Tooling and manipulator

Abstract

The invention discloses an end picking-up device and a mechanical arm. The end picking-up device comprises a mounting base; each vacuum negative pressure component comprises a small vacuum suction cup and a connecting piece used for connecting the small vacuum suction cup and a negative pressure source, the connecting pieces are connected with the mounting base in a relatively sliding mode in the first direction, and the vacuum negative pressure components are configured in the mode that when the tooling grabs an object, the vacuum negative pressure components are connected with the connecting pieces in a sliding mode in the first direction. The connecting pieces of the plurality of vacuum negative-pressure parts independently slide relative to the mounting seat so as to adjust the positions between the vacuum small suction cups in the first direction, so that the surface shape formed by the vacuum small suction cups is matched with the shape of the surface to be adsorbed of the object; and the locking part is used for locking the relative position between each connecting piece and the mounting seat after each connecting piece slides relative to the mounting seat. The tooling provided by the invention can be suitable for objects with more complex and larger curvature surfaces.

Description

Technical Field

[0001] The present invention relates to the field of cargo picking machinery, and in particular to an end picker. Background Art

[0002] The end picker is a component of various manipulators used to grab the goods to be moved. The suction cup type end picker uses a vacuum cup to absorb the object through negative pressure so as to move the object from one location to a specified location. In many scenarios, the types of objects grabbed by the end picker are not all the same, and the shape of each item is not known in advance. The current suction cup form is basically unable to handle special-shaped objects with complex surfaces and large curvatures. Figure 1 As shown in the figure, when the suction cup type end picker encounters a small curvature and irregularly shaped object, due to the protrusion of the object, the actual vacuum area S1 generated between the suction cup and the surface of the object is often smaller than the optimal contact area S2 of the suction cup, resulting in a significant reduction in the suction force. Figure 2 As shown, when the end picker in the form of a suction cup encounters a large curvature irregular-shaped object, the suction cup 1' cannot be tightly combined with the irregular-shaped object 2' due to the irregular shape of the object, and the object cannot be sucked. Summary of the invention

[0003] The object of the present invention is to provide an end effector that can adapt to objects with more complex surfaces and larger curvatures, and a robot arm using the end effector.

[0004] The first aspect of the present invention discloses an end tool, comprising:

[0005] Mounting seat;

[0006] A plurality of vacuum negative pressure components, wherein the vacuum negative pressure components include a small vacuum suction cup and a connecting piece for connecting the small vacuum suction cup and a negative pressure source, wherein the connecting piece is relatively slidably connected to the mounting seat along a first direction, and the plurality of vacuum negative pressure components are configured such that when the end picker grabs an object, the connecting pieces of the plurality of vacuum negative pressure components slide independently relative to the mounting seat to adjust the position between the small vacuum suction cups along the first direction, so that the surface shape formed by the small vacuum suction cups matches the surface shape of the object to be adsorbed;

[0007] The locking component is used to lock the relative position between each of the connecting members and the mounting seat after each of the connecting members slides relative to the mounting seat.

[0008] In some embodiments, the multiple vacuum negative pressure components are configured so that when the end picker grabs an object, the connecting parts of the multiple vacuum negative pressure components are pushed by the surface to be adsorbed of the object after being abutted against the surface to be adsorbed of the object to slide relative to the mounting seat.

[0009] In some embodiments, the vacuum negative pressure component further includes an elastic device disposed between the mounting seat and the connecting member, wherein the elastic device provides an elastic force that causes the connecting member to slide relative to the mounting seat along a first direction away from the mounting seat.

[0010] In some embodiments, a limiting device is also included for limiting the extreme position of each connecting member sliding relative to the mounting seat along the first direction. When each connecting member slides to the extreme position relative to the mounting seat along the first direction, the end faces of each vacuum suction cup are aligned.

[0011] In some embodiments, the mounting seat includes a cylinder, the cylinder cavity of the cylinder is used to connect to the negative pressure source to transfer negative pressure to each of the vacuum negative pressure components, each of the connecting parts includes a hollow connecting rod slidably connected to the cylinder, and one end of each of the connecting rods is accommodated in the cylinder cavity of the cylinder.

[0012] In some embodiments, the locking component includes a first locking member, a second locking member, and a plurality of tapered blocks disposed in the barrel cavity. The first locking member and the second locking member are respectively provided with a plurality of first through holes and a plurality of second through holes. Each of the connecting rods is slidably connected to one of the first through holes and one of the second through holes. The locking component is configured as follows: one of the first locking member and the second locking member is fixedly connected to the barrel body, and the other of the first locking member and the second locking member is slidably connected to the barrel body. The first locking member and the second locking member are brought close to each other to press the wedge surface of each tapered block into the first through hole or the second through hole to press the connecting rod located in the first through hole or the second through hole to lock the relative position between each of the connecting members and the mounting seat. The first locking member and the second locking member are moved away from each other to make each tapered block located in the first through hole or the second through hole away from the first through hole or the second through hole where it is located, so as to release the lock on the relative position between each of the connecting members and the mounting seat.

[0013] In some embodiments, the conical block includes a third through hole, each of the connecting rods is slidably connected to one of the third through holes, the first locking piece is fixedly connected to the barrel wall of the barrel cavity, the second locking piece is slidably and sealingly connected to the barrel cavity, the connecting rod is slidably and sealingly connected to one of the second through holes, the large radial dimension end of the conical block is fixedly connected to the second locking piece, and the small radial dimension end of the conical block faces the first locking piece.

[0014] In some embodiments, the conical block includes a connecting portion fixedly connected to the second locking member and a plurality of conical sub-blocks provided on the connecting portion and extending toward the first locking member, and the plurality of conical blocks are arranged at intervals along the circumference of the connecting portion.

[0015] In some embodiments, at least one ventilation hole is provided on the first locking member, and the ventilation hole is a through hole structure.

[0016] In some embodiments, the small vacuum suction cup includes an elastically deformable suction cup opening located at an end.

[0017] In some embodiments, the cross-section of the suction cup mouth is corrugated.

[0018] A second aspect of the present invention discloses a robot arm comprising any of the above-mentioned end pickers.

[0019] Based on the end picker provided by the present invention, by improving the large suction cup of the transmission structure into a structural form of multiple small vacuum suction cups, and when the end picker grabs an object, the positions of the small vacuum suction cups along the first direction can be adjusted so that the surface shape formed by each small vacuum suction cup matches the surface shape of the object to be adsorbed, and the locking component can maintain the adjusted positional relationship of each small vacuum suction cup, so that it can adapt to objects with more complex and larger curvature surfaces, the adsorption capacity is enhanced, the adaptability is wide, and the adaptability is greatly improved.

[0020] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 It is a schematic diagram of the structure of a suction cup-shaped end picker in the prior art when sucking an object on a surface with a small curvature;

[0023] Figure 2 It is a schematic diagram of the structure of a suction cup-shaped end picker in the prior art when sucking objects on a surface with a large curvature;

[0024] Figure 3 is a structural schematic diagram of an end picker according to an embodiment of the present invention;

[0025] Figure 4 for Figure 3 A schematic structural diagram of the end picker from another angle;

[0026] Figure 5 for Figure 3A schematic cross-sectional view of a partial structure of an end picker shown;

[0027] Figure 6 for Figure 5 The enlarged structural diagram of the local structure of the end picker shown;

[0028] Figure 7 for Figure 5 The enlarged structural diagram of the local structure of the end picker shown;

[0029] Figure 8 for Figure 5 A schematic diagram of the structure of the tapered block of the end picker shown;

[0030] Fig. 9 A schematic structural diagram of a small vacuum suction cup of an end picker according to another embodiment of the present invention;

[0031] Fig.10 for Fig. 9 A schematic structural diagram of another state of the small vacuum suction cup shown. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be understood that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0034] In the description of the present invention, it should be understood that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0035] In the description of the present invention, 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 directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0036] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0037] like Figures 3 to 7 In the illustrated embodiment, the end effector 100 includes a mounting base 1 , a plurality of vacuum negative pressure components 2 , and a locking component.

[0038] The mounting seat 1 is used for mounting components such as a vacuum negative pressure component 2 and a locking component.

[0039] In such Figure 3 and Figure 4In the embodiment shown, a plurality of vacuum negative pressure components 2 are arranged in an array, that is, arranged in rows and columns. The vacuum negative pressure component 2 includes a small vacuum suction cup 21 and a connector 22 for connecting the small vacuum suction cup 21 and the negative pressure source, and the connector 22 is relatively slidably connected to the mounting seat 1 along a first direction. The negative pressure source includes a negative pressure providing device such as a vacuum pump, and the connector 22 is used to transfer the negative pressure of the negative pressure source to the small vacuum suction cup to adsorb the object. The connector 22 can be directly connected to the negative pressure source, or it can be indirectly connected to the negative pressure source. In the embodiment shown in the figure, the connector 22 is connected to the negative pressure source through the barrel cavity 111 and the vacuum transfer tube 61, and the end picker 100 is installed on the manipulator through the mechanical connection part 62. The first direction is also the direction in which the connector 22 can slide relative to the mounting seat 1. In the embodiment shown in the figure, the connector 22 is a rod-shaped member, and the direction in which the connector 22 slides relative to the mounting seat is the axial direction of the rod-shaped member, and the first direction is also the direction in which the axis of the rod-shaped member is located. The connecting member 22 is slidably connected to the mounting seat 1 along a first direction, so that the small vacuum suction cup connected to the connecting member 22 can be driven to move along the first direction.

[0040] In the embodiment shown in the figure, the plurality of vacuum negative pressure components 2 are configured such that when the end picker 100 grabs an object, the connectors 22 of the plurality of vacuum negative pressure components 2 slide independently relative to the mounting seat 1 to adjust the positions between the vacuum small suction cups 21 along the first direction, so that the surface shape formed by each vacuum small suction cup 21 matches the surface shape of the object to be adsorbed. Independent sliding means that the sliding position of each connector 22 relative to the mounting seat 1 can be adjusted independently without interfering with each other, and the sliding position and distance of each connector 22 relative to the mounting seat 1 can be the same or different. When the end picker grabs an object, each connector 22 slides to a suitable position relative to the mounting seat 1, so that the position of each vacuum small suction cup along the first direction is also adjusted, and each vacuum small suction cup is also driven to a specific position, at which the shape formed by the suction cup opening of each vacuum small suction cup matches the surface shape of the object to be adsorbed, that is, the shape formed by the suction cup opening of each vacuum small suction cup is similar to the shape of the surface to be adsorbed of the object, so that each vacuum small suction cup can be more appropriately attached to the surface to be adsorbed of the object, and effectively adsorb the object.

[0041] In the embodiment shown in the figure, the plurality of vacuum negative pressure components 2 are configured so that when the end picker 100 grabs an object, the connectors 22 of the plurality of vacuum negative pressure components 2 are pushed by the surface to be adsorbed of the object after being pressed against the surface to be adsorbed of the object to slide relative to the mounting seat 1. That is, the end picker approaches and squeezes the object, and after each vacuum negative pressure component 2 contacts the surface to be adsorbed of the object, the reaction force of the surface to be adsorbed of the object on each vacuum small suction cup pushes the vacuum small suction cup to move relative to the mounting seat along the first direction, and at the same time, each connector 22 is indirectly pushed to move relative to the mounting seat through each vacuum small suction cup 21, and the relative position relationship between each vacuum small suction cup 21 is automatically adjusted to a relative position relationship in which the surface shape of each vacuum small suction cup matches the shape of the surface to be adsorbed of the object.

[0042] The locking component is used to lock the relative position between each connecting member 22 and the mounting seat 1 after each connecting member 22 slides relative to the mounting seat 1. After each small vacuum suction cup is adjusted, the locking component locks the relative position between each connecting member 22 and the mounting seat 1, so that the relative position relationship between each small vacuum suction cup is also locked, and the surface shape formed by each small vacuum suction cup that matches the surface to be adsorbed of the object can also be maintained, so that when adsorbing the object, it can fit well with the object and effectively adsorb the object.

[0043] The end picker 100 of the present embodiment improves the large suction cup of the transmission structure into a structure of multiple small vacuum suction cups 21. When the end picker 100 grabs an object, the positions of the small vacuum suction cups 21 along the first direction can be adjusted so that the surface shape formed by each small vacuum suction cup 21 matches the surface shape of the object to be adsorbed, and the locking component can maintain the adjusted positional relationship of each small vacuum suction cup 21, so that it can adapt to objects with more complex and larger curvature surfaces, thereby enhancing the adsorption capacity, widening the adaptability, and greatly improving the adaptability.

[0044] In some embodiments, the vacuum negative pressure component 2 further includes an elastic device 23 disposed between the mounting seat 1 and the connecting member 22, and the elastic device 23 provides an elastic force that causes the connecting member 22 to slide relative to the mounting seat 1 in a first direction away from the mounting seat 1. The arrangement of the elastic device 23 in this embodiment allows the elastic force of the elastic device 23 to restore each connecting member to its initial position relative to the mounting seat 1 after the end picker has finished picking up the item and the locking component has released the lock of the relative position between each connecting member 22 and the mounting seat 1. In the embodiment shown in the figure, the elastic device 23 includes a plurality of compression springs connected between the mounting seat 1 and each connecting member 22.

[0045] In some embodiments, the end picker also includes a limit device 4 for limiting the extreme position of each connecting member 22 sliding relative to the mounting seat 1 along the first direction. When each connecting member 22 slides to the extreme position relative to the mounting seat 1 along the first direction, the end faces of each small vacuum suction cup 21 are aligned. After the locking component releases the lock of the relative position between each connecting member 22 and the mounting seat 1, the elastic force of the elastic device 23 causes each connecting member to slide away from the mounting seat 1 along the first direction. The limit device 4 defines the farthest position that each connecting member 22 can slide. The limited position is defined when each connecting member 22 slides to the extreme position relative to the mounting seat 1 along the first direction. The end faces of each small vacuum suction cup 21 are aligned. In the initial state of the end picker, the end faces of each small vacuum suction cup 21 are aligned. When starting to pick up an object, each small vacuum suction cup 21 can quickly contact the surface of the object more comprehensively, so that the position of each small vacuum suction cup 21 can be adjusted more efficiently, and the surface to be adsorbed of the object can be matched and adsorbed more quickly.

[0046] In some embodiments, Figures 3 to 6 As shown, the mounting seat 1 includes a cylinder 11, a cylinder cavity 111 of the cylinder 11 is used to connect with a negative pressure source to transmit negative pressure to each vacuum negative pressure component 2, and each connecting member 22 includes a hollow connecting rod slidably connected to the cylinder 11, and one end of each connecting rod is accommodated in the cylinder cavity 111 of the cylinder 11. One end of the connecting rod is arranged in the cylinder cavity 111, and the end can receive and transmit the negative pressure from the cylinder cavity 111, and then transmit the negative pressure to each vacuum small suction cup 21 through the hollow channel of the connecting rod. One end of each connecting rod 22 is arranged in the cylinder cavity 111, which can conveniently and centrally form an array of vacuum small suction cups in the cylinder, adapt to items with a larger surface curvature range, and form reliable and effective adsorption and picking of items.

[0047] In some embodiments, a vacuum logic valve 24 is also provided between the connector and the small vacuum suction cup 21. When facing objects of different sizes and surface curvatures, it cannot be guaranteed that all the small vacuum suction cups provided can fully contact the objects. In the case of incomplete contact, air leakage of the small vacuum suction cups will affect the smooth formation of vacuum negative pressure and the vacuum degree of the small vacuum suction cups adsorbed to the objects. The vacuum logic valve 24 can be used to prevent the small vacuum suction cups that are not adsorbed to the objects from inhaling external air. The vacuum logic valve 24 may include a one-way valve and a throttle valve connected in parallel with the one-way valve. When the small vacuum suction cup is not adsorbed to the object, the one-way valve can block the air path where it is located. At this time, external air can only pass through the air path where the throttle valve is located. The diameter of the throttle valve can be adjusted to be very small, so that only a small amount of external gas will be inhaled, and the normal operation of the small vacuum suction cups that have been adsorbed to the objects will not be damaged.

[0048] In some embodiments, Figure 5 and Figure 6As shown, the locking component includes a first locking piece 31, a second locking piece 32 and a plurality of conical blocks 33 arranged between the first locking piece 31 and the second locking piece 32, and a plurality of first through holes 311 and a plurality of second through holes 321 are respectively provided on the first locking piece 31 and the second locking piece 32, and each connecting rod is slidably connected to a first through hole 311 and a second through hole 321. The locking component is configured as follows: one of the first locking piece 31 and the second locking piece 32 is fixedly connected to the cylinder 11, and the other of the first locking piece 31 and the second locking piece 32 is slidably connected to the cylinder 11, and the first locking piece 31 and the second locking piece 32 are brought close to each other to press the wedge surface of each tapered block 33 into the first through hole 311 or the second through hole 321 to press the connecting rod located in the first through hole 311 or the second through hole 321; the tapered block 33 refers to a block similar to a cone or a pyramid, that is, a block portion having a tapered cross-section, and the first locking piece 31 and the second locking piece 32 are brought close to each other by the locking piece slidably connected to the cylinder 11 (such as Figure 6 In the embodiment shown, the second locking member is slidably connected to the cylinder body. After the relative position between each connecting rod and the mounting seat 1 is adjusted, each connecting rod is at least partially located in or passes through the through hole of the locking member fixedly connected to the cylinder body 11 (in the embodiment shown, the second locking member is slidably connected to the cylinder body 11). Figure 6 In the embodiment shown in the figure, the connecting rod passes through the first through hole 311 of the first locking member 31 fixedly connected to the cylinder 11, and the locking member slidably connected to the cylinder 11 is close to the locking member fixedly connected to the cylinder 11 (as shown in FIG. Figure 6 In the embodiment shown, the second locking member 32 slides relative to the cylinder 11 close to the first locking member 31, and the locking member slidably connected to the cylinder 11 pushes the conical block into the through hole of the locking member fixedly connected to the cylinder 11 (in the embodiment shown in FIG. Figure 6 In the embodiment shown, that is, pushed into the first through hole 311), the wedge-shaped surface of the conical block can squeeze the inner wall of the through hole and the outer surface of the connecting rod (in the embodiment shown in FIG. Figure 6In the embodiment shown, the hole wall of the first through hole 311 and the outer surface of the connecting rod are squeezed to lock the relative position between each connecting member 22 and the mounting seat 1. The first locking member 31 and the second locking member 32 are moved away from each other to make each conical block 33 located in the first through hole 311 or the second through hole 321 move away from the first through hole 311 or the second through hole 321 where it is located, so as to release the lock on the relative position between each connecting member 22 and the mounting seat 1. When the first locking member and the second locking member move away from each other, the conical block 33 is driven away from the through hole where it is located by the movement of the movable locking member or is pushed out of the through hole where it is located by the elastic force of the elastic member, and the connecting rod is no longer squeezed by the conical block and can slide freely relative to the first through hole and the second through hole, so that the lock on the relative position between the connecting member 22 and the mounting seat 1 is released. The setting of the locking member in this embodiment enables each connecting rod to flexibly adjust the relative position with the mounting seat without interference, and at the same time, after adjusting the position, the relative position relationship between each connecting rod and the mounting seat can be conveniently and effectively locked, and it can be conveniently and effectively unlocked.

[0049] In some embodiments, Figure 5 , Figure 6 and Figure 8 As shown, the conical block 33 includes a third through hole 331, each connecting rod is slidably connected to a first through hole 311, a second through hole 321 and a third through hole 331, the first locking member 31 is fixedly connected to the barrel wall 112 of the barrel cavity 111, and the second locking member 32 is slidably and sealedly connected to the barrel cavity 111, which is achieved by arranging a sealing ring on the radial outer side of the second locking member in the embodiment shown in the figure; the connecting rod is slidably and sealedly connected to a second through hole 321, the large radial dimension end of the conical block 33 is fixedly connected to the second locking member 32, the small radial dimension end of the conical block 33 faces the first locking member 31, and the radial dimension of the large radial dimension end of the conical block 33 is larger than that of the small radial dimension end. In this embodiment, the conical block has a third through hole and is fixedly connected to the second locking member. The conical block does not interfere with the sliding of the connecting member relative to the mounting seat. The movement of the second locking member can timely and effectively drive the movement of the conical block, and timely and reliably lock and unlock the relative position between the connecting member and the mounting seat.

[0050] In some embodiments, the cylinder body 11 also includes a cylinder bottom, the second locking piece is located between the first locking piece and the cylinder bottom, and a plurality of fourth through holes cooperating with the connecting rod are provided on the cylinder bottom. The connecting rod passes through the first through hole, the second through hole, the third through hole and the fourth through hole and is connected to the small vacuum suction cup.

[0051] In some embodiments, Figure 8As shown, the conical block 33 includes a connecting portion fixedly connected to the second locking member 32 and a plurality of conical sub-blocks 332 provided on the connecting portion and extending toward the first locking member 31, and the plurality of conical blocks 33 are arranged at intervals along the circumference of the connecting portion. When the conical block is inserted into the through hole of the locking member fixedly connected to the cylinder body and presses the connecting rod and the through hole, the portion of each conical sub-block 332 connected to the connecting portion can be elastically deformed, and the ends away from the connecting portion can be close to each other, thereby improving the pressing effect on the connecting rod.

[0052] In some embodiments, Figure 6 As shown, the first locking member 31 is also provided with one or more vent holes 312, which are through-hole structures. The vent holes 312 are arranged so that when the first locking member and the second locking member are close to each other, the gas between the two can flow smoothly through the vent holes 312, thereby reducing the resistance effect on the first locking member and the second locking member when they are close to each other.

[0053] In some embodiments, Fig. 9 and Fig.10 As shown, the small vacuum suction cup 21 includes an elastically deformable suction cup opening at the end. In some embodiments, the cross section of the suction cup opening is corrugated. When sucking an object, the corrugated suction cup opening can adapt to a larger angle deviation, thereby adapting to an object with a larger surface curvature, such as Fig. 9 As shown, when encountering large angle deviation, the corrugated suction cup mouth can produce the effect of one side extending and one side contracting. In some embodiments, the material of the suction cup mouth is rubber.

[0054] In some embodiments, a manipulator is also disclosed, comprising any of the above-mentioned end effectors 100. The connector of the end effector is connected to a negative pressure source, which can be provided on the manipulator or independently provided through an air pipe and the connector.

[0055] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the specific implementation methods of the present invention can still be modified or some technical features can be replaced by equivalents without departing from the spirit of the technical solution of the present invention, which should be included in the scope of the technical solution for protection of the present invention.

Claims

1. An end tool (100), characterized in that: include: Mounting seat (1); A plurality of vacuum negative pressure components (2), wherein the vacuum negative pressure components (2) include a small vacuum suction cup (21) and a connecting piece (22) for connecting the small vacuum suction cup (21) and a negative pressure source, wherein the connecting piece (22) is relatively slidably connected to the mounting seat (1) along a first direction, and the plurality of vacuum negative pressure components (2) are configured such that when the end picker (100) grasps an object, the connecting pieces (22) of the plurality of vacuum negative pressure components (2) slide independently relative to the mounting seat (1) to adjust the position between each of the small vacuum suction cups (21) along the first direction, so that the surface shape formed by each of the small vacuum suction cups (21) matches the surface shape of the object to be adsorbed; A locking component is used to lock the relative position between each of the connecting members (22) and the mounting seat (1) after each of the connecting members (22) slides relative to the mounting seat (1).

2. The end tool (100) according to claim 1, characterized in that: The multiple vacuum negative pressure components (2) are configured such that when the end picker (100) grasps an object, the connecting parts (22) of the multiple vacuum negative pressure components (2) are pushed by the surface to be adsorbed of the object after being abutted against the surface to be adsorbed of the object to slide relative to the mounting seat (1).

3. The end tool (100) according to claim 2, characterized in that: The vacuum negative pressure component (2) further comprises an elastic device (23) arranged between the mounting seat (1) and the connecting member (22), wherein the elastic device (23) provides an elastic force causing the connecting member (22) to slide relative to the mounting seat (1) in a first direction away from the mounting seat (1).

4. The end tool (100) according to claim 3, characterized in that: It also includes a limiting device (4) for limiting the extreme position of each connecting member (22) sliding relative to the mounting seat (1) along the first direction, and when each connecting member (22) slides relative to the mounting seat (1) along the first direction to the extreme position, the end faces of each small vacuum suction cup (21) are aligned.

5. The end tool (100) according to claim 1, characterized in that: The mounting seat (1) comprises a cylinder (11), a cylinder cavity (111) of the cylinder (11) being used for connecting to a negative pressure source so as to transmit negative pressure to each of the vacuum negative pressure components (2), and each of the connecting parts (22) comprises a hollow connecting rod slidably connected to the cylinder (11), and one end of each of the connecting rods is accommodated in the cylinder cavity (111) of the cylinder (11).

6. The end tool (100) according to claim 5, characterized in that: The locking component comprises a first locking component (31) and a second locking component (32) arranged in the barrel cavity (111), and a plurality of tapered blocks (33) arranged between the first locking component (31) and the second locking component (32); a plurality of first through holes (311) and a plurality of second through holes (321) are respectively arranged on the first locking component (31) and the second locking component (32); each of the connecting rods is slidably connected to one of the first through holes (311) and one of the second through holes (321); the locking component is configured as follows: one of the first locking component (31) and the second locking component (32) is fixedly connected to the barrel (11); the other of the first locking component (31) and the second locking component (32) is slidably connected to the barrel (11); The first locking member (31) and the second locking member (32) are brought closer to each other so that the wedge-shaped surface of each conical block (33) is pressed into the first through hole (311) or the second through hole (321) to compress the connecting rod located in the first through hole (311) or the second through hole (321), thereby locking the relative position between each connecting member (22) and the mounting seat (1); the first locking member (31) and the second locking member (32) are moved away from each other so that each conical block (33) located in the first through hole (311) or the second through hole (321) is moved away from the first through hole (311) or the second through hole (321) where it is located, thereby releasing the locking of the relative position between each connecting member (22) and the mounting seat (1).

7. The end tool (100) according to claim 6, characterized in that: The conical block (33) comprises a third through hole (331), each of the connecting rods is slidably connected to one of the third through holes (331), the first locking piece (31) is fixedly connected to the barrel wall (112) of the barrel cavity (111), the second locking piece (32) is slidably and sealingly connected to the barrel cavity (111), the connecting rod is slidably and sealingly connected to one of the second through holes (321), the large radial dimension end of the conical block (33) is fixedly connected to the second locking piece (32), and the small radial dimension end of the conical block (33) faces the first locking piece (31).

8. The end tool (100) according to claim 7, characterized in that: The conical block (33) comprises a connecting portion fixedly connected to the second locking piece (32) and a plurality of conical sub-blocks arranged on the connecting portion and extending toward the first locking piece (31), and the plurality of conical blocks (33) are arranged at intervals along the circumference of the connecting portion.

9. The end tool (100) according to claim 7, characterized in that: The first locking member (31) is also provided with one or more ventilation holes, and the ventilation holes are through-hole structures.

10. The end tool (100) according to any one of claims 1 to 9, characterized in that: The small vacuum suction cup (21) comprises an elastically deformable suction cup opening at the end.

11. The end tool (100) according to claim 10, characterized in that: The cross section of the suction cup opening is corrugated.

12. A robot, characterized in that: It comprises the end tool (100) according to any one of claims 1 to 11.

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