End picker, manipulator and stamping line

Abstract

The present invention relates to the field of mechanical devices, and discloses an end picker, a manipulator, and a stamping assembly line, wherein the end picker includes a quick-release base and a gripping assembly; the quick-release base includes an integrally formed connecting portion and a mounting portion; a first channel for mounting a positioning column of the manipulator extends from the surface of the connecting portion to the inside of the connecting portion, and the bottom of the first channel is a notch; a second channel for mounting a fixing column extends from the surface of the connecting portion to the inside of the connecting portion. Positioning and fixing are achieved by setting a first channel and a second channel that intersect each other at the connecting portion of the end picker for connecting the manipulator, wherein the first channel is used to place a positioning column connected to the manipulator to achieve positioning of the end picker, the second channel is used to place a fixing column to fix the connecting portion to the positioning column to achieve fixing of the end picker to the manipulator, and the notch is used for a reinforcement member connected to the positioning column to pass through. The end picker provided by the present invention has the advantages of quick disassembly and high installation accuracy.

Description

Technical Field

[0001] The invention relates to the field of mechanical devices, and in particular to an end picker, a manipulator and a stamping line. Background Art

[0002] In the stamping line, the stamping products are moved between the stamping machines by the manipulator. The manipulator usually moves the products by the end picker. Different products have different requirements for the end picker. The end picker of the manipulator needs to be specially made according to the size, weight and shape of the product. When replacing the end picker, the operator needs to disassemble the connection between the end picker and the manipulator, which takes time and changes the installation accuracy of the original end picker.

[0003] Chinese patent document CN208628302U discloses an end picker and automobile stamping production line, including a fixed slide rail, two main mounting plates, a main suction cup assembly, and an auxiliary suction cup assembly; the fixed slide rail extends in the front-to-back direction, and the rear section of the fixed slide rail is used for fixed installation to the robot arm; the two main mounting plates extend in the left-right direction, and the two main mounting plates are spaced and adjustable in the front-to-back direction at the front end of the fixed slide rail; the main suction cup assembly includes four main suction cups with suction cup heads facing downward, and the four main suction cups are slidably and adjustablely installed on the left and right sides of each of the two main mounting plates; the auxiliary suction cup assembly includes four auxiliary suction cup mounting plates and four auxiliary suction cups correspondingly installed on the four auxiliary suction cup mounting plates, and the four auxiliary suction cup mounting plates are rotatably installed on the left and right ends of each of the two main mounting plates in the plane where the two main mounting plates are located. The end picker is connected to the robot arm by screws, and the connection strength is poor, and the installation accuracy of the replacement and installation of the end picker is poor. Summary of the invention

[0004] The technical problem to be solved by the technical solution of the present invention is to provide an end picker that can be quickly disassembled and assembled and has the advantage of high precision.

[0005] The first object of the present invention is to provide an end picker for a robot, comprising:

[0006] Quick-release base for connecting the robot;

[0007] A gripping assembly connected to the quick-release base and used for gripping a workpiece;

[0008] The quick-release base includes an integrally formed connection portion and a mounting portion, wherein the connection portion is used to connect the manipulator, and the mounting portion is used to mount the gripping assembly; a first channel extends from the surface of the connection portion to the inside of the connection portion, and the first channel is used to mount a positioning column of the manipulator;

[0009] The bottom of the first channel is a notch connecting the inside and the outside of the first channel, and the width of the notch is smaller than the maximum width of the cross section of the first channel; a second channel extends from the surface of the connecting portion to the inside of the connecting portion, the end of the second channel is connected to the first channel, and is arranged crosswise with the first channel, and the second channel is used to install a fixing column to fix the positioning column in the first channel.

[0010] Optionally, the number of the first channels is at least two, corresponding to the number of the first channels, and the first channels are symmetrically arranged on the connecting portion.

[0011] Optionally, the first channel is cylindrical, and the width of the notch is smaller than the diameter of the cylindrical cross-section of the first channel; and the second channel is cylindrical.

[0012] Optionally, the grab assembly includes a suction cup, a first cantilever and a second cantilever; the first cantilever is connected to the mounting portion, the first cantilever can rotate around a connection point with the mounting portion, the first cantilever is provided with a first slide slot hole, the suction cup is connected to the first cantilever through a suction cup column, and the suction cup column can move along the first slide slot hole;

[0013] The second cantilever is connected to the first cantilever, the second cantilever can rotate around the connection point with the first cantilever, the second cantilever is provided with a second slide slot hole, the suction cup is connected to the second cantilever through a suction cup column, and the suction cup column can move along the second slide slot hole.

[0014] Optionally, the suction cup is one or more of a vacuum suction cup, a magnetic suction cup or a flexible suction cup.

[0015] Optionally, a sensor is further included, wherein the sensor is connected to the grasping assembly via a connecting plate and is used to sense the workpiece to be grasped.

[0016] Optionally, the fixing column includes a first column, a second column and a third column, and the first column, the second column and the third column are connected in sequence;

[0017] The outer diameter of the first cylinder is larger than the inner diameter of the second channel, the surface of the second cylinder is provided with threads, the inner surface of the second channel is provided with threads, and the outer diameter of the second cylinder matches the inner diameter of the second channel;

[0018] The third column matches the positioning channel of the positioning column.

[0019] Correspondingly, the second object of the present invention is to provide a robot arm, comprising the above-mentioned end picker, and also comprising a frame and a moving mechanism, wherein the moving mechanism is connected to the frame, the moving mechanism is connected to the end picker, and the moving mechanism drives the end picker to move along the x direction, -x direction, z direction or -z direction.

[0020] Optionally, the end tool is connected to the moving mechanism via an L-shaped plate, the L-shaped plate comprises two vertical surfaces perpendicular to each other, one of which is fixedly connected to the moving mechanism, and the other vertical surface is provided with a positioning column;

[0021] The positioning column is fixedly connected to the L-shaped plate, the cylindrical surface of the positioning column includes two mutually parallel planes and two opposite curved surfaces, the shape of the positioning column is adapted to the first channel of the end tool, and the quick-release base of the end tool is in contact with the vertical surface provided with the positioning column.

[0022] A reinforcing plate is provided between the two vertical surfaces of the L-shaped plate.

[0023] Accordingly, the third object of the present invention is to provide a stamping line, comprising the above-mentioned manipulator. The technical solution of the present invention has the following beneficial effects compared with the prior art:

[0024] The present invention realizes the positioning and fixing functions by arranging a first channel and a second channel that intersect with each other on the connecting part of the end picker for connecting to the manipulator, wherein the first channel is used to place a positioning column connected to the manipulator to realize the positioning of the end picker, and the second channel is used to place a fixing column to fix the connecting part to the positioning column to realize the fixation of the end picker and the manipulator, and the notch is used for the reinforcement member connected to the positioning column to pass through. The end picker provided by the present invention has the advantages of quick disassembly and high installation accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] One or more embodiments are exemplarily described by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings represent similar elements, and the figures in the drawings do not constitute proportional limitations unless otherwise stated.

[0026] Figure 1 A partial enlarged view of an embodiment of an end pick-up of the present invention;

[0027] Figure 2 The three-dimensional end picker embodiment of the present invention is shown in FIG. Figure 1 ;

[0028] Figure 3 The three-dimensional end picker embodiment of the present invention is shown in FIG. Figure 2 ;

[0029] Figure 4A three-dimensional diagram of an embodiment of a manipulator of the present invention;

[0030] Figure 5 The present invention is a three-dimensional embodiment of the robot x-direction moving component Figure 1 ;

[0031] Figure 6 The present invention is a three-dimensional embodiment of the robot x-direction moving component Figure 2 ;

[0032] Figure 7 The present invention is a three-dimensional embodiment of the robot x-direction moving component Figure 3 ;

[0033] Figure 8 This is a partial enlargement of the embodiment of the robot x-direction moving component of the present invention. Figure 1 ;

[0034] Fig. 9 This is a partial enlargement of the embodiment of the robot x-direction moving component of the present invention. Figure 2 ;

[0035] Fig.10 is a cross-sectional view of an embodiment of a robot x-direction moving assembly of the present invention;

[0036] Fig.11 It is a partial diagram of the transmission component of the embodiment of the robot z-direction moving component of the present invention;

[0037] Fig.12 A cross-sectional view of an embodiment of a robot z-direction moving assembly of the present invention Figure 1 ;

[0038] Fig.13 A cross-sectional view of an embodiment of a robot z-direction moving assembly of the present invention Figure 2 ;

[0039] Fig.14 It is a front view of an embodiment of a robot z-direction moving assembly of the present invention;

[0040] Fig.15 It is a front view of an embodiment of a robot z-direction moving assembly of the present invention;

[0041] Fig.16 It is a front view of an embodiment of a manipulator oil filter transfer platform of the present invention;

[0042] Fig.17 A top view of an embodiment of a manipulator oil filter transfer platform of the present invention;

[0043] Fig.18 It is a partial enlarged view of the limiter of the embodiment of the manipulator oil filter transfer platform of the present invention;

[0044] Fig.19It is a stereoscopic diagram of an embodiment of a manipulator oil filter transfer platform of the present invention.

[0045] Reference numerals:

[0046] 1- quick release base; 11- connection part; 12- installation part; 13- first channel; 14- notch; 15- second channel; 2- grab assembly; 21- suction cup; 22- first cantilever; 23- second cantilever; 24- first slide slot hole; 25- second slide slot hole; 26- suction cup column; 3- positioning column; 4- fixed column; 41- first column; 42- second column; 43- third column; 5- L-shaped plate; 6- sensor; 10- manipulator; 20- x direction moving assembly; 30- rack; 40- end picker; 50- z direction moving assembly; 60- turntable; 201- fixed plate; 2 011-first groove; 202-moving member; 2021-moving plate; 211-first surface; 212-second surface; 2022-first boss; 2023-second boss; 2024-guide rail; 2025-gas distributor; 2026-vacuum generator; 203-first rolling assembly; 2031-screw; 2032-bearing; 2033-nut; 204-second rolling assembly; 2041-roller; 411-second groove; 205-X direction driving assembly; 2051-stator; 2052-moving member; 206-blocking part; 207-positioning assembly; 2071-grating ruler; 2072-guide mechanism; 2073-connecting plate; 2074-first sensor; 208-second sensor; 209-progressive distributor; 2091-first drag chain plate; 2092-drag chain; 2093-second drag chain plate; 3011-cavity; 3012-fixed block; 502-Z direction drive assembly; 5021-coupling; 503-transmission assembly; 5031-screw; 5032-shaft ring; 5033-moving platform; 5034-clamping block; 504-moving block; 505-balancing assembly; 5051-floating joint; 506-oil collector Component; 5061-oil baffle plate; 5062-oil collecting box; 5063-baffle plate; 5064-bottom surface; 5065-oil outlet; 5066-oil collecting barrel; 507-control component; 601-carrying plate; 6011-oil collecting groove; 6012-inner ring; 6013-outer ring; 6014-oil outlet hole; 6015-locating pin; 602-oil filter plate; 6021-oil filter hole; 6022-guide groove; 6023-locating hole; 603-limiting member; 6031-upper limit part; 6032-lower limit part; 6033-guide part; 6034-fixing part; 604-fixing block. DETAILED DESCRIPTION

[0047] In order to facilitate the understanding of the present invention, the present invention is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element, or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element, or there can be one or more centered elements therebetween. The terms "vertical", "horizontal", "left", "right", "inside", "outside" and similar expressions used in this specification are only for illustrative purposes. In the description of the present invention, the terms "first" and "second" are used only for descriptive purposes and cannot be understood as indicating relative importance or implicitly indicating the number of technical features indicated. Therefore, unless otherwise specified, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features; "multiple" means two or more. The term "include" and any variation thereof means non-exclusive inclusion, and one or more other features, integers, steps, operations, units, components and / or combinations thereof may be present or added.

[0048] In addition, unless otherwise expressly 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, an indirect connection through an intermediate medium, or a connection between two components. All technical and scientific terms used in this specification have the same meaning as those commonly understood by technicians in the technical field of the present invention. The terms used in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used in this specification includes any and all combinations of one or more related listed items.

[0049] In addition, the technical features involved in different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0050] Figure 1-4 A schematic diagram of an end effector embodiment provided by the present invention.

[0051] Please refer to Figure 1-4 The end picker embodiment is used for a robot to grab a workpiece, and can be specifically a robot end picker for moving a workpiece in a stamping assembly line. The embodiment includes a quick-release base 1 for connecting the robot and a grabbing assembly 2 for grabbing the workpiece and connected to the quick-release base 1.

[0052] The quick release base 1 includes an integral connection portion 11 and a mounting portion 12, wherein the connection portion 11 is used to connect the manipulator, and the mounting portion 12 is used to mount the gripping assembly 2. Specifically, the quick release base 1 is a cubic structure, with the mounting portion 12 at the front end and the connection portion 11 at the rear end.

[0053] A first channel 13 extends from the surface of the connection part 11 to the inside of the connection part 11, and the first channel 13 is used to install the positioning column 3 of the manipulator. The bottom of the first channel 13 is a notch 14, which connects the inside and the outside of the first channel 13. The notch 14 is used for the reinforcement L-shaped plate 5 connected to the positioning column 3 to pass through, so as to avoid interference between the first channel 13 and the L-shaped plate 5. The width of the notch 14 is less than the maximum width of the cross section of the first channel 13. This design has a clamping effect to prevent the positioning column 3 from falling out of the first channel 13.

[0054] A second channel 15 extends from the surface of the connecting portion 11 to the inside of the connecting portion 11, and the end of the second channel 15 is connected to the first channel 13, and is arranged to cross the first channel 13, specifically, it can be arranged to cross vertically, and the fixing effect of the positioning column 3 is the best. The second channel 15 is used to install the fixing column 4 to fix the positioning column 3 in the first channel 13.

[0055] In one embodiment, the number of the first channels 13 is at least two, corresponding to the number of the first channels 13 , and the first channels 13 are symmetrically arranged on the connecting portion 11 .

[0056] Specifically, in this embodiment, the rear end of the connection part 11 is provided with two first channels 13, and they are symmetrically arranged with respect to the center line of the quick-release base 1. Correspondingly, the two sides of the connection part 11 each have a second channel 15 arranged perpendicularly to and intersecting the first channel 13 and connected to the first channel 13. This symmetrical design has higher strength and better stability. In other embodiments, the number of first channels 13 may also be three or more, and the second channel 15 of the first channel 13 located in the middle may be opened inward from the top surface of the connection part 11.

[0057] In one embodiment, the first channel 13 is cylindrical, the width of the notch 14 is smaller than the diameter of the cylindrical cross section of the first channel 13, and the second channel 15 is cylindrical. The cylindrical shape can be easily produced and processed.

[0058] In one embodiment, the gripping assembly 2 includes a suction cup 21, a first cantilever 22, and a second cantilever 23. The first cantilever 22 is connected to the mounting portion 12, and the first cantilever 22 can rotate around the connection point with the mounting portion 12. The first cantilever 22 is provided with a first slide slot hole 24. The suction cup 21 is connected to the first cantilever 22 through a suction cup column 25, and the suction cup column 25 can move along the first slide slot hole 24.

[0059] The second cantilever 23 is connected to the first cantilever 22 , and the second cantilever 23 can rotate around the connection point with the first cantilever 22 . The second cantilever 22 is provided with a second slide slot hole 25 . The suction cup 21 is connected to the second cantilever 23 through a suction cup column 26 , and the suction cup column 26 can move along the second slide slot hole 25 .

[0060] Specifically, in this embodiment, the number of the first cantilever 22 and the second cantilever 23 are both 3, and each first cantilever 22 is equipped with a second cantilever 23. The first cantilever 22 rotates around the connection point with the mounting portion 12, and the position of the first cantilever 22 can be adjusted, and then the position of the suction cup 21 on the first cantilever 22 can be adjusted to adapt to the grasping of different workpiece sizes. The second cantilever 23 can increase the extension distance of the suction cup 21 on the first cantilever 22 and change the extension direction to adapt to the grasping requirements of different workpieces. The grasping component 2 of this embodiment has strong flexibility, and the position of the suction cup 21 is adjustable, which can adapt to the grasping of different workpieces.

[0061] In one embodiment, the suction cup 21 is one or more of a vacuum suction cup, a magnetic suction cup or a flexible suction cup. Different types of suction cups 21 can be used to grasp workpieces of different materials. Vacuum suction cups are suitable for grasping workpieces of most materials, magnetic suction cups are suitable for grasping workpieces of metal materials, and flexible suction cups are suitable for workpieces of relatively thin materials to avoid deformation of the workpiece during the suction process. In this embodiment, a vacuum suction cup is used.

[0062] In one embodiment, a sensor 6 is further included, and the sensor 6 is connected to the gripping assembly 2 through a connecting plate, and is used to sense the workpiece to be gripped. The sensor 6 is specifically installed on the first cantilever 22 through the connecting plate, and is used to sense the workpiece under the gripping assembly 2, and provide determination information for the operation of the gripping assembly 2.

[0063] In one embodiment, the fixing column 4 includes a first column 41, a second column 42 and a third column 43. The first column 41, the second column 42 and the third column 43 are connected in sequence and form an integral structure. The outer diameter of the first column 41 is greater than the inner diameter of the second channel 15, the surface of the second column 42 is provided with a thread, the inner surface of the second channel 15 is provided with a thread matching the thread of the second column 42, and the outer diameter of the second column 42 matches the inner diameter of the second channel 15. The third column 43 matches the positioning channel (not shown) of the positioning column 3.

[0064] The first column 41 is exposed outside the second channel 15, the second column 42 is located in the second channel 15, the threads on the surface lock the fixing column 4 and the second channel 15, and the third column 42 extends into the positioning column 3 to limit the displacement of the positioning column 3, thereby achieving the function of fixing the positioning column 3. The fixing column 4 can be a plunger.

[0065] As shown in Figure 5-19, it is a schematic diagram of an embodiment of the manipulator provided by the present invention.

[0066] Please refer to Figure 5-19 This embodiment is used for transporting workpieces between stations of a stamping line, and specifically includes the end picker 40 of the above embodiment, and also includes a moving mechanism, a frame 30 and a transfer table 60. The moving mechanism is connected to the frame 30, and the moving mechanism is connected to the end picker 40. The moving mechanism drives the end picker to move along the x direction, -x direction, z direction or -z direction.

[0067] Specifically, the moving mechanism includes an x-direction moving assembly 20 and a z-direction moving assembly 50. The frame 30 is fixedly connected to the z-direction moving assembly 50, the x-direction moving assembly 20 is connected to the z-direction moving assembly 50, the end picker 40 is fixedly connected to the x-direction moving assembly 20, and the transfer table 60 is fixedly connected to the frame 30 and is disposed below the middle of the x-direction moving assembly 20.

[0068] In one embodiment, the end tool 40 is connected to the x-direction moving assembly 20 via an L-shaped plate 5 , and the L-shaped plate 5 includes two vertical surfaces perpendicular to each other, one of which is fixedly connected to the x-direction moving assembly 20 , and the other vertical surface is provided with a positioning column 3 .

[0069] The positioning column 3 is fixedly connected to the L-shaped plate 5. The cylindrical surface of the positioning column 3 includes two mutually parallel planes and two opposite curved surfaces. The planes are in contact with the L-shaped plate 5, which facilitates the installation of the positioning column 3. The shape of the positioning column 3 is adapted to the first channel 13 of the end tool, and the quick-release base 1 of the end tool 40 is in contact with the vertical surface provided with the positioning column 3. A reinforcing plate is provided between the two vertical surfaces of the L-shaped plate 5. The use of the L-shaped plate 5 can increase the connection strength and increase the connection area.

[0070] The specific embodiment structure of the x-direction moving component 20 is shown in FIG. Figure 6-10 .

[0071] The x-direction moving assembly 20 is used for moving the end picker 40 in the planar manipulator in the x or -x direction. The x-direction moving assembly 20 comprises: a fixed plate 201, a moving member 202, a first rolling assembly 203, a second rolling assembly 204 and an x-direction driving assembly 205. The moving member 202 is fixedly connected to the end picker 40 via an L-shaped plate 205.

[0072] The fixed plate 201 is used for guiding. The fixed plate 201 is concave in the middle and convex on both sides to form a first groove 2011. The moving member 202 is arranged in the first groove 2011 and moves along the first groove 2011. The moving member 202 includes a moving plate 2021, and the moving plate 2021 is provided with a first surface 211 and a second surface 212. The first surface 211 is arranged opposite to the bottom surface of the first groove 2011. A plurality of first rolling components 203 are arranged between the first surface 211 and the bottom surface of the first groove 2011, and the rolling surface of the first rolling component 203 is in rolling contact with the first surface 211. A plurality of second rolling components 204 are arranged on the convex surfaces on both sides of the fixed plate 201, and the rolling surface of the second rolling component 204 is in rolling contact with the second surface 212. The X-direction driving component 205 is arranged between the fixed plate 201 and the moving member 202, and drives the moving member 202 to move along the fixed plate 201.

[0073] Specifically, in this embodiment, the fixing plate 201 is used to support other components. The fixing plate 201 is in an elongated shape with a C-shaped cross section. One side of the fixing plate 201 is a plane connected to the z-direction moving mechanism, and the other side is a first groove 2011 .

[0074] The first surface 211 and the second surface 212 of the moving plate 2021 are perpendicular to each other. The first surface 211 is parallel to the bottom surface of the first groove 2011 and perpendicular to the inner side wall of the first groove 2011. A plurality of first rolling components for supporting the moving member 202 are arranged between the first surface 211 and the bottom surface of the first groove 2011.

[0075] The first rolling components 203 are evenly arranged on both sides of the first groove 2011, and the adjacent first rolling components 203 do not contact each other and have a very small gap. The rolling surface of the first rolling component 203 is in rolling contact with the first surface 211. Specifically, the rolling contact is point contact, and the rolling friction method reduces the friction generated when the rolling surface of the first rolling component 203 and the first surface 211 move relative to each other. Furthermore, the first rolling components 203 are symmetrically arranged in two rows, and the supporting force is applied to the upper and lower ends of the moving plate 2021. The direction of the supporting force is opposite to the direction of the force applied by the X-direction driving component 205 to press the moving plate 2021 against the first rolling component 203, that is, the moving plate 2021 is balanced in the y direction and does not generate displacement.

[0076] The top surfaces of the two raised sides of the fixed plate 201 are provided with a plurality of second rolling components 204 for guiding the moving member 202, and the plurality of second rolling components 204 are arranged at intervals, and the rolling surface of the second rolling component 204 is in rolling contact with the second surface 212. Specifically, the rolling contact is a surface contact, and the contact surface is smooth and combined with rolling friction, so the friction force is reduced. Furthermore, the second rolling components 204 are symmetrically arranged in two rows, and the upper and lower rows of the second rolling components 204 limit the up and down movement of the moving plate 2021, that is, the moving plate 2021 is balanced in force in the z direction and does not produce displacement.

[0077] The moving plate 2021 is subjected to balanced forces in the y direction and does not generate displacement, and the moving plate 2021 is subjected to balanced forces in the z direction and does not generate displacement, and can only be moved in the x direction through the x-direction driving component 205. Moreover, the contact mode of the moving plate 2021 when moving is rolling friction contact, which can greatly reduce friction and increase the moving speed compared to the contact mode of sliding friction.

[0078] In one embodiment, the movable member 202 further includes a gas distributor block 2025 and a vacuum generator 2026. The gas distributor block 2025 is symmetrically arranged on the movable plate 2021, and is used for gas diversion. Each hole in the gas distributor block 2025 is respectively connected to a corresponding suction cup in the end picker 40, and is used for individually controlling the air intake and air cut-off of each suction cup. The vacuum generator 2026 is symmetrically arranged on the movable plate 2021, and is used for generating negative pressure, and is used for providing a vacuum state when the suction cup grabs the material, or destroying the vacuum state when releasing the material. Specifically, the gas distributor block 2025

[0079] The number of 2025 is 2, and the number of vacuum generators 2026 is 4.

[0080] In one embodiment, the front side of the movable plate 2021 is provided with two symmetrical first bosses 2022, and the surface of the first bosses 2022 is the first surface 211. The back side of the movable plate 2021 is provided with two symmetrical second bosses 2023, and the upper surface of the second bosses 2023 is fixedly provided with a guide bar 2024, and the contact surface between the guide bar 2024 and the second rolling assembly 204 is the second surface 212.

[0081] Specifically, the front side of the movable plate 2021 is the side opposite to the bottom side of the first groove 2011, and the first boss 2022 can be separated or integrated with the movable plate 2021. The second surface 212 is the side surface of the guide bar 2024, and the guide bar 2024 and the second boss 2023 are fixedly connected by a plurality of screws.

[0082] The structure of the first boss 2022 and the second boss 2023 can extend the first surface 211 and the second surface 212 for contacting the movable plate 2021 by a certain distance to adapt to the installation position of the first rolling component 203 and the second rolling component 204, making the contact position more flexible and reasonable.

[0083] In one embodiment, the cross-section of the second surface 212 is convex; the second rolling component 204 includes a roller 2041, and the surface of the roller 2041 is provided with a second groove 411, the second groove 411 is the rolling surface of the second rolling component 204, and the cross-section of the second groove 411 is adapted to the cross-section of the second surface 212, and the movable member 202 drives the roller 2041 to rotate when moving along the fixed plate 201.

[0084] Specifically, the surface of the roller 2041 is a circumferential surface, and the circumferential surface is provided with a second groove 411. When the moving member 202 moves along the fixed plate 201, since the roller 2041 is rotatable, the guide bar 2024 rubs against the roller 2041 when moving, and the friction force generated drives the roller 2041 to rotate, and there is rolling friction contact between the two. The cross section of the guide bar 2024 can be V-shaped, and correspondingly, the cross section of the second groove 411 is M-shaped. This protrusion groove matching design has a guiding effect and can limit the displacement of the moving plate 2021 in the y direction.

[0085] In one embodiment, the first rolling assembly 203 includes a driving screw 2031 and a bearing 2032, and the driving screw 2031 has the functions of positioning and connecting. The inner side surface of the first groove 2011 is provided with a plurality of evenly distributed mounting holes (not shown), and the mounting holes are used to mount the driving screw 2031, and the driving screw 2031 connects the bearing 2032 to the protrusion of the fixed plate 201 through the mounting holes. The rolling surface of the bearing 2032 is in rolling contact with the first surface 211, and the rolling surface of the bearing 2032 and the first surface 211 generate friction force, and when the moving member 202 moves along the fixed plate 1, the friction force drives the bearing 2032 to rotate.

[0086] The plug screw 2031 is only provided with threads at the connection part of the end, and the middle part that bears the pressure on the bearing 2032 has no threads and is a smooth section. Therefore, its strength is higher than that of the end with threads, and it can withstand greater external forces, which is suitable for the connection of the bearing 2032 in this embodiment.

[0087] Furthermore, the first rolling component 203 also includes a nut 2033 , the driving screw 2031 transmits the bearing 2032 and passes through the protrusion of the fixing plate 201 , and the nut 2033 is sleeved on the tail of the driving screw 2031 .

[0088] In addition to being subjected to the pressure exerted by the movable plate 2021, the bearing 2032 installed above the fixed plate 201 is itself inverted and therefore will also be affected by its own gravity. Therefore, a nut 2033 is added to the end of the plug screw installed above the fixed plate 201 to balance the influence of gravity and increase the connection strength.

[0089] In one embodiment, the movable plate 2021 can extend out of both ends of the fixed plate 201 , and both ends of the movable plate 2021 are connected to the end tool 40 .

[0090] In this embodiment, the end pickers 40 at both ends of the moving plate 2021 cooperate with the transfer table 60, and the tail part first transfers the workpiece grabbed at the previous station to the transfer table 60, and then the head part grabs the workpiece on the transfer table 60 and transfers it to the next station, and the end pickers 40 at both ends operate synchronously. In addition, the contact mode of the first rolling component 203 and the second rolling component 204 cooperates with the transfer table 60 to enable the moving plate 2021 to extend out of the two ends of the fixed plate 201 without leaving the range of the second rolling component 204, thereby achieving double the stroke. Therefore, compared with the transmission mode of the guide rail slider under the same volume, the use of this structural design in this embodiment has a larger stroke and a faster speed.

[0091] In one embodiment, blocking parts 206 are provided at both ends of the fixed plate 201, and the blocking parts 206 are used to limit the moving range of the moving member 202. A bumper block (not shown) is provided on the front of the moving plate 2021, and the blocking parts 206 abut against the bumper block to limit the moving range of the moving member 202.

[0092] In one embodiment, the X-direction driving assembly 205 is a linear motor, including a stator 2051 and a mover 2052. The stator 2051 is arranged in the first groove 2011, has a rectangular shape, and is fixedly connected to the fixed plate 201; the mover 2052 is fixedly connected to the moving plate 2021, is arranged on the front of the moving plate 2021, and has a rectangular shape. The stator 2051 generates a driving force to drive the mover 2052 to drive the moving plate 2021 to move (the motion principle of the linear motor is a prior art and is not described here). The first rolling assembly 203 supports the moving plate 2021 so that the mover 2052 and the stator 2051 are arranged at a predetermined distance.

[0093] Specifically, the magnetic attraction between the stator 2051 and the mover 2052 causes the moving plate 2021 to be attracted in the y direction, which is balanced with the support force of the first rolling assembly 203 on the moving plate 2021 in the y direction. The predetermined distance between the stator 2051 and the mover 2052 is adjusted by adjusting the depth of the first groove 2011, and adjusting the height of the first boss 2022 and the height of the second boss 2023. The predetermined distance between the mover 2052 and the stator 2051 can be specifically 0.7-1.2 mm. Within this range, the attraction between the stator 2051 and the mover 2052 can achieve the optimal operating speed of the moving plate 2021.

[0094] In one embodiment, the mobile mechanism for the manipulator further includes a second sensor 208, a positioning assembly 207, a first drag chain plate 2091, a drag chain 2092, a second drag chain plate 2093 and a progressive distributor 209. The progressive distributor 209 is arranged on the back of the fixed plate 201 to divert the lubricating oil. The first drag chain plate 2091 is fixedly connected to the mobile plate 2021, and the second drag chain plate 2093 is fixedly connected to the fixed plate 201; one end of the drag chain 2092 is fixedly connected to the first drag chain plate 2091, and moves with the mobile plate 2021 through the first drag chain plate 2091; the other end of the drag chain 2092 is fixedly connected to the second drag chain plate 2093. The drag chain 2092 is used to place wires.

[0095] The positioning assembly 207 is used to detect the position and displacement of the moving member 202. The positioning assembly 207 includes a grating ruler 2071 arranged on the outer side of the first groove 2011, a guide mechanism 2072 fixedly connected to the fixed plate 201, a connecting plate 2073 connecting the guide mechanism 2072 and the moving member 202, and a first sensor 2074 fixedly connected to the connecting plate 2073. The distance between the sensing surface of the first sensor 2074 and the grating ruler 2071 is 0.2-0.6mm. The moving member 202 drives the first sensor 2074 on the connecting plate 2073 to move along the guide mechanism 2072, and the guide mechanism 2072 is arranged parallel to the fixed plate 201. Specifically, the guide mechanism 2072 of this embodiment is a slide rail slider guide mechanism 2072. The second sensors 208 are respectively disposed at the head and tail ends of the fixed plate 201 . The moving member 202 blocks the second sensors 8 so that the second sensors 208 generate signals for detecting the position of the moving member 202 .

[0096] The specific embodiment structure of the z-direction moving component 50 is shown in FIG. Figure 11-15 .

[0097] The z-direction moving component 50 is used to realize the movement of the x-direction moving component 20 in the z or −z direction, and includes a z-direction driving component 502 , a transmission component 503 , a moving block 504 , a balancing component 505 and an oil collecting component 506 .

[0098] The Z-direction driving assembly 502 is arranged on the upper surface of the frame 30, and is fixedly connected to the frame 30. The power output end extends into the frame 30 to provide driving force. The transmission assembly 503 is arranged in the cavity 3011 of the frame 30, and is connected to the Z-direction driving assembly 502, and the Z-direction driving assembly 502 fixedly connected to the frame 30. The moving block 504 is fixedly connected to the transmission assembly 503, and is used to connect other components and drive other components to move. The other components can specifically be the end picker of the manipulator. The balancing assembly 505 is used to balance the gravity of the moving block 504 and acts on the moving block 504.

[0099] The oil collecting assembly 506 includes an oil baffle plate 5061 and an oil collecting box 5062. The oil baffle plate 5061 is arranged outside the transmission assembly 503, connected to the transmission assembly 503, and is used to shield the lubricating oil splashed by the transmission assembly 503; the oil collecting box 5062 is arranged below the transmission assembly 503, and is used to collect the lubricating oil dropped by the oil baffle plate 5061 and the transmission assembly 503. The oil collecting assembly 506 can prevent the lubricating oil from splashing to other places during the operation of the transmission assembly 503.

[0100] In one embodiment, the transmission assembly 503 includes a screw rod 5031, a collar 5032 and a moving platform 5033. The screw rod 5031 is connected to the frame 30 through a fixed block 5012, and the fixed block 3012 can be integrally formed with the frame 30. The collar 5032 is sleeved on the screw rod 5031, and slides up and down along the screw rod 5031 when the screw rod 5031 rotates. The moving platform 5033 is sleeved on the circumference of the collar 5032, and the moving platform 5033 is connected to the collar 5032 through a clamping block 5034. The Z-direction driving assembly 502 is connected to the screw rod 5031, driving the screw rod 5031 to rotate, and the collar 5032 drives the moving platform 5033 to move along the screw rod 5031 under the rotation of the screw rod 5031. One end of the moving platform 5033 is fixedly connected to the moving block 504, and the other end is movably connected to the balancing assembly 505.

[0101] When the moving mechanism with the oil collecting structure is in operation, the Z-direction driving assembly 502 drives the screw 5031 to rotate, and the collar 5032, the moving platform 5033, and the moving block 504 move along the screw 5031. When the collar 5032, the moving platform 5033, and the moving block 504 move upward (opposite to the direction of gravity), the balancing assembly 505 applies a thrust opposite to gravity to the collar 5032, the moving platform 5033, and the moving block 504. When the collar 5032, the moving platform 5033, and the moving block 504 move downward (same as the direction of gravity), the balancing assembly 505 applies a thrust opposite to gravity to the collar 5032, the moving platform 5033, and the moving block 504.

[0102] In one embodiment, the Z-direction driving component 502 is a motor, specifically, the Z-direction driving component 502 can be a stepping motor or a servo motor. The output end of the motor is fixedly connected to the screw rod 5031 through a coupling 5021 .

[0103] In one embodiment, the balancing component 505 is a cylinder, and the activated telescopic end is connected to the moving platform 5033 through a floating joint 5051 , and the telescopic direction of the telescopic end of the cylinder is parallel to the gravity direction of the moving platform 5033 .

[0104] In one embodiment, the oil baffle plate 5061 is fixedly connected to the movable platform 5033, and the oil baffle plate 5061 surrounds the four sides of the screw rod 5031. The oil collecting box 5062 is arranged at the bottom of the cavity 3011 of the frame 30, and is located below the screw rod 5031.

[0105] In one embodiment, the oil baffle plate 5061 includes three mutually perpendicular baffle plates 5063, which are respectively fixedly connected to the moving platform 5033 and surround the screw rod 5031. The oil baffle plates 5061 are symmetrically arranged with the moving platform 5033 as the center.

[0106] In one embodiment, the bottom surface 5064 of the oil collecting box 5062 is an inclined surface, and the four sides of the inclined surface extend vertically to form side surfaces, and the two oppositely arranged side surfaces are folded outward and fixedly connected to the frame 30. The inclined surface forms a predetermined angle with the horizontal plane, and an oil outlet 5065 is provided at the bottom end of the oil collecting box 5062, and the oil outlet 5065 is connected to the oil collecting barrel 5066 suspended from the frame 30 through a pipeline. When the lubricating oil of the transmission assembly 503 falls into the oil collecting box 5062, the lubricating oil is collected from the bottom surface 5064 of the oil collecting box 5062 to the oil outlet 5065, and then collected in the oil collecting barrel 5066 through a pipeline.

[0107] In one embodiment, the moving mechanism with the oil collecting structure further includes a control component 507 , which is disposed inside the frame 30 and is used to control the Z-direction driving component 502 and the balancing component 505 .

[0108] The structure of the transfer station 60 is shown in the following table. Figure 16-19 .

[0109] The transfer table 60 is used for transfer when the robot is transporting workpieces, and includes: a carrying plate 601, an oil filter plate 602 and a limiter 603. The oil filter plate 602 is fixedly connected to the carrying plate 601, and the limiter 3 is arranged on the oil filter plate 602.

[0110] An oil collecting groove 6011 is provided on the upper surface of the carrier plate 601, and the oil collecting groove 6011 is used to collect oil. The oil filter plate 602 is provided on the upper surface of the carrier plate 601, and is used to place the workpiece. The oil filter plate 602 is provided with a plurality of through oil filter holes 6021. When the workpiece is placed on the oil filter plate 602, the oil on the workpiece falls onto the carrier plate 601 through the oil filter holes 6021 and then flows into the oil collecting groove 6011. A guide groove 6022 is provided on the upper surface of the oil filter plate 602, and a stopper 603 is installed in the guide groove 6022. Different installation positions can be adjusted along the guide groove 6022. The stopper 603 is used to limit the position of the workpiece on the oil filter plate 602. According to the size and shape of the workpiece, the position of the stopper 603 is adjusted to adapt to the shape and size of the workpiece, thereby playing a role in limiting the workpiece.

[0111] In one embodiment, the oil collecting groove 6011 is surrounded by an inner ring 6012 and an outer ring 6013. The area of ​​the outer ring 6013 is larger than the area of ​​the oil filter plate 602, so as to prevent the oil from the oil filter plate 602 from dripping to the periphery of the oil collecting groove 6011 of the carrier plate 601, thereby preventing the oil from dripping from the periphery of the oil collecting groove 6011. In this embodiment, the area of ​​the inner ring 6011 is within the area of ​​the oil filter plate 602, and the oil dripping from the edge of the oil filter plate 602 can directly drip into the oil collecting groove 6011. The bottom of the oil collecting groove 6011 is provided with an oil outlet 6014, and the oil from the workpiece is collected and discharged from the oil collecting groove 6011 through the oil outlet 6014.

[0112] In one embodiment, a plurality of fixing blocks 604 are provided between the carrier plate 601 and the oil filter plate 602. The fixing blocks 604 are installed on the upper surface of the carrier plate 601. The oil filter plate 602 is fixedly connected to the carrier plate 601 through the fixing blocks 604. The fixing blocks 604 provide a gap between the carrier plate 601 and the oil filter plate 602. When the operator disassembles the oil filter plate 602, the gap can be used to facilitate the removal of the oil filter plate 602. The gap also facilitates the flow of oil on the surface of the carrier plate 601.

[0113] The upper surface of the carrier plate 601 is provided with a plurality of positioning pins 6015, and the positioning pins 6015 and the carrier plate 601 can be integrally formed or separately provided. The oil filter plate 602 is provided with a plurality of through positioning holes 6023, and the positions of the positioning holes 6023 correspond to the positions of the positioning pins 6015, and the positioning pins 6015 are inserted into the positioning holes 6023 to position and install the oil filter plate 602.

[0114] Furthermore, the fixing blocks 604 are distributed in the middle and four corners of the oil filter plate 602. This arrangement makes the support force on the oil filter plate 602 more uniform, avoiding deformation in the middle or at the edges of the oil filter plate 602 when the oil filter plate 602 is subjected to pressure. The positioning pins 6013 are distributed in the middle or four corners of the oil filter plate 602. Specifically, in this embodiment, the fixing blocks 604 are symmetrically distributed on the upper surface of the carrier plate 601, and the number of the fixing blocks 604 is 608. The positioning pins 6015 are symmetrically distributed on the upper surface of the carrier plate 601, and the number of the positioning pins 6015 is 2, which are symmetrically distributed in the middle of the carrier plate 601.

[0115] In one embodiment, the position-limiting member 603 has an upper limit portion 6031 for limiting the position of the workpiece and a fixing portion 6034 extending perpendicularly from the upper limit portion 6031, and the fixing portion 6034 is fixedly connected to the oil filter plate 602. Specifically, the upper limit portion 6031 extends downward and bends 90 degrees to form the fixing portion 6024, the upper limit portion 6031 is a portion for limiting the workpiece, and the fixing portion 6034 is a portion for fixing the position-limiting member 603 on the oil filter plate 602.

[0116] The lower end of the upper limit portion 6031 symmetrically extends to the lower limit portion 6032, the size of the lower limit portion 6032 is adapted to the size of the guide groove 6022, and the lower limit portion 6032 is inserted into the guide groove 6022, and the position of the limit member 603 is adjusted by moving the lower limit portion 6032 along the guide groove 6022. Specifically, the guide groove 6022 is composed of two parallel grooves, and correspondingly, the lower limit portion 6032 is formed by two sections branched from the upper limit portion 6031, and is inserted into the guide groove composed of the two parallel grooves, which can prevent the limit member 603 from shaking in the guide groove 6022.

[0117] Since there is a gap between the fixing portion 6034 obtained by bending the upper limit portion 6031 and the surface of the oil filter plate 602, when the workpiece is a thin workpiece, the workpiece is easily stuck in the gap. Therefore, by providing a lower limit portion 6032 continuous with the upper limit portion 6031 and inserting it into the guide groove 6022 to block the gap, the workpiece can be effectively prevented from being stuck in the gap and damaged.

[0118] In one embodiment, the upper end of the upper limit portion 6031 extends outward to form a guide portion 6033, which is used to guide the workpiece to a set position during the workpiece placement process, that is, to expand the size of the entrance under the workpiece.

[0119] In one embodiment, the upper limit portion 6031 is column-shaped or sheet-shaped.

[0120] Specifically, the cylindrical upper limit portion 6031 can be used for thick workpieces because thick workpieces are not easily deformed. The sheet-shaped upper limit portion 6031 is used for thin workpieces because thin workpieces are easily deformed. The sheet-shaped upper limit portion 6031 can increase the contact area and reduce the pressure on the thin workpiece.

[0121] In one embodiment, the stoppers 603 are distributed at the four corners of the oil filter plate 602 and are symmetrically arranged on the upper surface of the oil filter plate 602. The stoppers 603 are installed at different positions of the oil filter plate 602 along the guide groove 6022, so the distance between the relatively arranged stoppers 603 is adjustable. The distance between the stoppers 603 is adjusted according to the size of the product.

[0122] In one embodiment, a plurality of positioning holes 6023 are provided in the guide section of the guide groove 6022 for positioning and fixing the limiting member 603 in the guide groove 6022 .

[0123] The present invention also provides a stamping line embodiment, including an embodiment of the above-mentioned manipulator 10. The stamping line embodiment is used for stamping workpieces, and includes a plurality of punching machines and a manipulator 10. The manipulator is arranged between adjacent punching machines, and is used for transporting and moving workpieces of adjacent punching machines after stamping. The manipulator can also be arranged between the punching machine and the feeding mechanism or the discharging mechanism, and is used for transporting and moving the workpiece between the feeding mechanism and the punching machine, or between the punching machine and the discharging mechanism.

[0124] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Under the concept of the present invention, the technical features in the above embodiments or different embodiments may also be combined, the steps may be implemented in any order, and there are many other changes in different aspects of the present invention as described above, which are not provided in detail for the sake of simplicity. Although the present invention has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An end picker, characterized in that: For use with robots, including: Quick-release base for connecting the robot; A gripping assembly connected to the quick-release base and used for gripping a workpiece; The quick-release base includes an integrally formed connecting portion and a mounting portion, wherein the connecting portion is used to connect the manipulator, and the mounting portion is used to mount the grabbing assembly; A first channel extends from the surface of the connecting portion to the inside of the connecting portion, and the first channel is used to install a positioning column of the manipulator; the bottom of the first channel is a notch, connecting the inside and the outside of the first channel, and the width of the notch is smaller than the maximum width of the cross section of the first channel; A second channel extends from the surface of the connecting portion to the inside of the connecting portion, the end of the second channel is communicated with the first channel and is arranged crosswise with the first channel, and the second channel is used to install a fixing column to fix the positioning column in the first channel; The first channel is arranged perpendicularly to the second channel; The number of the first channels is at least two, the number of the second channels corresponds to the number of the first channels, and the first channels are symmetrically arranged at the connecting portion; The first channel is cylindrical, and the width of the notch is smaller than the diameter of the cylindrical cross section of the first channel; the second channel is cylindrical; The gripping assembly includes a suction cup, a first cantilever and a second cantilever; The first cantilever is connected to the mounting portion, the first cantilever can rotate around the connection point with the mounting portion, the first cantilever is provided with a first slide slot hole, the suction cup is connected to the first cantilever through a suction cup column, and the suction cup column can move along the first slide slot hole; The second cantilever is connected to the first cantilever, the second cantilever can rotate around the connection point with the first cantilever, the second cantilever is provided with a second slide slot hole, the suction cup is connected to the second cantilever through a suction cup column, and the suction cup column can move along the second slide slot hole; The suction cup is one or more of a vacuum suction cup, a magnetic suction cup or a flexible suction cup; Also included is a sensor, the sensor being connected to the gripping assembly via a connecting plate and being used to sense a workpiece to be gripped; The fixed column comprises a first column, a second column and a third column, wherein the first column, the second column and the third column are connected in sequence; The outer diameter of the first cylinder is larger than the inner diameter of the second channel, the surface of the second cylinder is provided with threads, the inner surface of the second channel is provided with threads, and the outer diameter of the second cylinder matches the inner diameter of the second channel; The third column matches the positioning channel of the positioning column; The manipulator further comprises a frame, a moving mechanism and a transfer table, wherein the moving mechanism is connected to the frame, the moving mechanism is connected to the end picker, and the moving mechanism drives the end picker to move along the x direction, the -x direction, the z direction or the -z direction; The moving mechanism includes an x-direction moving assembly and a z-direction moving assembly; the frame is fixedly connected to the z-direction moving assembly, the x-direction moving assembly is connected to the z-direction moving assembly, the end picker is fixedly connected to the x-direction moving assembly, and the turntable is fixedly connected to the frame and is arranged below the middle of the x-direction moving assembly; The end picker is connected to the x-direction moving assembly through an L-shaped plate, and the L-shaped plate includes two vertical surfaces perpendicular to each other, one of which is fixedly connected to the x-direction moving assembly, and the other vertical surface is provided with a positioning column; The positioning column is fixedly connected to the L-shaped plate, the cylindrical surface of the positioning column includes two mutually parallel planes and two opposite curved surfaces, the shape of the positioning column is adapted to the first channel of the end tool, and the quick-release base of the end tool is in contact with the vertical surface provided with the positioning column; The x-direction moving assembly comprises: a fixed plate, a moving member, a first rolling assembly, a second rolling assembly and an x-direction driving assembly; the moving member is fixedly connected to the end picker through an L-shaped plate; wherein the fixed plate is used for guiding, the middle of the fixed plate is concave and the two sides are convex to form a first groove, the moving member is arranged in the first groove and moves along the first groove, the moving member comprises a moving plate, the moving plate is provided with a first surface and a second surface, the first surface is arranged opposite to the bottom surface of the first groove, a plurality of first rolling assemblies are arranged between the first surface and the bottom surface of the first groove, the rolling surface of the first rolling assembly is in rolling contact with the first surface, a plurality of second rolling assemblies are arranged on the convex surfaces on both sides of the fixed plate, the rolling surface of the second rolling assembly is in rolling contact with the second surface, and the x-direction driving assembly is arranged between the fixed plate and the moving member to drive the moving member to move along the fixed plate; The movable part also includes a gas distributor block and a vacuum generator, the gas distributor block is symmetrically arranged on the movable plate for gas diversion, each hole in the gas distributor block is respectively connected to the corresponding suction cup in the end picker for individually controlling the air intake and air cut-off of each suction cup; the front side of the movable plate is provided with two symmetrical first bosses, the surface of the first bosses is the first surface, the back side of the movable plate is provided with two symmetrical second bosses, the upper surface of the second bosses is fixedly provided with a guide bar, and the contact surface between the guide bar and the second rolling component is the second surface; the front side of the movable plate is the surface opposite to the bottom surface of the first groove, the first boss and the movable plate can be separated or integrated, the second surface is the side surface of the guide bar, and the guide bar and the second boss are fixedly connected by a plurality of screws; The moving mechanism for the manipulator also includes a second sensor, a positioning assembly, a first drag chain plate, a drag chain, a second drag chain plate and a progressive distributor, wherein the progressive distributor is arranged on the back side of the fixed plate to divert the lubricating oil, the first drag chain plate is fixedly connected to the moving plate, and the second drag chain plate is fixedly connected to the fixed plate; one end of the drag chain is fixedly connected to the first drag chain plate, and moves with the moving plate through the first drag chain plate; the other end of the drag chain is fixedly connected to the second drag chain plate, the drag chain is used to place wires, and the positioning assembly is used to detect the position and displacement of the moving part, and the positioning assembly includes a grating ruler arranged on the outer side surface of the first groove, a guide mechanism fixedly connected to the fixed plate, a connecting plate connecting the guide mechanism and the moving part, and a first sensor fixedly connected to the connecting plate; The z-direction moving component is used to realize the movement of the x-direction moving component in the z or -z direction, and includes a z-direction driving component, a transmission component, a moving block, a balancing component and an oil collecting component; the z-direction driving component is arranged on the upper surface of the frame and is fixedly connected to the frame, and the power output end extends into the frame to provide driving force, the transmission component is arranged in the cavity of the frame and is connected to the z-direction driving component, the z-direction driving component fixedly connected to the frame, the moving block is fixedly connected to the transmission component, and is used to connect other components to drive other components to move, and the other components are specifically the end pickers of the manipulator, and the balancing component is used to balance the gravity of the moving block and act on the moving block; the oil collecting component includes an oil baffle plate and an oil collecting box, the oil baffle plate is arranged on the outside of the transmission component, and is connected to the transmission component to shield the lubricating oil splashed by the transmission component; the oil collecting box is arranged under the transmission component to collect the lubricating oil dropped by the oil baffle plate and the transmission component, and the oil collecting component is used to prevent the transmission component from overworking. The lubricating oil splashes to other places during the process; the transmission assembly includes a screw rod, a shaft ring and a moving platform, the screw rod is connected to the frame through a fixed block, the fixed block and the frame are integrally formed, the shaft ring is sleeved on the screw rod, and slides up and down along the screw rod when the screw rod rotates, the moving platform is sleeved on the circumferential surface of the shaft ring, the moving platform is connected to the shaft ring through a clamping block, the z-direction driving assembly is connected to the screw rod, drives the screw rod to rotate, and the shaft ring drives the moving platform to move along the screw rod under the action of the screw rod rotation, one end of the moving platform is fixedly connected to the moving block, and the other end is movably connected to the balancing assembly; the bottom surface of the oil collecting box is an inclined surface, and the four sides of the inclined surface extend vertically to form a side surface, and the two oppositely arranged side surfaces are folded outwardly and fixedly connected to the frame, and the inclined surface forms a predetermined angle with the horizontal plane, and an oil outlet is provided at the bottom end of the oil collecting box, and the oil outlet is connected to the oil collecting barrel suspended and the frame through a pipeline. When the lubricating oil of the transmission assembly falls into the oil collecting box, the lubricating oil gathers to the oil outlet at the bottom surface of the oil collecting box, and then gathers into the oil collecting barrel through the pipeline; The transfer table is used for transfer when the manipulator transports the workpiece, and includes: a carrying plate, an oil filter plate and a limiter. The oil filter plate is fixedly connected to the carrying plate, and the limiter is arranged on the oil filter plate; an oil collecting groove is arranged on the upper surface of the carrying plate, and the oil collecting groove is used to collect oil dirt. The oil filter plate is arranged on the upper surface of the carrying plate and is used to place the workpiece. The oil filter plate is provided with a plurality of through oil filter holes. When the workpiece is placed on the oil filter plate, the oil dirt on the workpiece falls onto the carrying plate through the oil filter holes and then flows into the oil collecting groove. A guide groove is arranged on the upper surface of the oil filter plate, and the limiter is installed in the guide groove. Different installation positions are adjusted along the guide groove. The limiter is used to limit the position of the workpiece on the oil filter plate; The oil collecting groove is surrounded by an inner ring and an outer ring.

2. A stamping line, characterized in that: Comprising the end effector as claimed in claim 1.

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