End effector and robot

Abstract

The present invention belongs to the field of robots, and discloses an end effector and a robot. The end effector includes a base, a clamping mechanism and a bottom shovel mechanism. The base is used to connect with the robot, and the clamping mechanism and the bottom shovel mechanism are arranged on the same side of the base; the clamping mechanism can be rotated in the direction of approaching or moving away from the bottom shovel mechanism, so that the distance between the clamping mechanism and the bottom shovel mechanism increases or decreases, and an anti-slip elastic member is arranged at the end of the clamping mechanism; the bottom shovel mechanism can be telescopically arranged along a straight line, so that the end of the clamping mechanism is opposite to or staggered with the bottom shovel mechanism, and the surface of the bottom shovel mechanism is a smooth surface. The clamping mechanism of the present invention is clamped opposite to the bottom shovel mechanism, and can lift and drag the cloth; when the bottom shovel mechanism and the clamping mechanism are staggered, the clamping mechanism can press the cloth to push the cloth on the table; after the clamping mechanism is away from the bottom shovel mechanism, the bottom shovel mechanism can also pick up the cloth to complete operations such as scooping or hanging the cloth, so that the robot can automatically complete operations such as folding clothes and cutting cloth.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to an end effector and a robot. Background Art

[0002] When operating fabrics, such as folding clothes, making beds, hanging towels, etc., sometimes you need to grab fabrics (such as clothes, sheets, or towels) and adjust them to a suitable posture to fold the fabrics neatly, and sometimes you need to push the fabrics on a flat surface. When making clothes, you need to align the fabrics and drag or push them under the sewing machine needle; when the sewing machine is sewing, you need to hold the fabric and make it move on the appropriate trajectory to sew suitable clothes. You can also push the fabric to complete cutting and other actions. In addition, sometimes the fabrics are stacked, such as clothes stacked together, folded sheets placed together, etc., and the end effector needs to be able to separate several layers of fabrics.

[0003] However, the robot arm grippers in the prior art are usually unable to achieve the above functions at the same time. The main problem is that the grippers clamp on the opposite sides, and the two sides of the grippers are always aligned; in order to be able to grasp the object, the grippers are often rough on the surface to increase the friction between the grippers and the object, but this feature makes it difficult to enter between the cloths, or it is easy to cause the cloths to be disordered when entering. Therefore, the robot arm grippers in the prior art cannot simultaneously achieve the clamping and pushing of the cloths, as well as enter the gaps between the cloths to operate, making it difficult for the robot to automatically complete operations such as folding clothes, sewing, and cutting. Summary of the invention

[0004] The purpose of the present invention is to provide an end effector and a robot that can simultaneously clamp and push cloth, and can enter the gap between cloth to achieve the effect of separating two (or more) layers of cloth, so that the robot can complete operations such as folding clothes and cutting cloth.

[0005] The technical solution provided by the present invention is as follows:

[0006] On the one hand, an end effector is provided, comprising a base, a gripper mechanism and a bottom shovel mechanism, wherein the base is used to connect with a robot, and the gripper mechanism and the bottom shovel mechanism are arranged on the same side of the base;

[0007] The clamp mechanism can be rotatably arranged in a direction close to or away from the bottom shovel mechanism, so that the distance between the clamp mechanism and the bottom shovel mechanism increases or decreases. An anti-slip elastic member is provided on a side of the end of the clamp mechanism close to the bottom shovel mechanism, so that the clamp mechanism and the cloth do not move relative to each other, so as to clamp or push the cloth;

[0008] The bottom shovel mechanism can be telescopically arranged along a straight line, so that the end of the clamping claw mechanism is opposite to or staggered with the bottom shovel mechanism, and the surface of the bottom shovel mechanism is a smooth surface, so that the bottom shovel mechanism can slide relative to the cloth.

[0009] In this solution, the clamping, pushing and loosening of the cloth can be achieved through the cooperation of the clamping claw mechanism and the bottom shovel mechanism; the bottom shovel mechanism is arranged below the clamping claw mechanism, and the cloth is arranged between the bottom shovel mechanism and the clamping claw mechanism. When the clamping claw mechanism is rotated close to the bottom shovel mechanism to abut against the cloth, the bottom shovel mechanism provides positive pressure to clamp the cloth on the anti-slip elastic part with large friction of the clamping claw mechanism. The cloth is clamped by the clamping claw mechanism above the cloth and the bottom shovel mechanism below the cloth to realize operations such as lifting the cloth and dragging the cloth. In the robot arm When the bottom shovel mechanism is retracted and staggered with the clamping claw mechanism under the driving of the shovel mechanism, the clamping claw mechanism can press the cloth. At this time, the friction between the anti-slip elastic part at the end of the clamping claw mechanism and the cloth is greater than the friction between the cloth and the table top. Therefore, the cloth and the clamping claw mechanism are relatively fixed, while the cloth and the table top can slide relatively to drag the cloth on the table top. After the clamping claw mechanism moves away from the bottom shovel mechanism, due to the smooth surface of the bottom shovel mechanism, it can easily reach between the cloth and between the cloth and the smooth surface to realize operations such as picking up the cloth and separating the cloth.

[0010] By arranging an anti-slip elastic member at the end of the clamping jaw mechanism, the friction between the clamping jaw mechanism and the cloth can be increased, thereby increasing the clamping force of the clamping jaw mechanism on the cloth, so that when the clamping jaw mechanism cooperates with the bottom shovel mechanism, the cloth can be firmly clamped to prevent the cloth from falling; the surface of the bottom shovel mechanism is a smooth surface, the bottom shovel mechanism can be easily extended between the cloths, and when the bottom shovel mechanism moves on the cloth surface, it will not push the cloth to move, thereby preventing the cloth from wrinkling.

[0011] Further preferably, in the clamping state, the clamping claw mechanism rotates in a direction close to the bottom shovel mechanism, and the bottom shovel mechanism extends, and the clamping claw mechanism and the bottom shovel mechanism cooperate to clamp the fabric;

[0012] In the pushing state, the bottom shovel mechanism retracts, the clamping claw mechanism presses the cloth and pushes the cloth to slide;

[0013] In the open state, the clamping claw mechanism rotates in a direction away from the bottom shovel mechanism to loosen the cloth. After the clamping claw mechanism is away from the surface of the cloth, the bottom shovel mechanism can pick up the cloth.

[0014] Further preferably, the clamping mechanism comprises a rotating member, a clamping member and a first driving assembly;

[0015] One end of the rotating member is arranged on the base;

[0016] The clamping member is arranged at the other end of the rotating member and is used to cooperate with the bottom shovel mechanism to clamp the cloth;

[0017] The first driving assembly drives the end of the rotating member to rotate in a direction approaching or away from the bottom shovel mechanism.

[0018] Further preferably, the first driving component includes a linear pusher and a first sliding member, one end of the linear pusher is rotatably connected to the base, the other end of the linear pusher is provided with a push rod, the push rod is connected to the first sliding member, and is used to push the first sliding member to move in a straight line, the first sliding member is rotatably connected to the rotating member, and the first sliding member drives the rotating member to rotate when it slides.

[0019] Further preferably, a force sensor is further included, wherein the force sensor is arranged on the clamping member, and detects the force and torque of the clamping member in multiple directions by detecting the deformation of the rotating member.

[0020] In this solution, by utilizing the unique cantilever beam structure of the clamping mechanism, strain gauges can be attached to appropriate positions of the clamping piece to measure the deformation of the cantilever beam, and the forces and moments in multiple directions on the end clamping piece can be restored based on the deformation of the cantilever beam.

[0021] Further preferably, the bottom shovel mechanism comprises a second sliding member, a bottom shovel and a driving member, the bottom shovel is fixedly connected to the second sliding member, and the driving member drives the second sliding member to move in a straight line and drives the bottom shovel to extend and retract along the sliding direction of the cloth.

[0022] Further preferably, it further comprises a second guide rail, wherein the second guide rail is arranged on the base, and the second sliding member moves linearly along the second guide rail.

[0023] On the other hand, a robot is also provided, comprising a robotic arm and the above-mentioned end effector, wherein the end effector is arranged at the end of the robotic arm.

[0024] The technical effect of the present invention is that when the clamping claw mechanism rotates close to the bottom shovel mechanism to abut against the cloth, the cloth is clamped by the clamping claw mechanism and the bottom shovel mechanism to realize operations such as lifting the cloth and dragging the cloth; when the bottom shovel mechanism retracts to be offset from the clamping claw mechanism, the clamping claw mechanism can press the cloth to push the cloth on the table; after the clamping claw mechanism moves away from the bottom shovel mechanism, the bottom shovel mechanism can also pick up the cloth to complete operations such as scooping or hanging the cloth, so that the robot can automatically complete operations such as folding clothes and cutting cloth. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments:

[0026] Figure 1is a structural schematic diagram of an end effector of the present invention;

[0027] Figure 2 It is a structural schematic diagram of a first driving assembly and a bottom shovel mechanism of an end effector of the present invention;

[0028] Figure 3 It is a structural schematic diagram of a bottom shovel mechanism of an end effector of the present invention;

[0029] Figure 4 is a schematic structural diagram of the end effector of the present invention when it is in a clamped state;

[0030] Figure 5 is a schematic structural diagram of the end effector of the present invention when it is in a pushing state;

[0031] Figure 6 It is a schematic structural diagram of the end effector of the present invention when it is in an open state.

[0032] Description of Figure Numbers:

[0033] 1. Base; 2. Clamping mechanism; 21. Rotating member; 211. Opening; 22. Clamping member; 23. First driving assembly; 231. Linear pushing member; 2311. First guide rail; 232. First sliding member; 24. First rotating shaft; 25. Second rotating shaft; 26. Third rotating shaft; 3. Bottom shovel mechanism; 31. Second sliding member; 32. Bottom shovel; 33. Driving member; 4. Anti-skid elastic member; 5. Second guide rail; 6. Cloth. DETAILED DESCRIPTION

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0035] In order to simplify the drawings, only the parts related to the present invention are schematically shown in each figure, and they do not represent the actual structure of the product. In addition, in order to simplify the drawings and facilitate understanding, in some figures, only one of the parts with the same structure or function is schematically drawn or marked. In this article, "one" not only means "only one", but also means "more than one".

[0036] It should be further understood that the term “and / or” used in the specification and appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0037] In this document, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings and other implementation methods can be obtained based on these drawings without creative work.

[0040] The present invention provides a specific embodiment of an end effector, such as Figure 1 As shown, it includes a base 1, a clamping mechanism 2 and a bottom shovel mechanism 3. The base 1 is used to connect with the robot, and the clamping mechanism 2 and the bottom shovel mechanism 3 are arranged on the same side of the base 1; the clamping mechanism 2 can be rotated in the direction of approaching or moving away from the bottom shovel mechanism 3, so that the distance between the clamping mechanism 2 and the bottom shovel mechanism 3 increases or decreases; the bottom shovel mechanism 3 can be telescopically arranged along a straight line, so that the end of the clamping mechanism 2 is opposite to or staggered with the bottom shovel mechanism 3.

[0041] Specifically, the end effector includes a base 1, a gripper mechanism 2 and a bottom shovel mechanism 3. The base 1 is connected to the end of the robot's mechanical arm, and the other components of the end effector are installed on the base 1. The gripper mechanism 2 and the bottom shovel mechanism 3 are located on the same side of the base 1. The gripper mechanism 2 and the bottom shovel mechanism 3 are rotatably connected to the base 1. When the gripper mechanism 2 rotates in a direction close to the bottom shovel mechanism 3, the distance between the gripper mechanism 2 and the bottom shovel mechanism 3 can be reduced, so that the end of the gripper mechanism 2 contacts the bottom shovel mechanism 3. When the gripper mechanism 2 rotates in a direction away from the bottom shovel mechanism 3, the distance between the gripper mechanism 2 and the bottom shovel mechanism 3 can be increased.

[0042] like Figure 4 As shown, the cloth 6 is generally located between the clamping mechanism 2 and the bottom shovel mechanism 3. The bottom shovel mechanism 3 can be telescopically arranged along a straight line. When the bottom shovel mechanism 3 is extended to face the end of the clamping mechanism 2, the cloth 6 can be clamped. Figure 5As shown, when the bottom shovel mechanism 3 is retracted and staggered with the end of the clamping claw mechanism 2, the cloth 6 can be pressed by the clamping claw mechanism 2 to push the cloth 6, that is, push the cloth 6 to move on the table. Through the mutual cooperation of the clamping claw mechanism 2 and the bottom shovel mechanism 3, the cloth 6 can be clamped and pushed at the same time, so that the robot can automatically complete operations such as folding clothes and cutting cloth 6.

[0043] An anti-slip elastic part 4 is provided on one side of the end of the clamping jaw mechanism 2 close to the bottom shovel mechanism 3, so that the clamping jaw mechanism 2 and the cloth 6 do not move relative to each other when in contact, so as to clamp or push the cloth 6; the side of the bottom shovel mechanism 3 close to the clamping jaw mechanism 2 is a smooth surface, so that the bottom shovel mechanism 3 can slide relative to the cloth 6.

[0044] An anti-skid elastic member 4 is provided at the end of the clamping mechanism 2. The anti-skid elastic member 4 has a high friction coefficient. The surface of the bottom shovel mechanism 3 is a smooth surface. There is a difference in the friction coefficient between the anti-skid elastic member 4 and the bottom shovel mechanism 3. The bottom shovel mechanism 3 can slide on the cloth 6. Since the bottom shovel mechanism 3 has a smooth surface, when the bottom shovel mechanism 3 moves on the surface of the cloth 6, it does not drive the cloth 6 to move, so that the bottom shovel mechanism 3 can move between two layers of cloth 6 without moving the cloth 6. The anti-skid elastic member 4 at the end of the clamping mechanism 2 has a high friction coefficient. When there is positive pressure, the friction between the cloth 6 and the end of the clamping mechanism 2 is greater than the friction between the cloth 6 and other surfaces. Therefore, relative slip can be prevented between the clamping mechanism 2 and the cloth 6, thereby driving the cloth 6 to move with the movement of the robot arm.

[0045] The end effector of this embodiment can work in three states:

[0046] (1) In the clamped state, Figure 4 As shown, the cloth 6 is located between the clamp mechanism 2 and the bottom shovel mechanism 3, the clamp mechanism 2 rotates in the direction close to the bottom shovel mechanism 3, and the bottom shovel mechanism 3 extends, the clamp mechanism 2 and the bottom shovel mechanism 3 cooperate to clamp the cloth 6, so that the end effector can lift the cloth 6 and drag the cloth 6. If there are two or more end effectors, the cloth 6 can be stretched, folded, unfolded, and rolled up by moving the end effector in different directions;

[0047] (2) In the push state, Figure 5 As shown, the bottom shovel mechanism 3 is retracted, the clamping claw mechanism 2 presses the cloth 6, and pushes the cloth 6 to slide on the table;

[0048] (3) In the open state, Figure 6 As shown, the clamping jaw mechanism 2 rotates in a direction away from the bottom shovel mechanism 3 to loosen the cloth 6. After the clamping jaw mechanism 2 is away from the surface of the cloth 6, the bottom shovel mechanism 3 can pick up the cloth 6 to complete the scooping or hanging action of the cloth 6.

[0049] like Figure 1As shown, the clamping mechanism 2 includes a rotating member 21, a clamping member 22 and a first driving assembly 23; one end of the rotating member 21 is arranged on the base 1; the clamping member 22 is arranged at the other end of the rotating member 21, and is used to cooperate with the bottom shovel mechanism 3 to clamp the cloth 6; the first driving assembly 23 drives the end of the rotating member 21 to rotate in a direction close to or away from the bottom shovel mechanism 3.

[0050] like Figure 2 As shown, the first driving assembly 23 includes a linear pusher 231 and a first sliding member 232. One end of the linear pusher 231 is rotatably connected to the base 1. The other end of the linear pusher 231 is provided with a push rod. The push rod is connected to the first sliding member 232 and is used to push the first sliding member 232 to move in a straight line. The first sliding member 232 is rotatably connected to the rotating member 21. When the first sliding member 232 slides, it drives the rotating member 21 to rotate.

[0051] The rotating member 21 is the main structure of the clamping mechanism 2. One end of the rotating member 21 is rotatably arranged on the base 1 through the first rotating shaft 24. A second rotating shaft 25 is arranged in the middle of the rotating member 21. The first sliding member 232 is rotatably connected to the rotating member 21 through the second rotating shaft 25. The base 1 is also provided with a third rotating shaft 26. The linear pusher 231 is rotatably connected to the base 1 through the third rotating shaft 26. The linear pusher 231 is provided with a first guide rail 2311. The first sliding member 232 moves linearly along the first guide rail 2311 on the linear pusher 231. When the first sliding member 232 slides, the distance between the second rotating shaft 25 and the third rotating shaft 26 can be changed, so that the rotating member 21 can be rotatably arranged in a direction close to or away from the bottom shovel mechanism 3, and the opening and closing movement of the clamping mechanism 2 can be realized. The linear pusher 231 includes a fixed seat and a linear motor disposed on the fixed seat. The first guide rail 2311 is disposed on the fixed seat. The linear motor pushes the first sliding member 232 to perform linear motion along the first guide rail 2311 .

[0052] When the clamping mechanism 2 opens and closes, the line segment L1 between the first rotating shaft 24 and the third rotating shaft 26 remains unchanged, the line segment L2 between the first rotating shaft 24 and the second rotating shaft 25 remains unchanged, and the line segment L3 between the second rotating shaft 25 and the third rotating shaft 26 can be controlled to change. Therefore, the angle between the line segment L1 and the line segment L2 will be controlled to change with the length of the line segment L3, thereby realizing the rotation of the rotating member 21.

[0053] The clamping member 22 is fixedly mounted at one end of the rotating member 21 away from the base 1, and the anti-slip elastic member 4 is arranged on the clamping member 22, and the clamping member 22 is used to clamp the cloth 6. Preferably, a force sensor is arranged on the clamping member 22, and the force sensor detects the deformation of the rotating member 21 to detect the force and torque of the clamping member 22 in multiple directions. Specifically, the stress state of the clamping member 22 at the end is a typical "cantilever beam" stress state. By using this unique "cantilever beam" structure, by attaching a strain gauge at a suitable position of the clamping member 22, the deformation of the "cantilever beam" can be measured, thereby restoring the force and torque in multiple directions on the end clamping member 22.

[0054] Since the "cantilever beam" structure is adopted, according to the relevant knowledge of theoretical mechanics, material mechanics, and structural mechanics, when an external load acts on a certain elastic structural member, it will inevitably cause the structural member to deform. If the shape of the structural member is known, the stiffness of the structural member in different directions can be calculated, and the deformation of the structural member under the action of the external load can be calculated.

[0055] In reverse, using the above principle, the shape of the "cantilever beam" is known, and the structural deformation of the cantilever beam is measured by the force sensor (strain gauge). The structural elastic modulus is known, and the deformation of the position where the strain gauge is attached on the structure can be calculated, and then the deformation of the position where the strain gauge is attached on the cantilever beam can be calculated. During normal operation, the load only acts on the anti-slip elastic member 4 of the clamp mechanism 2, and the position of the force is known. According to the structural mechanics linear elastic formula F = kx, where k is the constitutive relationship of the cantilever beam structure, after the cantilever beam is designed, k is a known constant matrix, and x is the deformation vector of the cantilever beam structure. By selecting a suitable combination of strain gauge positions, a set of x values ​​in characteristic directions can be measured, so the external load F can be restored. At this time, F is the vector of external loads in multiple directions.

[0056] For example, detect the force in the axial direction of the clamping member 22 and two forces perpendicular to the axial direction of the clamping member 22, or detect two forces perpendicular to the axial direction of the clamping member 22 and two moments other than the twisting around the axial direction of the clamping member 22, or detect six forces and moments in the space on the clamping member 22; wherein the axial direction of the clamping member 22 refers to the direction from the end of the rotating member 21 to the anti-slip elastic member 4.

[0057] After the spatial force and torque acting on the clamp 22 are detected, the load state of the end effector can be fed back to the robot, thereby providing a feedback signal to the robot control, which refers to the entire electromechanical system including the end effector.

[0058] Preferably, an opening 211 extending vertically through one end of the rotating member 21 connected to the base 1 is provided, and the first driving assembly 23 is disposed in the opening 211. The first driving assembly 23 is disposed in the opening 211 of the rotating member 21, so that the structure of the entire end effector is more reasonable and the volume of the end effector can be reduced.

[0059] like Figure 3 As shown, the bottom shovel mechanism 3 includes a second sliding member 31, a bottom shovel 32 and a driving member 33. The driving member 33 is a linear motor. The bottom shovel 32 is fixedly connected to the second sliding member 31. The driving member 33 drives the second sliding member 31 to move in a straight line and drives the bottom shovel 32 to extend and retract along the sliding direction of the cloth 6. A second guide rail 5 is also provided on the base 1, and the second sliding member 31 moves in a straight line along the second guide rail 5.

[0060] There are three second guide rails 5 on the base 1, and the second guide rails 5 are parallel to each other. The second sliding member 31 can move along the second guide rails 5 under the drive of the driving member 33 in a controlled manner, and is constrained by the second guide rails 5 and will not shake. The smooth bottom shovel 32 is installed on the second sliding member 31, and the second sliding member 31 can drive the smooth bottom shovel 32 to extend or retract when sliding.

[0061] The present invention also provides a specific embodiment of a robot, comprising a mechanical arm and an end effector of the above embodiment, wherein the end effector is arranged at the end of the mechanical arm, and the structure of the end effector is shown in FIG. Figures 1 to 6 shown.

[0062] The end effector is arranged at the end of the robot arm and can move with the movement of the robot arm. The end effector includes a clamping mechanism 2 and a bottom shovel mechanism 3. Through the cooperation of the clamping mechanism 2 and the bottom shovel mechanism 3, the cloth 6 can be clamped, pushed and released at the same time. The bottom shovel mechanism 3 is arranged below the clamping mechanism 2, and the cloth 6 is arranged between the bottom shovel mechanism 3 and the clamping mechanism 2. When the clamping mechanism 2 is close to the bottom shovel mechanism 3 and rotates until the end of the clamping mechanism 2 abuts against the cloth 6, the clamping mechanism 2 located above the cloth 6 and the bottom shovel mechanism 3 are moved to the bottom shovel mechanism 3. The bottom shovel mechanism 3 below the cloth 6 clamps the cloth 6 to realize operations such as lifting the cloth 6 and dragging the cloth 6; when the bottom shovel mechanism 3 retracts to be offset from the clamping claw mechanism 2, the clamping claw mechanism 2 can press the cloth 6 to drag the cloth 6 on the table; after the clamping claw mechanism 2 moves away from the bottom shovel mechanism 3, the bottom shovel mechanism 3 can also pick up the cloth 6 to complete operations such as scooping up or hanging the cloth 6; so that the robot can complete operations on the cloth 6, such as folding clothes, making beds or hanging towels, etc.; or push the cloth 6 to move on the flat plate of the sewing machine, etc.

[0063] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An end effector, characterized in that: It comprises a base, a clamping claw mechanism and a bottom shovel mechanism, wherein the base is used to connect with the robot, and the clamping claw mechanism and the bottom shovel mechanism are arranged on the same side of the base; The clamp mechanism can be rotatably arranged in a direction close to or away from the bottom shovel mechanism, so that the distance between the clamp mechanism and the bottom shovel mechanism increases or decreases. An anti-slip elastic member is provided on a side of the end of the clamp mechanism close to the bottom shovel mechanism, so that the clamp mechanism and the cloth do not move relative to each other, so as to clamp or push the cloth; The bottom shovel mechanism is telescopically arranged along a straight line, so that the end of the clamping claw mechanism is opposite to or staggered with the bottom shovel mechanism, and the surface of the bottom shovel mechanism is a smooth surface, so that the bottom shovel mechanism can slide relative to the cloth.

2. The end effector according to claim 1, characterized in that: In the clamping state, the clamping claw mechanism rotates in a direction close to the bottom shovel mechanism, and the bottom shovel mechanism extends, and the clamping claw mechanism and the bottom shovel mechanism cooperate to clamp the fabric; In the pushing state, the bottom shovel mechanism retracts, the clamping claw mechanism presses the cloth and pushes the cloth to slide; In the open state, the clamping claw mechanism rotates in a direction away from the bottom shovel mechanism to loosen the cloth. After the clamping claw mechanism is away from the surface of the cloth, the bottom shovel mechanism can pick up the cloth.

3. The end effector according to claim 1, characterized in that: The clamping mechanism comprises a rotating member, a clamping member and a first driving assembly; One end of the rotating member is arranged on the base; The clamping member is arranged at the other end of the rotating member and is used to cooperate with the bottom shovel mechanism to clamp the cloth; The first driving assembly drives the end of the rotating member to rotate in a direction approaching or away from the bottom shovel mechanism.

4. The end effector according to claim 3, characterized in that: The first driving component includes a linear pusher and a first sliding member, one end of the linear pusher is rotatably connected to the base, the other end of the linear pusher is provided with a push rod, the push rod is connected to the first sliding member, and is used to push the first sliding member to move in a straight line, the first sliding member is rotatably connected to the rotating member, and the first sliding member drives the rotating member to rotate when it slides.

5. The end effector according to claim 3, characterized in that: It also includes a force sensor, which is arranged on the clamping member and detects the force and torque of the clamping member in multiple directions by detecting the deformation of the rotating member.

6. The end effector according to claim 1, characterized in that: The bottom shovel mechanism comprises a second sliding member, a bottom shovel and a driving member, wherein the bottom shovel is fixedly connected to the second sliding member, and the driving member drives the second sliding member to move in a straight line and drives the bottom shovel to extend and retract along the sliding direction of the cloth.

7. The end effector according to claim 6, characterized in that: It also includes a second guide rail, which is arranged on the base, and the second sliding member moves linearly along the second guide rail.

8. A robot, characterized in that: It comprises a robotic arm and the end effector according to any one of claims 1 to 7, wherein the end effector is arranged at the end of the robotic arm.

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