside may be respectively referred to as the first-level pickup portion, the second-level pickup portion, and the third-level pickup portion, etc., and so on.
  • the sleeves 24 of the pickup devices 21 at all levels, from the inside to the outside can be respectively referred to as the first-level sleeve, the second-level sleeve and the third-level sleeve.
  • the outer pickup device 21 is provided with an escape opening 26 to escape the expansion and contraction of the pickup device 21 located inside.
  • All the pickup devices 21 may be movably installed on the mounting base 1 , or only a part of the pickup devices 21 may be movable, and the other part of the pickup devices 21 may be immovable.
  • the aforementioned at least two pickup devices 21 include a first pickup device 22 and at least one second pickup device 23, the first pickup device 22 is fixedly disposed, and the at least one second pickup device The device 23 is sleeved outside the first pickup device 22 and is retractable relative to the first pickup device 22 .
  • the driving mechanism 3 is drivingly connected with the at least one second pickup device 23, and drives the at least one second pickup device 23 to extend and retract, so that the at least one second pickup device 23 and the first pickup device 22 are switched to pick up articles .
  • the innermost pick-up device 21 is fixedly arranged, called the first pick-up device 22 , the first pick-up device 22 does not move relative to the mounting base 1 and remains stationary; it is sleeved outside the first pick-up device 22
  • the pickup devices 21 are referred to as the second pickup device 23, and the second pickup device 23 is movably arranged relative to the mounting base 1, so that the second pickup device 23 is retractable. Since the first pickup device 22 does not move, the structure is simpler, the control is more convenient, and the replacement efficiency is higher, so that the end pickup 20 can quickly replace the pickup portion based on a simpler structure.
  • the number of the second pickup devices 23 may be one, two or more.
  • the pickup mechanism 2 includes at least two second pickup devices 23, the pickup mechanism 2 includes at least three pickup devices 21, which can realize rapid replacement of multi-level pickup devices 21, and can meet different pickup needs more efficiently and flexibly.
  • the driving mechanism 3 includes a driving device 31 corresponding to each second pickup device 23 one-to-one, and the driving device 31 and the second pickup device 23 The driving connection is used to drive the second pickup device 23 to extend and retract.
  • Each second pickup device 23 is provided with a separate drive device 31 , which facilitates independent control of the expansion and contraction process of each second pickup device 23 .
  • the driving device 31 includes a screw motor 32 , and the screw motor 32 is drivingly connected to the second pickup device 23 .
  • the screw motor 32 is a mechanism that converts the rotary motion of the motor into linear movement based on the cooperation of the screw and the nut.
  • the lead screw motor 32 includes a motor 33 , a lead screw 35 and a lead nut 36 .
  • the motor 33 is drivingly connected with the screw rod 35
  • the screw nut 36 is sleeved on the screw rod 35 .
  • the screw nut 36 moves axially along the screw rod 35 under the constraint, so as to realize the conversion from the rotary motion to the linear motion.
  • FIG. 11 the lead screw motor 32 includes a motor 33 , a lead screw 35 and a lead nut 36 .
  • the motor 33 is drivingly connected with the screw rod 35
  • the screw nut 36 is sleeved on the screw rod 35 .
  • the screw nut 36 moves axially along the screw rod 35 under the constraint, so as to realize the conversion from the rotary motion to the linear motion.
  • a reducer 34 is provided between the motor 33 and the lead screw 35 , and the motor 33 is drivingly connected to the lead screw 35 through the reducer 34 .
  • the motor 33 may be a DC motor
  • the lead screw The motor 32 may be a DC reduction screw motor.
  • the reducer 34 may not be provided between the motor 33 and the screw rod 35, and the motor 33 and the screw rod 35 are directly connected by driving.
  • 32 can be a lead screw stepping motor.
  • the screw motor 32 can realize linear motion, the screw motor 32 is driven to connect with the second pickup device 23 , and the screw motor 32 can drive the second pickup device 23 to move in a straight line to realize the expansion and contraction of the second pickup device 23 .
  • the screw motor 32 When drivingly connected to the second pick-up device 23 , the screw motor 32 is drivingly connected to the second pick-up device 23 via its nut 36 .
  • the driving device 31 further includes a nut seat 37 that connects the nut 36 of the screw motor 32 and the sleeve 24 of the second pickup device 23 to realize the screw
  • the motor 32 is connected to the drive of the second pickup device 23 .
  • the nut seat 37 constrains the rotation of the nut 36, and realizes the power transmission between the nut 36 and the second pickup device 23, so that when the nut 36 moves linearly, the second pickup device 23 can be driven to move linearly, so as to realize the first The expansion and contraction of the second pick-up device 23 .
  • the nut seat 37 includes a first connecting portion 38 and a second connecting portion 39 that are connected to each other.
  • the nut seat 37 is connected to the second pickup device 23 through the first connecting portion 38 , and is connected to the nut 36 through the second connecting portion 39 .
  • the connection between the first connection portion 38 and the second pickup device 23 may be realized by the first pin shaft 61, or may also be realized by a snap connection.
  • the connection between the second connection portion 39 and the nut 36 can be realized by the second pin shaft 62 .
  • the first connecting portion 38 is provided with a first The cavity 41 and the sleeve 24 are located in the first cavity 41 , and the first connecting portion 38 and the sleeve 24 are connected by a first pin 61 .
  • the side wall of the first cavity 41 is provided with a first hole 51
  • the outer wall of the sleeve 24 is provided with a second hole 52 .
  • the connecting portion 51 is butted with the second hole portion 52 to form a closed first pin hole 55
  • the second connecting portion 39 is provided with a first through hole 57 communicating with the first pin hole 55 through which the first pin 61 passes.
  • the first through hole 57 is inserted into the first pin hole 55 to connect the sleeve 24 and the first connecting portion 38 .
  • the first connecting part 38 and the sleeve 24 are connected by the first pin 61 , so that the nut seat 37 and the second pickup device 23 cannot rotate or move relative to each other, so that the nut 36 can pass through the nut seat 37
  • the second pickup device 23 is driven to move up and down.
  • This method of using the first pin 61 to connect the nut base 37 and the second pickup device 23 is especially suitable for the second pickup device 23 located inside (for example, the second-level pickup device 2b).
  • the first connecting portion 38 is snap-connected with the sleeve 24.
  • the first connecting portion 38 includes a snap portion 3a, a side wall of the sleeve 24 is provided with a snap slot 3c, the snap portion 3a is snapped in the snap slot 3c, and The displacement toward the radially outer side of the sleeve 24 and along the axial direction of the sleeve 24 is restricted by the locking groove 3c, and the second pin 62 connecting the second connecting portion 39 and the nut 36 is in contact with the outer wall of the sleeve 24 to The displacement of the nut seat 37 toward the radially inner side of the sleeve 24 is restricted.
  • the second connecting portion 39 is provided with a second cavity 42.
  • the nut 36 is located in the second cavity 42, and the second connecting portion 39 and the nut 36 are connected by a second pin shaft 62. Specifically, as shown in FIGS. 12-13 and FIG.
  • the side wall of the second cavity 42 is provided with a third hole 53
  • the outer wall of the nut 36 is provided with a fourth hole 54
  • the third hole portion 53 and the fourth hole portion 54 are butted to form a closed second pin hole 56
  • the second connecting portion 39 is provided with a second through hole 58 communicating with the second pin hole 56 .
  • 62 passes through the second through hole 58 and is inserted into the second pin hole 56 to connect the nut 36 with the second connecting portion 39 .
  • the nut seat 37 and the nut 36 cannot rotate or move relative to each other, and the nut seat 37 restricts the rotation of the nut 36, so that when the motor 33 drives the screw 35 to rotate, the nut 36 does not rotate, However, it only moves along the axial direction of the screw rod 35 , so that the screw nut 36 drives the second pickup device 23 to move along the axial direction of the screw rod 35 through the screw nut seat 37 to realize the expansion and contraction of the second pickup device 23 .
  • the end pickup 20 includes a limit device 7 , and the limit device 7 is provided on the mounting base 1 . , and limit the displacement of the pickup device 21 .
  • the limit device 7 includes a first limit switch 71 and a second limit switch 72 , and the first limit switch 71 and the second limit switch 72 are in sequence along the extending direction of the pickup device 21 . Arranged, the first limit switch 71 limits the retraction displacement of the pickup device 21 , and the second limit switch 72 limits the extension displacement of the pickup device 21 .
  • the expansion and contraction range of the pickup device 21 can be controlled, and the pickup device 21 can be prevented from being stretched excessively.
  • the first limit switch 71 and the second limit switch 72 may be various types of switches such as micro switches or proximity switches.
  • the type of the pick-up portion 2d is not limited, for example, it may include a suction cup 25, a mechanical claw, or a magnetic member.
  • the end effector 20 of the embodiment of the present application will be further described by taking the case where the pickup portion 2d is the suction cup 25 as an example.
  • the end picker 20 includes a mounting base 1 , a pick-up mechanism 2 , a drive mechanism 3 and a limiting device 7 .
  • the pickup mechanism 2 , the driving mechanism 3 and the limiting device 7 are all arranged on the mounting base 1 .
  • the pick-up mechanism 2 includes three-stage pick-up devices 21 sleeved from the inside to the outside, which are respectively the first-stage pick-up device 2a located at the innermost and fixedly arranged, and are sleeved outside the first-stage pick-up device 2a and relative to the mounting base 1 .
  • the second-level pickup device 2b is movably arranged, and the third-level pickup device 2c is sleeved outside the second-level pickup device 2b and is movably arranged relative to the mounting base 1 .
  • the first-stage pickup device 2a, the second-stage pickup device 2b, and the third-stage pickup device 2c each include a sleeve 24 and a suction cup 25.
  • the suction cup 25 is provided at the end of the sleeve 24, and is used as the pickup portion 2d to pick up articles.
  • the suction cups 25 of the first-stage pickup device 2a, the second-stage pickup device 2b, and the third-stage pickup device 2c may be sequentially referred to as first-stage suction cups, second-stage suction cups, and third-stage suction cups.
  • the suction cup 25 When being evacuated, the suction cup 25 can absorb the items to realize the picking up of the items.
  • the airflow channel 27 is provided inside the first-level pickup device 2a, and the first-level pickup device 2a, the second-level pickup device 2b and the third-level pickup device 2c pass through the airflow channel 27 and The vacuuming mechanism is in gas communication, so that the vacuuming mechanism can vacuum the suction cups 25 of the pickup devices 21 at all levels.
  • the suction cup 25 is an elastic part, which may be deformed due to the influence of negative pressure or the pressure exerted by the article during the working process.
  • the current suction cup 25 can have a larger vacuum generating area and provide a larger suction force.
  • the third-stage pickup device 2c when the third-stage pickup device 2c is performing the pickup task, even if the third-stage suction cup is compressed to the maximum compression amount, the end of the third-stage suction cup is still located below the end of the second-stage suction cup, so that the second-stage suction cup does not In contact with the object, the first-stage suction cup 25 is not in contact with the object, so that the air path of the third-stage suction cup will not be blocked by the object adsorbed on the second-stage suction cup, so the vacuum generation area is larger, which can provide The adsorption force is large.
  • each suction cup 25 increases sequentially from the inside to the outside, that is, from the inside to the outside, the cross-sectional area of each suction cup 25 Increase in sequence, that is, the adsorption area of the third-stage suction cup is larger than that of the second-stage suction cup, and the suction area of the second-stage suction cup is larger than that of the first-stage suction cup.
  • the third-level suction cup is the largest, the adsorption capacity is the strongest, and the items that can be adsorbed are the largest, followed by the second-stage suction cup, the first-stage suction cup is the smallest, the adsorption capacity is the weakest, and the items that can be adsorbed are the smallest.
  • a guide sleeve 28 is provided between two adjacent pickup devices 21 inside and outside to play a guiding role.
  • the guide sleeve 28 also has a sealing function, so as to play a sealing function to prevent gas leakage, so that the suction cup 25 can more reliably absorb the articles.
  • the guide sleeve 28 plays the role of guiding and sealing.
  • the guide sleeves 28 may be provided between the sleeves 24 of the pickup devices 21 of two adjacent stages.
  • the driving mechanism 3 is drivingly connected with the second-level pickup device 2b and the third-level pickup device 2c, and is used to drive the second-level pickup device 2b and the third-level pickup device 2c to move relative to the mounting base 1, so as to realize the third-level pickup device 21 relative expansion between.
  • the driving mechanism 3 includes two driving devices 31 , and the two driving devices 31 are arranged on the mounting seat 1 and are arranged on two sides of the central axis of the sleeve 24 .
  • the drive device 31 on the left is drivingly connected to the third-stage pickup device 2c, and is used to drive the third-stage pickup device 2c to move up and down, so as to realize the expansion and contraction of the third-stage pickup device 2c;
  • the right-side drive device 31 It is drivingly connected with the second-level pickup device 2b, and is used to drive the second-level pickup device 2b to move up and down, so as to realize the expansion and contraction of the second-level pickup device 2b.
  • the two driving devices 31 both include a screw motor 32 and a screw socket 37 .
  • the screw motor 32 is drivingly connected with the sleeve 24 through the screw nut seat 37 , so that the sleeve 24 can move along the axial direction of the sleeve 24 under the driving of the screw motor 32 to realize the expansion and contraction of the pickup device 21 .
  • the screw motor 32 is a DC reduction screw motor, which includes a motor 33 that is a DC motor, a reducer 34 , a screw rod 35 and a screw nut 36 .
  • the motor 33 is connected to the lead screw 35 through the reducer 34 .
  • the axial direction of the screw rod 35 is the same as the axial direction of the sleeve 24 .
  • the thread nut 36 is sleeved on the lead screw 35 .
  • the nut seat 37 is sleeved on the outside of the nut 36 and connects the nut 36 and the sleeve 24 , so that the nut 36 can drive the sleeve 24 to move along the axial direction of the screw 35 , thereby realizing the expansion and contraction of the pickup device 21 .
  • the nut seat 37 corresponding to the third-stage pickup device 2c and the nut seat 37 corresponding to the second-stage pickup device 2b have different structures.
  • the nut seat 37 connected to the second-stage pickup device 2b is called the first nut seat
  • the nut seat 37 connected to the third-stage pickup device 2c is called the second nut seat.
  • FIGS. 12-13 show the structure of the first nut seat and its mating relationship with the nut 36 and the sleeve 24 .
  • the first nut seat is sleeved on the nut 36 and the sleeve 24 of the second-stage pickup device 2b (ie, the second-stage sleeve), and passes through the first A pin 61 and a second pin 62 are connected to the second-stage sleeve and the nut 36, so that when the motor 33 drives the screw 35 to rotate, the nut 36 does not rotate, but only carries the second-stage sleeve It moves along the axial direction of the screw rod 35, thereby driving the second-stage pickup device 2b to expand and contract.
  • the first wire socket includes a first connecting portion 38 and a second connecting portion 39 connected to one side of the first connecting portion 38 .
  • the first connecting portion 38 is provided with a first cavity 41, and the second-stage sleeve is located in the first cavity 41, so that the first connecting portion 38 is sleeved outside the second-stage sleeve.
  • the second connecting portion 39 is provided with a second cavity 42 , and the nut 36 is located in the second cavity 42 , so that the second connecting portion 39 is sleeved outside the nut 36 .
  • a first hole 51 is formed on the inner wall of the part of the first connection part 38 connected to the second connection part 39, and a second hole 52 is formed on the outer wall of the second-stage sleeve.
  • the first hole 51 is connected to the second hole 51.
  • the hole portions 52 are butted to form a closed first pin hole 55 .
  • the inner wall of the second connecting portion 39 is provided with a third hole portion 53, and the outer wall of the nut 36 is provided with a fourth hole portion 54.
  • the third hole portion 53 and the fourth hole portion 54 are butted to form a closed second pin hole 56.
  • the second connecting portion 39 is provided with a first through hole 57 communicating with the first pin hole 55 and a second through hole 58 communicating with the second pin hole 56 .
  • the first pin shaft 61 passes through the first through hole 57 and is inserted into the first pin hole 55 to connect the second-stage sleeve and the first connecting portion 38 so that the nut seat 37 and the second-stage sleeve cannot be opposed to each other turn or move.
  • the second pin shaft 62 passes through the second through hole 58 and is inserted into the second pin hole 56 to connect the nut 36 and the second connecting portion 39 , so that the nut seat 37 and the nut 36 cannot rotate or move relative to each other.
  • the nut 36 is fixedly arranged on the first nut seat, and the first nut seat is fixedly arranged on the second-level sleeve, and the nut 36
  • the second-stage pick-up device 2b can be moved along the axial direction of the screw 35 with the second-stage pick-up device 2b to realize the expansion and contraction of the second-stage pick-up device 2b.
  • FIGS. 14-16 show the structure of the second nut seat and its mating relationship with the nut 36 and the sleeve 24 .
  • the second nut seat is sleeved on the nut 36 and is connected to the nut 36 through the second pin shaft 62 .
  • the second nut is picked up with the third stage.
  • the sleeve 24 (ie, the third-stage sleeve) of the device 2c is clamped, so that when the motor 33 drives the screw rod 35 to rotate, the nut 36 will not rotate, but will only carry the third-stage sleeve along the screw rod 35 The axial movement of , and then drive the third-stage pickup device 2c to expand and contract.
  • the second wire socket includes a first connecting portion 38 and a second connecting portion 39 connected to one side of the first connecting portion 38 .
  • the first connecting portion 38 includes a clamping portion 3a, a clamping groove 3c is provided on the side wall of the third-stage sleeve, and the clamping portion 3a is clamped in the clamping groove 3c to restrict the second wire socket relative to the third-stage sleeve. Displacement in axial, circumferential and radially outward directions.
  • the second connecting portion 39 is provided with a second cavity 42 , and the nut 36 is located in the second cavity 42 , so that the second connecting portion 39 is sleeved outside the nut 36 .
  • the second pin shaft 62 connects the second connecting portion 39 and the nut 36, and abuts against the outer wall of the third-stage sleeve, so as to realize the fixed connection between the second connecting portion 39 and the nut 36, and restrict the second nut seat Displacement towards the radially inward relative to the tertiary sleeve.
  • the side of the clamping groove 3c facing the central axis of the third-stage sleeve is open, and the side away from the central axis of the third-stage sleeve is provided with two clamping platforms 3d .
  • both ends of the clamping groove 3c are provided with end walls 3e, so that the two ends of the clamping groove 3c in the axial direction of the third-stage sleeve are at least partially closed.
  • the engaging portion 3a includes two claws 3b, and the two claws 3b are connected to opposite sides of the second connecting portion 39 along the circumferential direction of the third-stage sleeve.
  • the two clamping claws 3b are engaged with the two clamping platforms 3d in a one-to-one correspondence, so that the clamping groove 3c can limit the displacement of the nut seat 37 toward the radially outer side of the third-stage sleeve.
  • the two clamping claws 3b are located between the upper and lower end walls 3e of the clamping groove 3c, so that the clamping groove 3 can limit the axial direction of the nut seat 37 on both sides of the third-stage sleeve. Displacement to prevent the nut seat 37 from moving up and down.
  • the nut seat 37 can be prevented from being radially outward of the third-stage sleeve and axially on both sides of the third-stage sleeve relative to the third-stage sleeve. move.
  • the inner wall of the second connecting portion 39 is provided with a third hole portion 53, and the outer wall of the nut 36 is provided with a fourth hole portion 54.
  • the third hole portion 53 and the fourth hole portion 54 are butted to form a closed second pin hole 56.
  • the second connecting portion 39 is provided with a second through hole 58 communicating with the second pin hole 56.
  • the second pin shaft 62 passes through the second through hole 58 and is inserted into the second pin hole 56 to connect the nut 36 and the second connecting portion 39 , so that the nut seat 37 and the nut 36 cannot rotate or move relative to each other.
  • the second pin shaft 62 abuts against the outer side wall of the third-stage sleeve, so that the nut seat 37 cannot move toward the radial inner side of the third-stage sleeve.
  • the nut 36 is fixedly arranged on the second nut seat, and the second nut seat is fixedly arranged on the third-stage sleeve,
  • the nut 36 can move along the axial direction of the screw rod 35 with the third-stage pick-up device 2c to realize the expansion and contraction of the third-stage pick-up device 2c.
  • connection between the first and second thread nut seats and the thread nut 36 is the same, and the second pin shaft 62 is used to connect the second connecting portion 39 and the thread that are sleeved to each other.
  • Female 36 but the connection between the two is different with the sleeve 24, wherein the first wire female seat and the second-stage sleeve are sleeved and connected through the first pin 61, and the second wire female seat and the second
  • the three-stage sleeves are not sleeved or connected by the first pin shaft 61, but are clamped.
  • connection between the nut seat 37 and the nut 36 is achieved by the cooperation of the second pin shaft 62, the third hole 53 and the fourth hole 54, and the connection between the first nut seat and the second-stage sleeve is
  • the connection is achieved through the cooperation of the first pin 61, the first hole 51 and the second hole 52, and the structure is simpler and the layout is more compact compared with other connection methods such as bonding, screw connection or snap connection. , the adaptability to narrow space is stronger, and the requirement for machining accuracy is lower.
  • the first pin hole 55 and the second pin hole 56 are configured as two hole portions (ie, the first hole portion 51 and the second hole portion 52, and the third hole portion 53 and the fourth hole portion 52) on the two parts to be connected.
  • the hole portion 54) is formed by butt joint, which is more suitable for the connection requirements of the nut seat 37, the nut 36 and the sleeve 24 with thin wall thickness compared with the way of directly setting complete pin holes on the connected parts.
  • the second thread socket and the third-level sleeve are no longer sleeved, but are clamped through the cooperation of the clamping groove 3c and the clamping portion 3a, so that the second thread socket and the third-level sleeve can be realized at the same time.
  • On the basis of the fixed connection avoid the reciprocating movement of the first wire female seat, so as to facilitate the first wire female seat and the second wire female seat to move up to the same height, so as to prevent the first wire female seat from being affected by the first wire female seat in the case of socket connection.
  • the shielding of the second wire female seat prevents it from moving upward to the upper limit position of the second wire female seat.
  • an escape opening 26 is provided on the sleeve 24 of the third-stage pickup device 2c, and the escape opening 26 is provided on the sleeve 24 of the third-stage pickup device 2c and is located on the moving path of the second-stage pickup device 2b, so that when the second-stage pickup device 2b moves up and contracts, the escape port 26 can just avoid the nut seat 37 of the second-stage pickup device 2b (that is, the first Wire female seat), so that the second-stage pickup device 2b can be extended and retracted smoothly.
  • the telescopic displacement of the pickup device 21 is restricted by the limiter 7 .
  • the limiting device 7 is in one-to-one correspondence with the retractable pickup device 21 .
  • the end effector 20 includes two limiting devices 7 , which are in one-to-one correspondence with the second-level pickup device 2b and the third-level pickup device 2c, respectively used for The movement displacement of the second stage pickup device 2b and the third stage pickup device 2c is restricted.
  • FIG. 17 the end effector 20 includes two limiting devices 7 , which are in one-to-one correspondence with the second-level pickup device 2b and the third-level pickup device 2c, respectively used for The movement displacement of the second stage pickup device 2b and the third stage pickup device 2c is restricted.
  • the limiting device 7 on the right corresponds to the third-level pickup device 2c, and is used to limit the displacement of the third-level pickup device 2c; the limiting device 7 on the left corresponds to the second-level pickup device 2b, using To limit the displacement of the second-stage pickup device 2b.
  • the two limit devices 7 have the same structure, and both include a first limit switch 71 and a second limit switch 72 , a first limit switch 71 and a second limit switch 71 .
  • the position switches 72 are arranged in sequence along the extension direction of the pickup device 21 .
  • the first limit switch 71 limits the retraction displacement of the pickup device 21
  • the second limit switch 72 limits the extension displacement of the pickup device 21 .
  • the end picker 20 of this embodiment can realize on-site replacement of the suction cup 25, which is convenient and quick.
  • the first-level pickup device 2a, the second-level pickup device 2b, and the third-level pickup device 2c are all in the initial position.
  • the end of the suction cup 25 of the second-level pickup device 2b Below the end of the suction cup 25 of the first-stage pickup device 2a, the end of the suction cup 25 of the third-stage pickup device 2c is lower than the end of the suction cup 25 of the second-stage pickup device 2b, that is, from the inside to the outside, each level
  • the ends of the suction cups 25 of the pick-up device 21 are placed downward in sequence, in other words, from the inside to the outside, the ends of the suction cups 25 of the pickup devices 21 of all levels are arranged at intervals along the extending direction.
  • the corresponding screw motor 32 of 2c sends a signal to control the screw motor 32 to drive the third-stage pickup device 2c to move upward, to retract, and to release the third-stage pickup device 2c from blocking the suction cup 25 of the second-level pickup device 2b,
  • the suction cups 25 of the second-stage pickup device 2b are exposed, and at this time, the suction cups 25 of the second-stage pickup device 2b can be in contact with the articles to pick up the articles. It can be seen from FIG.
  • a signal can be sent to the screw motor 32 to drive the third-level pickup device.
  • 2c and the second-level pickup device 2b are both moved up and retracted, exposing the suction cup 25 of the first-stage pickup device 2a, so that the suction cup 25 of the first-stage pickup device 2a can absorb the articles and complete the pickup operation.
  • the corresponding nut seats 37 of both move upward to the upper limit position.
  • the third-level pickup device 2c and the second-level pickup device 2b are controlled to move up and down, so that the suction cups 25 of the pickup devices 21 at all levels can be switched to contact the article to complete the replacement of the suction cups 25 .
  • the end picker 20 of this embodiment is equipped with a spare suction cup 25 and can be switched between the current suction cup 25 and the spare suction cup 25.
  • the end picker 20 of this embodiment has its own suction cup replacement. It can utilize the relative expansion and contraction of the pickup devices 21 at all levels to realize the rapid replacement of the suction cups 25 .
  • the end picker 20 of this embodiment only needs to control the pickup device 21 located outside the desired suction cup 25 to move upward and retract after the delivery, and then switch to the desired suction cup 25 to perform the next execution. The operation is completed, and the switching process of the suction cup 25 is completed.
  • the switching of the suction cups 25 can be completed during the necessary movement process after the completion of the throwing action, and the manipulator 10 can be omitted to move from the working area A to the suction cup rack 8, which is farther away, to lower and replace the suction cups 25, and then return to the working area.
  • the invalid process of A saves the invalid time consumed by the corresponding invalid process. Therefore, the replacement time of the suction cup can be greatly shortened, so that the end effector 20 can spend more time on the picking operation, and the use efficiency of the end effector 20 can be improved. Increase the input-output ratio.
  • FIGS. 7-21 only take the case of the three-stage pickup device 21 as an example for description, but it should be understood that the number of stages of the pickup device 21 may be more, for example, four or more stages may be provided.
  • the embodiment of the present application further provides a manipulator 10 and a robot 100 including the end effector 20 of the embodiment of the present application.

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Abstract

一种端拾器（20），包括安装座（1），设置于安装座（1）上的拾取机构（2），并包括至少两个拾取装置（21），至少两个拾取装置（21）可相对运动，拾取装置（21）包括用于拾取物品的拾取部（2d）；和设置于安装座（1）上的驱动机构（3），并与拾取机构（2）驱动连接，驱动机构（3）通过驱动至少两个拾取装置（21）相对运动，来使至少两个拾取装置（21）切换地拾取物品。一种机械手（10），包括该种端拾器(20)。一种机器人（100），包括该种机械手(10)。如此设置可缩短拾取部更换时间，提高端拾器的工作效率。

Description

端拾器、机械手和机器人
相关申请的交叉引用
本申请是以申请号为202110406383.2，申请日为2021年4月15日的中国申请为基础，并主张其优先权，该中国申请的公开内容在此作为整体引入本申请中。
技术领域
本申请涉及搬运设备技术领域，特别涉及一种端拾器、机械手和机器人。
背景技术
端拾器是机械手的重要组成部分，其利用拾取部拾取物品，以便将物品从一个位置搬运到指定位置。
为了适应不同物品的拾取需求，端拾器需要更换不同的拾取部。相关技术中，端拾器需要在作业区域和其他区域之间移动，才能实现拾取部的更换，更换拾取部耗费的时间较多，影响工作效率。
发明内容
本申请所要解决的一个技术问题是：提高端拾器的工作效率。
为了解决上述技术问题，本申请提供一种端拾器，其包括：
安装座；
拾取机构，设置于安装座上，并包括至少两个拾取装置，至少两个拾取装置可相对运动，拾取装置包括用于拾取物品的拾取部；和
驱动机构，设置于安装座上，并与拾取机构驱动连接，驱动机构通过驱动至少两个拾取装置相对运动，来使至少两个拾取装置切换地拾取物品。
在一些实施例中，拾取装置还包括套筒，拾取部设置于套筒的端部，至少两个拾取装置依次套设，并可相对伸缩，驱动机构通过驱动至少两个拾取装置相对伸缩，来使至少两个拾取装置切换地拾取物品。
在一些实施例中，至少两个拾取装置包括第一拾取装置和至少一个第二拾取装置，第一拾取装置固定设置，至少一个第二拾取装置套设于第一拾取装置外部，并相对于第一拾取装置可伸缩，驱动机构与至少一个第二拾取装置驱动连接，并驱动至少一个第二拾取装置伸缩，以使 至少一个第二拾取装置与第一拾取装置切换地拾取物品。
在一些实施例中，至少两个拾取装置包括至少两个第二拾取装置。
在一些实施例中，驱动机构包括与至少一个第二拾取装置一一对应的驱动装置，驱动装置与第二拾取装置驱动连接，以驱动第二拾取装置伸缩。
在一些实施例中，驱动装置包括丝杆电机，丝杆电机与第二拾取装置驱动连接。
在一些实施例中，驱动装置还包括丝母座，丝母座连接丝杆电机的丝母与第二拾取装置的套筒，以实现丝杆电机与第二拾取装置的驱动连接。
在一些实施例中，丝母座包括彼此连接的第一连接部和第二连接部，第一连接部与套筒之间通过第一销轴连接，或者，第一连接部与套筒卡接；和/或，第二连接部与丝母之间通过第二销轴连接。
在一些实施例中，第一连接部内设有第一腔，套筒位于第一腔中，第一连接部与套筒之间通过第一销轴连接；或者，第一连接部包括卡接部，套筒的侧壁上设有卡槽，卡接部卡在卡槽中，并被卡槽限制朝套筒径向外侧以及沿套筒轴向的位移，连接第二连接部与丝母的第二销轴与套筒的外壁抵接，以限制丝母座朝套筒径向内侧的位移。
在一些实施例中，第一腔的侧壁上设有第一孔部，套筒的外壁上设有第二孔部，第一孔部与第二孔部对接，形成封闭的第一销孔，第二连接部上设有与第一销孔连通的第一通孔，第一销轴穿过第一通孔并插入第一销孔中，以连接套筒与第一连接部。
在一些实施例中，第二连接部内设有第二腔，丝母位于第二腔中，第二连接部与丝母之间通过第二销轴连接。
在一些实施例中，第二腔的侧壁上设有第三孔部，丝母的外壁上设有第四孔部，第三孔部和第四孔部对接，形成封闭的第二销孔，第二连接部上设有与第二销孔连通的第二通孔，第二销轴穿过第二通孔并插入第二销孔中，以连接丝母与第二连接部。
在一些实施例中，在两个彼此相邻并均可伸缩的拾取装置中，位于外部的拾取装置的套筒上设有避让口，以对位于内部的拾取装置的伸缩进行避让。
在一些实施例中，端拾器还包括限位装置，限位装置设置于安装座上，并限制拾取装置的位移。
在一些实施例中，限位装置包括第一限位开关和第二限位开关，第一限位开关和第二限位开关沿着拾取装置的伸出方向依次布置，第一限位开关限制拾取装置的缩回位移，第二限位开关限制拾取装置的伸出位移。
在一些实施例中，拾取部包括吸盘。
本申请另外还提供一种机械手，其包括本申请实施例的端拾器。
本申请另外还提供一种机器人，其包括本申请实施例的机械手。
在本申请的实施例中，基于驱动机构和至少两个拾取装置的配合，端拾器可以在作业区域就地完成拾取部的更换，而无需再在作业区域和其他区域之间移动，因此，可节约时间，提高工作效率。
通过以下参照附图对本申请的示例性实施例进行详细描述，本申请的其它特征及其优点将会变得清楚。
附图说明
为了更清楚地说明本申请实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1为相关技术中端拾器在作业区域进行投放时的状态示意图。
图2为相关技术中端拾器移动至吸盘架放下现有吸盘时的状态示意图。
图3为相关技术中端拾器更换所需吸盘时的状态示意图。
图4为相关技术中端拾器回到作业区域的状态示意图。
图5为相关技术中端拾器切换吸盘的流程示意图。
图6为本申请实施例中端拾器切换吸盘的流程示意图。
图7为本申请实施例中端拾器的结构示意图。
图8为本申请实施例中端拾器在第三级拾取装置缩回时的状态示意图。
图9为本申请实施例中端拾器在第二级拾取装置缩回时的状态示意图。
图10示出本申请实施例中三级拾取装置的配合关系。
图11示出本申请实施例中驱动机构与拾取机构的配合关系。
图12为本申请实施例中丝母座、丝母与第二级拾取装置的套筒的组合结构的爆炸示意图。
图13示出本申请实施例中丝母座、丝母与第二级拾取装置的套筒的配合关系。
图14示出本申请实施例中丝母座、丝母与第三级拾取装置的套筒的组合结构示意图。
图15示出图14的爆炸示意图。
图16示出图14中丝母座、丝母与第三级拾取装置的套筒的配合关系。
图17示出本申请实施例中限位装置的布置示意图。
图18示出本申请实施例中与第三级拾取装置对应的限位装置和驱动装置的配合关系。
图19示出本申请实施例与第二级拾取装置对应的限位装置和驱动装置的配合关系。
图20示出本申请实施例中第二限位开关未被触发时的状态示意图。
图21示出本申请实施例中第二限位开关被触发时的状态示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本申请一部分实施例，而不是全部的实施例。以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本申请及其应用或使用的任何限制。基于本申请中的实施例，本领域普通技术人员在没有开展创造性劳动前提下所获得的所有其他实施例，都属于本申请保护的范围。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在本申请的描述中，需要理解的是，方位词如“前、后、上、下、左、右”、“横向、竖向、垂直、水平”和“顶、底”等所指示的方位或位置关系通常是基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，在未作相反说明的情况下，这些方位词并不指示和暗示所指的装置或元件必须具有特定的方位或者以特定的方位构造和操作，因此不能理解为对本申请保护范围的限制；方位词“内、外”是指相对于各部件本身的轮廓的内外。
在本申请的描述中，需要理解的是，使用“第一”、“第二”等词语来限定零部件，仅仅是为了便于对相应零部件进行区别，如没有另行声明，上述词语并没有特殊含义，因此不能理解为对本申请保护范围的限制。
此外，下面所描述的本申请不同实施方式中所涉及的技术特征只要彼此之间未构成冲突就可以相互结合。
端拾器是一种抓取装置，其通常连接于机械手的末端，用于抓取物品。在物流领域，经常利用机器人通过端拾器拾取商品，来实现对商品的拣选。
端拾器包括拾取部，拾取部与物品接触，并采用夹持抓取、真空吸附或磁性吸附等方式来实现对物品的拾取。
为了适应不同物品的拾取需求，端拾器需要更换不同的拾取部。更换拾取部的过程其实是无效作业，因此，希望减少拾取部更换过程的占用时间，增多拾取作业所占用的时间。
然而，相关技术中，端拾器需要在作业区域和距作业区域较远的更换区域之间移动，才能实现拾取部的更换，耗费时间较多，影响工作效率。
此处，以真空吸附式端拾器为例，对相关技术中拾取部的更换过程进行说明。
图1-5示出了相关技术中真空吸附式端拾器的拾取部的更换过程。
参见图1，当设置于机械手10端部的端拾器20为真空吸附式端拾器时，端拾器20的拾取部为吸盘25，端拾器20通过吸盘25与物品接触，实现对物品的拾取。
为了实现对吸盘25的更换，参见图1-5，相关技术中，端拾器20上设有快换机构(图中未示出)，且作业区域A之外专门设有一个吸盘架8，吸盘架8上设有备用的吸盘25，供端拾器20更换。此时，吸盘架8所在的区域即为更换区域，该更换区域需要不影响抓取投放作业的正常进行，因此，一般距作业区域A较远。
当当前吸盘25不满足物品的拾取要求，需要更换时，如图1-2所示，端拾器20需要在现有吸盘25投放结束后，先由作业区域A移动至距作业区域A较远的吸盘架8所在的更换区域，利用快换机构释放现有吸盘25，之后，再如图3所示，控制端拾器20在更换区域移动至所需吸盘25所在位置处，利用快换机构抓取所需的吸盘，然后再如图4所示，控制端拾器20由更换区域返回作业区域A，进行下一次作业。
可见，参见图5，相关技术中，需要经历“投放结束——移动至吸盘架——放下现有吸盘——移动至所需吸盘处——抓取所需吸盘——返回作业”这诸多环节，才能完成吸盘的更换，进行下次物品拾取。
上述更换过程中，“移动至吸盘架——放下现有吸盘——移动至所需吸盘处——抓取所需吸盘”所对应的动作都是为了下次拾取作业做准备，其实属于无效作业，其中所耗费的机械手移动时间和快换机构更换吸盘的时间属于无效时间，在整个更换过程中占比较大，影响工作效率。
针对前述情况，本申请实施例对端拾器的结构进行改进，以缩短拾取部更换时间，提高工作效率。
图7-图21示例性地示出了本申请端拾器的结构。
参见图7-21，在本申请的一些实施例中，端拾器20包括：
安装座1；
拾取机构2，设置于安装座1上，并包括至少两个拾取装置21，这至少两个拾取装置21可相对运动，拾取装置21包括用于拾取物品的拾取部2d；和
驱动机构3，设置于安装座1上，并与拾取机构2驱动连接，驱动机构3通过驱动至少两个 拾取装置21相对运动，来使这至少两个拾取装置21切换地拾取物品。
可以理解，切换地拾取物品，是指一个拾取部2d拾取物品时，其他拾取部2d不拾取物品，各拾取部2d一个换一个地执行拾取任务。
基于上述设置，端拾器20不再仅包括一个拾取部2d，而是包括至少两个拾取部2d，且各拾取部2d可在驱动机构3的驱动作用下，相对运动，切换地拾取物品，这样，拾取部2d的更换能够在端拾器20本身上完成，也就是说，端拾器20可以在作业区域就地完成拾取部2d的更换，由于无需再在作业区域和其他区域之间移动，因此，可缩短拾取部更换时间，使端拾器20能够更多地进行物品拾取作业，从而有效提高工作效率。
本申请实施例所提供端拾器20，其工作流程如图6所示。由图6可知，在本申请的实施例中，端拾器20在投放结束后，无需整体在作业区域A和更换区域之间移动，而是可以直接在作业区域完成拾取部2d的更换，快速投入下次作业。
比较图5和图6可知，本申请的实施例可以省略相关技术中“移动至吸盘架——放下现有吸盘——移动至所需吸盘处——抓取所需吸盘”这几个环节，消除这些环节所对应的动作及移动过程，省掉端拾器20专门去更换区域进行拾取部2d的放下及更换，再回到作业区域A的无效时间，因此，可有效缩短拾取部的更换时间，实现对拾取部的快速更换，显著提升效率。
其中，拾取装置21之间的相对运动形式可以多样。作为其中的一种，拾取装置21之间可以相对伸缩。例如，参见图7-10，在一些实施例中，拾取装置21还包括套筒24，拾取部2d设置于套筒24的端部，前述至少两个拾取装置21依次套设，并可相对伸缩，驱动机构3通过驱动这至少两个拾取装置21相对伸缩，来使这至少两个拾取装置21切换地拾取物品。
在上述设置方式中，拾取部2d的更换，是通过各拾取装置21的相对伸缩实现的。当需要某一拾取部2d工作时，可以驱动该拾取部2d外部的拾取装置21缩回，将该拾取部2d露出，以使该拾取部2d与物品接触，实现拾取功能。而在当前拾取部2d工作完毕，需要更换外部的其他拾取部2d工作时，可以驱动所需的拾取部2d伸出至与物品接触，执行拾取任务。这样，基于各拾取装置21的相对伸缩，就可以完成拾取部2d的快速更换，使各拾取装置21切换地执行拾取任务。
由于采用套设方式，因此，在各拾取装置21中，较靠外的拾取部2d的规格比较靠内的拾取部2d的规格大，所以，各拾取装置21相对伸缩实现拾取部2d的更换时，可以实现不同规格的拾取部2d的更换，可以满足不同规格物品的拾取要求。例如，当所需拾取物品较大时，可以使较靠外的拾取装置21伸出，提供较大的拾取力；而当所需拾取物品较小，较大的拾取部2d无法有效拾取时，可以驱动较靠外的拾取装置21缩回，使较靠内的拾取装置21露出，对较小的物 品进行拾取。
在各拾取装置21相互套设时，每个拾取装置21可以称为一级拾取装置，且由内至外，可以分别称为第一级拾取装置2a、第二级拾取装置2b和第三级拾取装置2c等，依次类推。相应地，各级拾取装置21的拾取部2d，由内至外，可以分别称为第一级拾取部、第二级拾取部和第三级拾取部等，依次类推。各级拾取装置21的套筒24，由内至外，可以分别称为第一级套筒、第二级套筒和第三级套筒。
为了防止彼此套设的各拾取装置21在伸缩过程中发生干涉，参见图11，在一些实施例中，在两个彼此相邻并均可伸缩的拾取装置21中，位于外部的拾取装置21的套筒24上设有避让口26，以对位于内部的拾取装置21的伸缩进行避让。
各拾取装置21，可以全部可动地设置于安装座1上，或者，也可以仅一部分拾取装置21可动，另一部分拾取装置21不可动。
例如，参见图7-9，在一些实施例中，前述至少两个拾取装置21包括第一拾取装置22和至少一个第二拾取装置23，第一拾取装置22固定设置，这至少一个第二拾取装置23套设于第一拾取装置22外部，并相对于第一拾取装置22可伸缩。此时，驱动机构3与这至少一个第二拾取装置23驱动连接，并驱动这至少一个第二拾取装置23伸缩，以使这至少一个第二拾取装置23与第一拾取装置22切换地拾取物品。这种情况下，位于最内部的一个拾取装置21固定设置，称为第一拾取装置22，该第一拾取装置22不相对于安装座1移动，保持静止；套设于第一拾取装置22外部的拾取装置21均称为第二拾取装置23，第二拾取装置23相对于安装座1可移动地设置，使得第二拾取装置23可伸缩。由于第一拾取装置22不移动，因此，结构较简单，控制较方便，且更换效率较高，使得端拾器20可以基于较简单的结构实现拾取部的快速更换。
其中，第二拾取装置23的数量可以为1个、2个或多个。当拾取机构2包括至少两个第二拾取装置23时，拾取机构2包括至少3个拾取装置21，可以实现多级拾取装置21的快速更换，能够更高效更灵活地满足不同的拾取需求。
作为驱动机构3的一种实施方式，参见图7-11，在一些实施例中，驱动机构3包括与各第二拾取装置23一一对应的驱动装置31，驱动装置31与第二拾取装置23驱动连接，以驱动第二拾取装置23伸缩。为每个第二拾取装置23配备一个单独的驱动装置31，便于实现对各第二拾取装置23伸缩过程的独立控制。
其中，如图7和图11所示，一些实施例中，驱动装置31包括丝杆电机32，丝杆电机32与第二拾取装置23驱动连接。
丝杆电机32是一种基于丝杆与丝母的配合将电机的旋转运动转变为直线移动的机构。 如图11所示，丝杆电机32包括电机33、丝杆35和丝母36。电机33与丝杆35驱动连接，丝母36套设于丝杆35上。电机33转动时，丝母36在约束下沿丝杆35轴向移动，实现旋转运动向直线运动的转换。如图11所示，一些实施例中，电机33与丝杆35之间设有减速机34，电机33通过减速机34与丝杆35驱动连接，此时，电机33可以为直流电机，丝杆电机32可以为直流减速丝杆电机。或者，另一些实施例中，电机33与丝杆35之间也可以不设置减速机34，电机33与丝杆35之间直接驱动连接，此时，电机33可以为步进电机，丝杆电机32可以为丝杆步进电机。
由于丝杆电机32可以实现直线运动，因此，使丝杆电机32与第二拾取装置23驱动连接，丝杆电机32可以驱动第二拾取装置23沿直线移动，实现第二拾取装置23的伸缩。
在与第二拾取装置23驱动连接时，丝杆电机32通过其丝母36与第二拾取装置23驱动连接。例如，参见图11，在一些实施例中，驱动装置31还包括丝母座37，丝母座37连接丝杆电机32的丝母36与第二拾取装置23的套筒24，以实现丝杆电机32与第二拾取装置23的驱动连接。丝母座37约束丝母36的转动，并实现丝母36与第二拾取装置23之间的动力传递，使得丝母36进行直线移动时，可以带动第二拾取装置23进行直线移动，实现第二拾取装置23的伸缩。
作为丝母座37的一种结构形式，参见图12-13，在一些实施例中，丝母座37包括彼此连接的第一连接部38和第二连接部39。丝母座37通过第一连接部38与第二拾取装置23连接，并通过第二连接部39与丝母36连接。其中，作为示例，第一连接部38与第二拾取装置23之间的连接，可以通过第一销轴61实现，或者也可以通过卡接实现。作为示例，第二连接部39与丝母36之间的连接，可以通过第二销轴62实现。
作为基于第一销轴61实现第一连接部38与第二拾取装置23之间固定连接的一种实施方式，参见图12-13，一些实施例中，第一连接部38内设有第一腔41，套筒24位于第一腔41中，第一连接部38与套筒24之间通过第一销轴61连接。具体地，结合图12和图13可知，在一些实施例中，第一腔41的侧壁上设有第一孔部51，套筒24的外壁上设有第二孔部52，第一孔部51与第二孔部52对接，形成封闭的第一销孔55，并且，第二连接部39上设有与第一销孔55连通的第一通孔57，第一销轴61穿过第一通孔57并插入第一销孔55中，以连接套筒24与第一连接部38。此时，第一连接部38和套筒24之间通过第一销轴61连接，使得丝母座37与第二拾取装置23之间不可相对转动或移动，便于丝母36通过丝母座37带动第二拾取装置23上下移动。这种利用第一销轴61连接丝母座37与第二拾取装置23的方式，尤其适用于位于内部的第二拾取装置23(例如第二级拾取装置2b)。
作为第一连接部38和第二拾取装置23之间卡接的一种实施方式，参见图14-16，一 些实施例中，第一连接部38与套筒24卡接。例如，参见图14-16，在一些实施例中，第一连接部38包括卡接部3a，套筒24的侧壁上设有卡槽3c，卡接部3a卡在卡槽3c中，并被卡槽3c限制朝套筒24径向外侧以及沿套筒24轴向的位移，并且，连接第二连接部39与丝母36的第二销轴62与套筒24的外壁抵接，以限制丝母座37朝套筒24径向内侧的位移。这样，在卡接部3a、卡槽3c和第二销轴62的作用下，丝母座37与第二拾取装置23之间不可相对转动或移动，便于丝母36通过丝母座37带动第二拾取装置23上下移动。这种第一连接部38和第二拾取装置23之间卡接的方式，尤其适用于位于外部的第二拾取装置23(例如第三级拾取装置2c)。
另外，作为基于第二销轴62实现丝母座37与丝母36之间固定连接的一种实施方式，参见图12-16，一些实施例中，第二连接部39内设有第二腔42，丝母36位于第二腔42中，第二连接部39与丝母36之间通过第二销轴62连接。具体地，如图12-13以及图16所示，在一些实施例中，第二腔42的侧壁上设有第三孔部53，丝母36的外壁上设有第四孔部54，第三孔部53和第四孔部54对接，形成封闭的第二销孔56，并且，第二连接部39上设有与第二销孔56连通的第二通孔58，第二销轴62穿过第二通孔58并插入第二销孔56中，以连接丝母36与第二连接部39。基于此，丝母座37与丝母36之间不可相对转动或移动，丝母座37对丝母36的转动进行约束，使得在电机33驱动丝杆35转动时，丝母36不进行转动，而仅沿着丝杆35的轴向移动，以便丝母36通过丝母座37带动第二拾取装置23沿着丝杆35的轴向移动，实现第二拾取装置23的伸缩。
另外，为了使拾取装置21能够更准确地在所期望的区域进行伸缩，参见图17-21，在一些实施例中，端拾器20包括限位装置7，限位装置7设置于安装座1上，并限制拾取装置21的位移。例如，在一些实施例中，限位装置7包括第一限位开关71和第二限位开关72，第一限位开关71和第二限位开关72沿着拾取装置21的伸出方向依次布置，第一限位开关71限制拾取装置21的缩回位移，第二限位开关72限制拾取装置21的伸出位移。这样，可以控制拾取装置21的伸缩范围，防止拾取装置21过度伸缩。其中，第一限位开关71和第二限位开关72可以为微动开关或接近开关等各种类型的开关。开关被触发时，驱动机构3停止工作，使得拾取装置21不再继续伸出或缩回，从而实现对伸缩位移的限制。
在上述各实施例中，拾取部2d的类型不作限制，例如可以包括吸盘25、机械爪或磁性件等。接下来将以拾取部2d为吸盘25的情况为例，对本申请实施例的端拾器20予以进一步地说明。
图7-21示例性地示出了拾取部2d为吸盘25的情况。
如图7-21所示，在该实施例中，端拾器20包括安装座1、拾取机构2、驱动机构3 和限位装置7。拾取机构2、驱动机构3和限位装置7均设置于安装座1上。
拾取机构2包括由内至外依次套设的三级拾取装置21，分别为位于最内部且固定设置的第一级拾取装置2a，套设于第一级拾取装置2a外部并相对于安装座1可移动设置的第二级拾取装置2b，以及套设于第二级拾取装置2b外部并相对于安装座1可移动设置的第三级拾取装置2c。第一级拾取装置2a、第二级拾取装置2b和第三级拾取装置2c均包括套筒24和吸盘25。吸盘25设置于套筒24的端部，用作拾取部2d，对物品进行拾取。第一级拾取装置2a、第二级拾取装置2b和第三级拾取装置2c的吸盘25可以依次称为第一级吸盘、第二级吸盘和第三级吸盘。
当被抽真空时，吸盘25可以吸附物品，实现对物品的拾取。如图7所示，在该实施例中，气流通道27设置于第一级拾取装置2a内部，第一级拾取装置2a、第二级拾取装置2b和第三级拾取装置2c通过气流通道27与抽真空机构气体连通，使得抽真空机构可以对各级拾取装置21的吸盘25抽真空，此时，在各拾取装置21中，位于外部的拾取装置21通过位于内部的拾取装置21与抽真空机构连通。吸盘25为弹性件，在工作过程中，可能因为负压或物品所施加压力的影响而变形，为了使各级拾取装置21的吸盘25提供较充足的吸附力，各级拾取装置21可以被设置为，拾取装置21在执行拾取任务并处于压缩极限时，拾取装置21的吸盘25的末端仍低于位于其内部的吸盘25的末端，使得位于内部的吸盘25无法与物品接触，这样，当前吸盘25的气路不会被其上一级的吸盘25上的物品阻隔，因此，可以使得当前吸盘25具有较大的真空产生面积，提供较大的吸附力。例如，当第三级拾取装置2c在执行拾取任务时，即使第三级吸盘被压缩至最大压缩量，第三级吸盘的末端仍位于第二级吸盘的末端的下方，使得第二级吸盘不与物品接触，第一级吸盘25也就更不与物品接触，这样，第三级吸盘的气路不会被吸附于第二级吸盘上的物品遮挡，因此，真空产生面积较大，可提供的吸附力较大。
基于各级拾取装置21的套设关系如图7所示，在该实施例中，由内至外，各吸盘25的规格依次增大，即，由内至外，各吸盘25的横截面积依次增大，也就是说，第三级吸盘的吸附面积大于第二级吸盘的吸附面积，且第二级吸盘的吸附面积大于第一级吸盘的吸附面积。因此，第三级吸盘最大，吸附能力最强，能吸附的物品最大，第二级吸盘次之，第一级吸盘最小，吸附能力最弱，能吸附的物品最小。
参见图10，为了方便各拾取装置21相对伸缩，在该实施例中，内外相邻的两个拾取装置21之间设有导向套28，以起到导向作用。并且，在该实施例中，导向套28还具有密封功能，以起到密封作用，防止气体泄漏，使得吸盘25能够更可靠地吸附物品。具体地，由图10可知，在该实施例中，第三级拾取装置2c与第二级拾取装置2b之间，以及第二级拾取装置2b与第一级拾取装置2a之间分别设有一个导向套28，起到导向及密封作用。导向套28可以设置在相邻两级 拾取装置21的套筒24之间。
驱动机构3与第二级拾取装置2b和第三级拾取装置2c驱动连接，用于驱动第二级拾取装置2b和第三级拾取装置2c相对于安装座1移动，以实现三级拾取装置21之间的相对伸缩。如图7-9以及图11所示，在该实施例中，驱动机构3包括两个驱动装置31，这两个驱动装置31设置于安装座1上，并布置于套筒24中心轴线的两侧，分别与第二级拾取装置2b和第三级拾取装置2c一一对应地驱动连接，以分别驱动第二级拾取装置2b和第三级拾取装置2c伸缩。在图7中，左侧的驱动装置31与第三级拾取装置2c驱动连接，用于驱动第三级拾取装置2c上下移动，以实现第三级拾取装置2c的伸缩；右侧的驱动装置31与第二级拾取装置2b驱动连接，用于驱动第二级拾取装置2b上下移动，以实现第二级拾取装置2b的伸缩。
如图11所示，在该实施例中，两个驱动装置31均包括丝杆电机32和丝母座37。丝杆电机32通过丝母座37与套筒24驱动连接，使得套筒24能在丝杆电机32的带动下，沿着套筒24的轴向移动，实现拾取装置21的伸缩。
具体地，丝杆电机32为直流减速丝杆电机，其包括为直流电机的电机33、减速机34、丝杆35和丝母36。电机33通过减速机34与丝杆35连接。丝杆35的轴向与套筒24的轴向一致。丝母36套在丝杆35上。丝母座37套设于丝母36外部，并连接丝母36与套筒24，使得丝母36可以带动套筒24沿着丝杆35的轴向移动，进而实现拾取装置21的伸缩。
其中，如图12-16所示，在该实施例中，与第三级拾取装置2c相应的丝母座37和与第二级拾取装置2b相应的丝母座37，结构并不相同。为了方便区分，将与第二级拾取装置2b连接的丝母座37称为第一丝母座，并将与第三级拾取装置2c连接的丝母座37称为第二丝母座。
图12-13示出了第一丝母座的结构及其与丝母36和套筒24的配合关系。如图12-13所示，在该实施例中，第一丝母座套设于丝母36和第二级拾取装置2b的套筒24(即第二级套筒)上，并分别通过第一销轴61和第二销轴62与第二级套筒和丝母36连接，使得在电机33带动丝杆35转动时，丝母36不会转动，而只会带着第二级套筒沿着丝杆35的轴向移动，进而带动第二级拾取装置2b伸缩。
其中，第一丝母座包括第一连接部38和连接于第一连接部38一侧的第二连接部39。第一连接部38内设有第一腔41，第二级套筒位于第一腔41中，使得第一连接部38套设于第二级套筒外部。第二连接部39内设有第二腔42，丝母36位于第二腔42中，使得第二连接部39套设于丝母36外部。第一连接部38的与第二连接部39连接的部分的内壁上设有第一孔部51，第二级套筒的外壁上设有第二孔部52，第一孔部51与第二孔部52对接，形成封闭的第一销孔55。第二连接部39的内壁上设有第三孔部53，丝母36的外壁上设有第四孔部54，第三孔部53和第 四孔部54对接，形成封闭的第二销孔56。同时，第二连接部39上设有与第一销孔55连通的第一通孔57以及与第二销孔56连通的第二通孔58。第一销轴61穿过第一通孔57并插入第一销孔55中，以连接第二级套筒与第一连接部38，使得丝母座37与第二级套筒之间无法相对转动或移动。第二销轴62穿过第二通孔58并插入第二销孔56中，以连接丝母36与第二连接部39，使得丝母座37与丝母36之间无法相对转动或移动。
这样，在第一销轴61和第二销轴62的作用下，丝母36固定设置于第一丝母座上，且第一丝母座固定设置于第二级套筒上，丝母36可以带着第二级拾取装置2b沿丝杆35的轴向移动，实现第二级拾取装置2b的伸缩。
图14-16示出了第二丝母座的结构及其与丝母36和套筒24的配合关系。如图14-16所示，在该实施例中，第二丝母座套设于丝母36上，与丝母36通过第二销轴62连接，同时，第二丝母与第三级拾取装置2c的套筒24(即第三级套筒)卡接，使得在电机33带动丝杆35转动时，丝母36不会转动，而只会带着第三级套筒沿着丝杆35的轴向移动，进而带动第三级拾取装置2c伸缩。
其中，第二丝母座包括第一连接部38和连接于第一连接部38一侧的第二连接部39。第一连接部38包括卡接部3a，第三级套筒的侧壁上设有卡槽3c，卡接部3a卡在卡槽3c中，限制第二丝母座相对于第三级套筒在轴向、周向和朝径向外侧方向上的位移。第二连接部39内设有第二腔42，丝母36位于第二腔42中，使得第二连接部39套设于丝母36外部。第二销轴62连接第二连接部39和丝母36，并与第三级套筒的外壁抵接，以实现第二连接部39与丝母36的固定连接，并限制第二丝母座相对于第三级套筒朝径向内侧的位移。
具体地，在第三级套筒的径向上，卡槽3c的朝向第三级套筒的中心轴线的一侧敞开，而背离第三级套筒中心轴线的一侧设有两个卡台3d。沿第三级套筒的轴向，卡槽3c的两端设有端壁3e，使得卡槽3c的沿第三级套筒轴向的两端至少部分地封闭。卡接部3a包括两个卡爪3b，两个卡爪3b连接于第二连接部39的沿第三级套筒周向的相对两侧。在第三级套筒的径向上，两个卡爪3b与两个卡台3d一一对应地卡接，使得卡槽3c可以限制丝母座37的朝第三级套筒径向外侧的位移。在第三级套筒的轴向上，两个卡爪3b位于卡槽3c的上下端壁3e之间，使得卡槽3可以限制丝母座37的朝第三级套筒轴向两侧的位移，防止丝母座37上下移动。可见，在卡接部3a和卡槽3c的配合下，可以使得丝母座37无法相对于第三级套筒朝第三级套筒的径向外侧以及第三级套筒的轴向两侧移动。
第二连接部39的内壁上设有第三孔部53，丝母36的外壁上设有第四孔部54，第三孔部53和第四孔部54对接，形成封闭的第二销孔56。同时，第二连接部39上设有与第二销孔 56连通的第二通孔58。第二销轴62穿过第二通孔58并插入第二销孔56中，以连接丝母36与第二连接部39，使得丝母座37与丝母36之间无法相对转动或移动。并且，第二销轴62顶靠在第三级套筒的外侧壁上，使得丝母座37无法朝第三级套筒的径向内侧移动。
这样，在第二销轴62与卡接部3a和卡槽3c的配合下，丝母36固定设置于第二丝母座上，且第二丝母座固定设置于第三级套筒上，丝母36可以带着第三级拾取装置2c沿丝杆35的轴向移动，实现第三级拾取装置2c的伸缩。
可见，在该实施例中，第一丝母座和第二丝母座与丝母36之间的连接方式相同，均是利用第二销轴62连接彼此套设的第二连接部39和丝母36，但二者与套筒24的连接方式不同，其中，第一丝母座与第二级套筒之间套设，并通过第一销轴61连接，而第二丝母座与第三级套筒之间不套设，也不通过第一销轴61连接，而是卡接。
其中，丝母座37与丝母36之间通过第二销轴62、第三孔部53和第四孔部54的配合来实现连接，以及第一丝母座与第二级套筒之间通过第一销轴61、第一孔部51和第二孔部52的配合来实现连接，与采用粘接、螺纹连接或卡接等其他连接方式的情况相比，结构更简单，布局更紧凑，对狭小空间的适应性更强，且对加工精度的要求更低。第一销孔55和第二销孔56被构造为位于被连接的两个部件上的两个孔部(即第一孔部51和第二孔部52，以及第三孔部53和第四孔部54)对接形成，与直接在被连接部件上设置完整销孔的方式相比，更适用于壁厚较薄的丝母座37、丝母36及套筒24的连接需求。
而第二丝母座与第三级套筒之间不再套接，而是通过卡槽3c和卡接部3a的配合进行卡接，可以在实现第二丝母座与第三级套筒固定连接的基础上，对第一丝母座的往复移动进行避让，方便第一丝母座和第二丝母座向上移动至相同的高度，以免套接情况下第一丝母座因受到第二丝母座的遮挡而无法向上移动至第二丝母座的上极限位置。
另外，如图11和图19所示，在该实施例中，第三级拾取装置2c的套筒24上设有避让口26，该避让口26设置于第三级拾取装置2c的套筒24的侧面，并位于第二级拾取装置2b的移动路径上，使得第二级拾取装置2b上移收缩时，避让口26可以正好避开第二级拾取装置2b的丝母座37(即第一丝母座)，以便于第二级拾取装置2b顺利伸缩。
拾取装置21的伸缩位移由限位装置7限制。限位装置7与可伸缩的拾取装置21一一对应。在该实施例中，参照图17，端拾器20包括两个限位装置7，这两个限位装置7与第二级拾取装置2b和第三级拾取装置2c一一对应，分别用于限制第二级拾取装置2b和第三级拾取装置2c的移动位移。在图14中，右侧的限位装置7与第三级拾取装置2c对应，用于限制第三级拾取装置2c的位移；左侧的限位装置7与第二级拾取装置2b对应，用于限制第二级拾取装置2b的位 移。
如图17-21所示，在该实施例中，两个限位装置7的结构相同，均包括第一限位开关71和第二限位开关72，第一限位开关71和第二限位开关72沿着拾取装置21的伸出方向依次布置，第一限位开关71限制拾取装置21的缩回位移，第二限位开关72限制拾取装置21的伸出位移。这样，参见图20-21，丝杆电机32启动后，相应级的拾取装置21会开始移动，当移动到位后，对应的丝母座37会接触到限位开关，对限位开关的触点73进行压缩，使限位开关被触发，发出信号，控制丝杆电机32停止工作，使得丝杆电机32不会继续向这个方向转动，而是待接到反向转动信号后，才会开始反向转动，使相应级的拾取装置21反向移动，直至触碰另一个限位开关，如此即可实现对双向位移的限制。
基于上述设置，该实施例的端拾器20，可实现吸盘25的就地更换，方便快捷。
其中，如图7所示，初始时，第一级拾取装置2a、第二级拾取装置2b和第三级拾取装置2c均处于初始位置，此时，第二级拾取装置2b的吸盘25的末端低于第一级拾取装置2a的吸盘25的末端，第三级拾取装置2c的吸盘25的末端低于第二级拾取装置2b的吸盘25的末端，也就是说，由内至外，各级拾取装置21的吸盘25的末端依次靠下，换句话说，由内至外，各级拾取装置21的吸盘25的末端沿着伸出方向依次间隔排布。这种情况下，若需要执行拾取任务，只有第三级拾取装置2c的吸盘25可以与物品接触，而第二级拾取装置2b和第一级拾取装置2a的吸盘25均未露出，无法与物品接触，无法对物品进行拾取。因此，此时适于对较大的物品进行拾取。
当待拾取物品较小，不适宜由第三级拾取装置2c的吸盘25拾取，而适宜由第二级拾取装置2b的吸盘25拾取时，如图8所示，可以向与第三级拾取装置2c相应的丝杆电机32发送信号，控制该丝杆电机32驱动第三级拾取装置2c向上移动，进行缩回，解除第三级拾取装置2c对第二级拾取装置2b的吸盘25的遮挡，使第二级拾取装置2b的吸盘25露出来，此时，第二级拾取装置2b的吸盘25可以与物品接触，对物品进行拾取。由图8可知，当仅第三级拾取装置2c缩回到位，而第二级拾取装置2b未缩回时，第三级拾取装置2c对应的丝母座37向上移动至上极限位置，而第二级拾取装置2b对应的丝母座37未移动，处于下方极限位置。
当待拾取物品更小，第三级拾取装置2c和第二级拾取装置2b的吸盘25均不适合的时候，如图9所示，可以向丝杆电机32发送信号，驱动第三级拾取装置2c和第二级拾取装置2b均上移缩回，将第一级拾取装置2a的吸盘25露出，使第一级拾取装置2a的吸盘25可以吸附物品，完成拾取作业。由图9可知，当第二级拾取装置2b和第三级拾取装置2c均缩回到位时，二者相应的丝母座37均向上移动至上极限位置。
如此，根据实际需求，控制第三级拾取装置2c和第二级拾取装置2b上下移动，即可使各级拾取装置21的吸盘25切换地与物品接触，完成吸盘25的更换。
可见，该实施例的端拾器20，自身即配备备用吸盘25，且能在当前吸盘25和备用吸盘25之间进行切换，换句话说，该实施例的端拾器20自身即具有吸盘更换功能，其可以利用各级拾取装置21的相对伸缩，来实现吸盘25的快速更换。当需要更换吸盘25时，该实施例的端拾器20只需在投放结束后，控制位于所需吸盘25外部的拾取装置21上移缩回，即可切换至由所需吸盘25执行下次作业，完成吸盘25的切换过程。吸盘25的切换在完成投放动作后的必要移动过程中即可完成，可以省略机械手10专门由作业区域A移至较远的吸盘架8处进行吸盘25的放下及更换，之后再回到作业区域A的无效过程，节约相应无效过程所消耗的无效时间，因此，可大幅缩短吸盘更换时间，使端拾器20能够将更多的时间用于执行拾取作业，提高端拾器20的使用效率，增大投入产出比。
图7-21所示的实施例仅以三级拾取装置21的情况为例进行说明，但应当理解，拾取装置21的级数可以更多，例如，可以设置四级或更多级。
综上，本申请的实施例，通过对端拾器20的结构进行改进，可消除拾取部更换过程中的无效动作，大幅节约拾取部更换过程中浪费的大量时间，有效提高工作效率。
基于所提供的端拾器20，本申请实施例还提供一种包括本申请实施例端拾器20的机械手10和机器人100。
以上所述仅为本申请的示例性实施例，并不用以限制本申请，凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (18)

  1. 一种端拾器(20)，包括：
    安装座(1)；
    拾取机构(2)，设置于所述安装座(1)上，并包括至少两个拾取装置(21)，所述至少两个拾取装置(21)可相对运动，所述拾取装置(21)包括用于拾取物品的拾取部(2d)；和
    驱动机构(3)，设置于所述安装座(1)上，并与所述拾取机构(2)驱动连接，所述驱动机构(3)通过驱动所述至少两个拾取装置(21)相对运动，来使所述至少两个拾取装置(21)切换地拾取物品。
  2. 根据权利要求1所述的端拾器(20)，其中，所述拾取装置(21)还包括套筒(24)，所述拾取部(2d)设置于所述套筒(24)的端部，所述至少两个拾取装置(21)依次套设，并可相对伸缩，所述驱动机构(3)通过驱动所述至少两个拾取装置(21)相对伸缩，来使所述至少两个拾取装置(21)切换地拾取物品。
  3. 根据权利要求2所述的端拾器(20)，其中，所述至少两个拾取装置(21)包括第一拾取装置(22)和至少一个第二拾取装置(23)，所述第一拾取装置(22)固定设置，所述至少一个第二拾取装置(23)套设于所述第一拾取装置(22)外部，并相对于所述第一拾取装置(22)可伸缩，所述驱动机构(3)与所述至少一个第二拾取装置(23)驱动连接，并驱动所述至少一个第二拾取装置(23)伸缩，以使所述至少一个第二拾取装置(23)与所述第一拾取装置(22)切换地拾取物品。
  4. 根据权利要求3所述的端拾器(20)，其中，所述至少两个拾取装置(21)包括至少两个第二拾取装置(23)。
  5. 根据权利要求3或4所述的端拾器(20)，其中，所述驱动机构(3)包括与所述至少一个第二拾取装置(23)一一对应的驱动装置(31)，所述驱动装置(31)与所述第二拾取装置(23)驱动连接，以驱动所述第二拾取装置(23)伸缩。
  6. 根据权利要求5所述的端拾器(20)，其中，所述驱动装置(31)包括丝杆电机(32)，所述丝杆电机(32)与所述第二拾取装置(23)驱动连接。
  7. 根据权利要求6所述的端拾器(20)，其中，所述驱动装置(31)还包括丝母座(37)，所述丝母座(37)连接所述丝杆电机(32)的丝母(36)与所述第二拾取装置(23)的套筒(24)，以实现所述丝杆电机(32)与所述第二拾取装置(23)的驱动连接。
  8. 根据权利要求7所述的端拾器(20)，其中，所述丝母座(37)包括彼此连接的第一连接 部(38)和第二连接部(39)，所述第一连接部(38)与所述套筒(24)之间通过第一销轴(61)连接，或者，所述第一连接部(38)与所述套筒(24)卡接；和/或，所述第二连接部(39)与所述丝母(36)之间通过第二销轴(62)连接。
  9. 根据权利要求8所述的端拾器(20)，其中，
    所述第一连接部(38)内设有第一腔(41)，所述套筒(24)位于所述第一腔(41)中，所述第一连接部(38)与所述套筒(24)之间通过所述第一销轴(61)连接；或者，
    所述第一连接部(38)包括卡接部(3a)，所述套筒(24)的侧壁上设有卡槽(3c)，所述卡接部(3a)卡在所述卡槽(3c)中，并被所述卡槽(3c)限制朝所述套筒(24)径向外侧以及沿所述套筒(24)轴向的位移，连接所述第二连接部(39)与所述丝母(36)的第二销轴(62)与所述套筒(24)的外壁抵接，以限制所述丝母座(37)朝所述套筒(24)径向内侧的位移。
  10. 根据权利要求9所述的端拾器(20)，其中，所述第一腔(41)的侧壁上设有第一孔部(51)，所述套筒(24)的外壁上设有第二孔部(52)，所述第一孔部(51)与所述第二孔部(52)对接，形成封闭的第一销孔(55)，所述第二连接部(39)上设有与所述第一销孔(55)连通的第一通孔(57)，所述第一销轴(61)穿过所述第一通孔(57)并插入所述第一销孔(55)中，以连接所述套筒(24)与所述第一连接部(38)。
  11. 根据权利要求8-10任一所述的端拾器(20)，其中，所述第二连接部(39)内设有第二腔(42)，所述丝母(36)位于所述第二腔(42)中，所述第二连接部(39)与所述丝母(36)之间通过所述第二销轴(62)连接。
  12. 根据权利要求11所述的端拾器(20)，其中，所述第二腔(42)的侧壁上设有第三孔部(53)，所述丝母(36)的外壁上设有第四孔部(54)，所述第三孔部(53)和所述第四孔部(54)对接，形成封闭的第二销孔(56)，所述第二连接部(39)上设有与所述第二销孔(56)连通的第二通孔(58)，所述第二销轴(62)穿过所述第二通孔(58)并插入所述第二销孔(56)中，以连接所述丝母(36)与所述第二连接部(39)。
  13. 根据权利要求2-12任一所述的端拾器(20)，其中，在两个彼此相邻并均可伸缩的拾取装置(21)中，位于外部的拾取装置(21)的套筒(24)上设有避让口(26)，以对位于内部的拾取装置(21)的伸缩进行避让。
  14. 根据权利要求1-13任一所述的端拾器(20)，还包括限位装置(7)，所述限位装置(7)设置于所述安装座(1)上，并限制所述拾取装置(21)的位移。
  15. 根据权利要求14所述的端拾器(20)，其中，所述限位装置(7)包括第一限位开关(71)和第二限位开关(72)，所述第一限位开关(71)和所述第二限位开关(72)沿着所述拾取装置(21) 的伸出方向依次布置，所述第一限位开关(71)限制所述拾取装置(21)的缩回位移，所述第二限位开关(72)限制所述拾取装置(21)的伸出位移。
  16. 根据权利要求1-15任一所述的端拾器(20)，其中，所述拾取部(2d)包括吸盘(25)。
  17. 一种机械手(10)，包括如权利要求1-16任一所述的端拾器(20)。
  18. 一种机器人(100)，包括如权利要求17所述的机械手(10)。
PCT/CN2022/084749 2021-04-15 2022-04-01 端拾器、机械手和机器人 WO2022218168A1 (zh)

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