Transverse moving device and manipulator

Abstract

The utility model discloses a transverse moving device and a manipulator, and relates to the technical field of manipulators, the transverse moving device comprises a mounting support, a transverse moving beam, an end picking assembly and a transverse moving driving assembly, the transverse moving beam is movably mounted on the mounting support; the end picking assembly is detachably connected to the transverse moving beam and used for picking up workpieces. The transverse moving driving assembly is arranged on the mounting support, and the transverse moving driving assembly is in driving connection with the transverse moving beam and used for driving the transverse moving beam to move in a reciprocating mode in the first direction and driving the end picking assembly to move in a reciprocating mode in the first direction. According to the technical scheme, the production switching efficiency of different workpieces can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, and particularly relates to a transverse movement device and a manipulator. Background Art

[0002] The existing transverse movement device of a manipulator includes an end effector and a transverse movement movable beam, and the end effector is fixed on the transverse movement movable beam. When the type of the workpiece to be processed is changed, that is, when the end effector is replaced, it is necessary to manually separate the end effector from the transverse movement movable beam, which takes a long time and results in low conversion efficiency between different workpieces. Summary of the Utility Model

[0003] The main purpose of the utility model is to propose a transverse movement device and a manipulator, aiming to improve the conversion efficiency between different workpieces.

[0004] To achieve the above purpose, the transverse movement device proposed by the utility model includes:

[0005] An installation support;

[0006] A transverse movement movable beam, movably installed on the installation support;

[0007] An end picking assembly, detachably connected to the transverse movement movable beam for picking up workpieces;

[0008] A transverse movement driving assembly, arranged on the installation support, the transverse movement driving assembly is drivingly connected to the transverse movement movable beam for driving the transverse movement movable beam to reciprocate in a first direction, and driving the end picking assembly to reciprocate in the first direction.

[0009] In one embodiment, the transverse movement movable beam is provided with a first quick-change part, and the end picking assembly is provided with a second quick-change part; one of the first quick-change part and the second quick-change part is provided with a clamping part, and the other of the first quick-change part and the second quick-change part is provided with a clamping hole, and the clamping part is clamped with the clamping hole to install the end picking assembly on the transverse movement movable beam.

[0010] In one embodiment, the end picking assembly includes an end effector and an actuator, and the end effector and the actuator are detachably connected to two ends of the transverse movement movable beam.

[0011] In one embodiment, the transverse moving beam is provided with a sliding groove; the transverse driving assembly includes a driven roller group, a driving roller and a driving member. The driven roller group is in transmission connection with the driving roller. The driven roller group is embedded in the sliding groove, and the roller surface of the driven roller group abuts against the inner wall surface of the sliding groove. The driving member is arranged on the mounting support and is in driving connection with the driving roller. The driving member is used to drive the driving roller to rotate, drive the driven roller group to rotate in the sliding groove, and then drive the transverse moving beam to move along the first direction by the driven roller group.

[0012] In one embodiment, the transverse moving beam has opposite first and second sides, and at least one of the first side and the second side is provided with a slide rail, and the sliding groove is arranged on the slide rail.

[0013] In one embodiment, the transverse driving assembly further includes a support roller module. The support roller module is embedded in the sliding groove, and the support roller module is in transmission connection with the driving roller. The support roller module is used to rotate when the driving roller group rotates to support the driven roller group.

[0014] In one embodiment, the support roller module includes a bracket and a bearing member. The bracket is embedded in the sliding groove, and the bearing member is rotatably arranged on the bracket. The bearing member is in transmission connection with the driving roller.

[0015] In one embodiment, the support roller module further includes a shock absorber, and the shock absorber is sleeved on the outer periphery of the bearing member.

[0016] In one embodiment, the number of the support roller modules is multiple, and the number of the driven roller groups is multiple. The multiple support roller modules and the multiple driven roller groups are alternately arranged along the first direction.

[0017] The present utility model further provides a manipulator, including the transverse moving device as described above.

[0018] The technical solution of the present utility model realizes the picking of workpieces at different preset positions by arranging an installation support, a transverse moving beam, an end-picking component and a transverse moving driving component. The transverse moving beam is movably installed on the installation support, the end-picking component is detachably connected to the transverse moving beam, the transverse moving driving component is arranged on the installation support, and the transverse moving driving component is drivingly connected to the transverse moving beam to drive the transverse moving beam to reciprocate in the first direction, driving the end-picking component to reciprocate in the first direction. Moreover, it is defined that the end-picking component is detachably connected to the transverse moving beam. When the type of the processed workpiece changes, that is, when the type of the end-picking component needs to be replaced to adapt to the type of the picked workpiece, the end-picking component can be detached from the transverse moving beam, quickly realizing the separation of the old end-picking component from the transverse moving beam, and installing the new end-picking component on the transverse moving beam, accelerating the replacement speed of different end-picking components, saving the replacement time of different end-picking components, and thus improving the production transfer efficiency between different workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present utility model and used together with the specification to explain the principles of the present utility model.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 It is a schematic structural diagram of an embodiment of the transverse moving device provided by the present utility model;

[0022] Figure 2 For Figure 1 exploded view;

[0023] Figure 3 For Figure 2 partial enlarged view at A in

[0024] Figure 4 For Figure 2 structural schematic diagram of the first quick-change part in

[0025] Figure 5 For Figure 2 structural schematic diagram of the second quick-change part in

[0026] Figure 6 For Figure 2 structural schematic diagram of the driven roller in

[0027] Figure 7 For Figure 2 structural schematic diagram of the support roller module in

[0028] Description of the reference numerals in the drawings:

[0029] 100, transverse movement device; 1, mounting support; 11, first inner side; 12, second inner side; 2, transverse movement movable beam; 21, slide rail; 211, chute; S1, first side; S2, second side; 3, end effector assembly; 31, end effector; 32, actuator; 4, transverse movement drive assembly; 41, driven roller group; 411, driven roller; 4111, roller shaft; 4112, roller body; 4113, protective member; 42, driving roller; 43, driving member; 44, support roller module; 441, bracket; 4411, first support portion; 4412, second support portion; 442, bearing member; 443, shock absorber; 5, first quick-change member; 51, clamping portion; 6, second quick-change member; 61, clamping hole.

[0030] The realization, functional features and advantages of the purpose of the present utility model will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without making creative efforts shall fall within the protection scope of the present utility model.

[0032] In some exemplary technologies, the transverse movement device of the existing manipulator includes an end effector and a transverse movement movable beam. The end effector is generally fixed to the transverse movement movable beam by bolts. When the type of the workpiece to be processed changes, that is, when the end effector is replaced, it is necessary to manually use tools to remove the bolts to separate the end effector from the transverse movement movable beam, which takes a long time and results in low production transfer efficiency between different workpieces.

[0033] Therefore, the present utility model proposes a transverse movement device 100, aiming to improve the production transfer efficiency between different workpieces.

[0034] Refer to Figure 1 and Figure 2 , in an embodiment of the present utility model, the transverse movement device 100 includes a mounting support 1, a transverse movement movable beam 2, an end effector assembly 3 and a transverse movement drive assembly 4; the transverse movement movable beam 2 is movably mounted on the mounting support 1; the end effector assembly 3 is detachably connected to the transverse movement movable beam 2 for picking up workpieces; the transverse movement drive assembly 4 is disposed on the mounting support 1, and the transverse movement drive assembly 4 is drivingly connected to the transverse movement movable beam 2 for driving the transverse movement movable beam 2 to reciprocate in the first direction, driving the end effector assembly 3 to reciprocate in the first direction.

[0035] In this embodiment, the mounting support 1 is used to mount devices such as the transverse moving beam 2 and the transverse moving drive assembly 4, and plays a role in mounting and supporting these devices.

[0036] The transverse moving beam 2 extends along the first direction, and the transverse moving beam 2 is movably mounted on the mounting support 1 along the first direction. For example, the mounting support 1 is provided with a sliding groove that is slidably adapted to the transverse moving beam 2, and the sliding groove cooperates with the transverse moving beam 2 to drive the transverse moving beam 2 to slide on the mounting support 1 along the first direction. Wherein, the first direction is the length direction of the mounting support 1.

[0037] The end effector assembly 3 is mounted on the transverse moving beam 2. Optionally, the end effector assembly 3 includes at least one of an end effector 31 and an actuator 32. Among them, the end effector 31 is a device for the manipulator to directly perform the picking work, and its structure determines whether the manipulator can accurately pick up the workpieces on the production line and place the picked workpieces at the accurate processing positions, thereby affecting the stamping accuracy of the workpieces. The actuator 32 refers to a device that can generate motion or force, and is mainly used to control the movement and operation of the manipulator. The actuator 32 may include a motor assembly, a cylinder assembly, a hydraulic assembly, etc., and they drive the manipulator to complete various actions by receiving control signals. Therefore, the function of the actuator 32 is not only to pick up and place the workpieces, but also to include the overall motion control of the manipulator, such as moving forward and backward, lifting, rotating, etc.

[0038] The transverse moving drive assembly 4 is mounted on the mounting support 1 and is drivingly connected to the transverse moving beam 2. When the transverse moving device 100 is applied to the production line and the first direction is the running direction of the production line, the transverse moving drive assembly 4 operates to drive the transverse moving beam 2 to move on the mounting support 1 along the first direction. The transverse moving beam 2 drives the end effector assembly 3 to move to a position adapted to pick up the workpiece along the first direction, and then the end effector assembly 3 picks up the workpiece at this position and accurately places it at the stamping processing position to realize the stamping of the workpiece. And, since the end effector assembly 3 can move in the running direction of the production line under the coordinated action of the transverse moving beam 2 and the transverse moving drive assembly 4, the end effector assembly 3 can pick up the workpieces at different workpiece placement positions on the production line and realize the continuous processing of different processes of the same batch of workpieces, improving the production efficiency of the batch workpieces. Optionally, the transverse moving drive assembly 4 includes at least one of a motor assembly, a cylinder assembly, and a hydraulic assembly, and is not limited herein.

[0039] It is understandable that when the type of workpiece being processed changes, that is, when the type of workpiece being processed changes from the first batch of workpieces to the second batch of workpieces, since the size of the second batch of workpieces is larger than that of the first batch of workpieces, if the same end pickup assembly 3 is used to pick up the second batch of workpieces, it is easy for the workpieces to be picked up inaccurately or placed inaccurately. In view of the above situation, this embodiment emphasizes that the end pickup assembly 3 is detachably connected to the transverse movable beam 2. Among them, the detachable manner of the end pickup assembly 3 and the transverse movable beam 2 may include but is not limited to snap-fitting, magnetically fitting, plug-in fitting, etc. For ease of understanding, the following takes the snap-fitting of the end pickup assembly 3 and the transverse movable beam 2 as an example. The transverse movable beam 2 is provided with a first quick-change part 5, and the end pickup assembly 3 is provided with a second quick-change part 6 that snaps into place with the first quick-change part 5. When the type of workpiece to be processed changes, the second quick-change part 6 can be pulled out from the first quick-change part 5, thereby realizing the separation of the end picking assembly 3 adapted to the first batch of workpieces and the transverse movable beam 2, and the second quick-change part 6 adapted to the end picking assembly 3 adapted to the second batch of workpieces can be snap-fitted with the first quick-change part 5 of the transverse movable beam 2, so that the end picking assembly 3 adapted to the second batch of workpieces can be installed on the transverse movable beam 2, thereby quickly realizing the replacement of different end picking assemblies 3, meeting the production change processing needs of different batches of workpieces, and improving the production conversion efficiency between different batches of workpieces.

[0040] The technical solution of the utility model is to set a mounting support 1, a transverse movable beam 2, an end picking assembly 3 and a transverse driving assembly 4. The transverse movable beam 2 can be movably mounted on the mounting support 1, and the end picking assembly 3 can be detachably connected to the transverse movable beam 2. The transverse driving assembly 4 is arranged on the mounting support 1, and the transverse driving assembly 4 is drivingly connected to the transverse movable beam 2 for driving the transverse movable beam 2 to reciprocate along a first direction, driving the end picking assembly 3 to reciprocate along the first direction, so as to realize the picking up of workpieces at different preset positions, and the end picking assembly 3 is limited to be detachably connected to the transverse movable beam 2. When the type of workpiece to be processed changes, that is, when the type of the end picking assembly 3 needs to be replaced to adapt to the type of workpiece to be picked up, the end picking assembly 3 can be removed from the transverse movable beam 2, and the old end picking assembly 3 can be quickly separated from the transverse movable beam 2, and the new end picking assembly 3 can be installed on the transverse movable beam 2, so as to speed up the replacement speed of different end picking assemblies 3, save the replacement time of different end picking assemblies 3, and thus improve the conversion efficiency between different workpieces.

[0041] Reference Figures 2 to 4 In one embodiment of the utility model, the transverse movable beam 2 is provided with a first quick-change part 5, and the end picking assembly 3 is provided with a second quick-change part 6; one of the first quick-change part 5 and the second quick-change part 6 is provided with a clamping portion 51, and the other of the first quick-change part 5 and the second quick-change part 6 is provided with a clamping hole 61, and the clamping portion 51 is clamped with the clamping hole 61 to install the end picking assembly 3 on the transverse movable beam 2.

[0042] As an example, in this embodiment, the first quick-change member 5 is provided with a clamping portion 51, and the second quick-change member 6 is provided with a clamping hole 61. When the end pickup assembly 3 is assembled, the clamping portion 51 can be clamped with the clamping hole 61, so that the end pickup assembly 3 can be quickly installed on the transverse movable beam 2; when the end pickup assembly 3 is disassembled, the clamping portion 51 can be removed from the clamping hole 61, so that the end pickup assembly 3 can be quickly separated from the transverse movable beam 2.

[0043] Reference Figure 2 In one embodiment of the utility model, the end pick-up assembly 3 includes an end pick-up 31 and an actuator 32 , and the end pick-up 31 and the actuator 32 are detachably connected to the two ends of the transverse movable beam 2 .

[0044] In this embodiment, the transverse movable beam 2 has a first end and a second end relative to each other along a first direction; the end pick-up assembly 3 includes an end pick-up 31 and an actuator 32, one of the end pick-up 31 and the actuator 32 is detachably connected to the first end, and the other of the end pick-up 31 and the actuator 32 is detachably connected to the second end. As another example, the end pick-up 31 is detachably connected to the first end, and the actuator 32 is detachably connected to the second end. By limiting the end pick-up 31 and the actuator 32 to be detachable from the transverse movable beam 2, when the workpiece being processed changes, the models of the end pick-up 31 and the actuator 32 can be quickly replaced, meeting the needs of rapid production conversion of the production line, improving the equipment utilization rate of the manipulator, and facilitating the automation of the production line.

[0045] Reference Figure 2 and Figure 3 In one embodiment of the utility model, the transverse movable beam 2 is provided with a slide groove 211; the transverse driving assembly 4 includes a driven roller group 41, a driving roller 42 and a driving member 43, the driven roller group 41 is transmission-connected with the driving roller 42, the driven roller group 41 is embedded in the slide groove 211, the wheel surface of the driven roller group 41 abuts against the inner wall surface of the slide groove 211, the driving member 43 is provided on the mounting support 1, and is drivingly connected with the driving roller 42, the driving member 43 is used to drive the driving roller 42 to rotate, drive the driven roller group 41 to rotate in the slide groove 211, and then the driven roller group 41 drives the transverse movable beam 2 to move along the first direction.

[0046] It can be understood that there are many implementation forms of the transverse movement driving assembly 4. In this embodiment, the transverse movement driving assembly 4 includes a driven roller group 41, a driving roller 42, and a driving member 43. The driven roller group 41 is installed on the mounting seat 1. Specifically, the mounting seat 1 covers the driven roller group 41. The mounting seat 1 has opposite first inner side 11 and second inner side 12, and at least one of the first inner side 11 and the second inner side 12 is connected with the driven roller group 41. Optionally, the number of the driven rollers 411 of the driven roller group 41 is generally not limited. Exemplarily, the number of the driven rollers 411 is three. The three driven rollers 411 are respectively in transmission connection with the driving roller 42 and are embedded in the sliding groove 211 provided in the transverse movement movable beam 2. The wheel surfaces of the three driven rollers 411 respectively abut against the inner wall surface of the sliding groove 211. The driving member 43 is installed on the mounting seat 1 and is in driving connection with the driving roller 42. In actual application, when the driving member 43 operates, it drives the driving roller 42 to rotate, drives the three driven rollers 411 to rotate synchronously in the sliding groove 211, and generates friction with the inner wall surface of the sliding groove 211. The transverse movement movable beam 2 moves along the first direction under the action of the frictional force. Furthermore, the end effector assembly 3 connected by the transverse movement movable beam 2 moves along the first direction to a position suitable for picking up the workpiece. Then, the end effector assembly 3 picks up the workpiece at this position and accurately places it at the stamping processing position, realizing the stamping of the workpiece. Optionally, the driving member 43 includes at least one of a driving motor, a cylinder, and a hydraulic cylinder, which is not limited here.

[0047] Optionally, there are many implementation forms of the driven roller 411. In one embodiment, referring to Figure 6 , the driven roller 411 includes a roller shaft 4111, a roller body 4112, and a protective member 4113. One end of the roller shaft 4111 extends into the sliding groove 211 and is sleeved with the roller body 4112. The other end of the roller shaft 4111 extends out of the mounting seat 1. The roller body 4112 is embedded in the sliding groove 211 and is in transmission connection with the driving roller 42. The protective member 4113 is arranged on the mounting seat 1 and covers one end of the roller shaft 4111 extending out of the mounting seat 1.

[0048] Referring to Figure 2 , in one embodiment of the present utility model, the transverse movement movable beam 2 has opposite first side S1 and second side S2, and at least one of the first side S1 and the second side S2 is provided with a slide rail 21, and the slide rail 21 is provided with the sliding groove 211.

[0049] As another example, the horizontally movable beam 2 has opposite first and second sides S1 and S2. A first slide rail is provided on the first side S1 of the horizontally movable beam 2. The first slide rail is provided with a first chute that is slidably adapted to the driven roller set 41. A second slide rail is provided on the second side S2 of the horizontally movable beam 2. The second slide rail is provided with a second chute that is slidably adapted to the driven roller set 41. By arranging the slide rails 21 and the driven roller set 41 on both sides of the horizontally movable beam 2, the balance of the horizontally movable beam 2 moving in the first direction can be improved, thereby improving the accuracy of the upper pickup assembly 3 for picking up workpieces.

[0050] Referring to Figure 2 and Figure 7 , in an embodiment of the present invention, the horizontal movement driving assembly 4 further includes a support roller module 44. The support roller module 44 is embedded in the chute 211. The support roller module 44 is drivingly connected to the driving roller 42. The support roller module 44 is configured to rotate when the driving roller 42 rotates to support the driven roller set 41.

[0051] It can be understood that vibrations and noises will be generated during the rotation of the driven roller set 41 in the chute 211. To reduce vibrations and noises, in this embodiment, the horizontal movement driving assembly 4 further includes a support roller module 44. The support roller module 44 may include, but is not limited to, a standard bearing member 442. The bearing member 442 is embedded in the chute 211 and is drivingly connected to the driving roller 42. When the driving member 43 drives the driving roller 42 to rotate, the driving roller 42 drives the bearing member 442 to rotate in the chute 211. At this time, the shaft of the bearing member 442 rotates, and a plurality of rolling elements inside the bearing member 442, such as balls or rollers, will roll accordingly. It is this rolling motion that enables the bearing member 442 to effectively support the driven roller set 41, reduce the friction and noise between the driven roller set 41 and the chute 211, and achieve a good damping effect.

[0052] Referring to Figure 2 and Figure 7 , in an embodiment of the present invention, the support roller module 44 includes a bracket 441 and a bearing member 442. The bracket 441 is embedded in the chute 211. The bearing member 442 is rotatably provided on the bracket 441. The bearing member 442 is drivingly connected to the driving roller 42.

[0053] It can be understood that there are many implementation forms of the support roller module 44. In this embodiment, the support roller module 44 includes a bracket 441 and a bearing member 442. Optionally, the bracket 441 is implemented by a rectangular frame, and the rectangular frame is embedded in the chute 211. The bearing member 442 is rotatably arranged on the bracket 441 and is in transmission connection with the driving roller 42. When the driving member 43 drives the driving roller 42 to rotate, the driving roller 42 drives the driven roller group 41 to rotate in the chute 211, and synchronously drives the bearing member 442 to rotate in the chute 211. By using the characteristics of the bearing member 442 itself to reduce vibration and noise, the driven roller group 41 is supported, and the friction and noise between the driven roller group 41 and the chute 211 are reduced, achieving a better vibration reduction effect.

[0054] Referring to Figure 7 , in an embodiment of the present utility model, the support roller module 44 further includes a shock absorber 443, and the shock absorber 443 is sleeved on the outer periphery of the bearing member 442.

[0055] In this embodiment, the outer periphery of the bearing member 442 is wrapped with a shock absorber 443. Optionally, the shock absorber 443 at least includes polyurethane. As a new type of material, polyurethane has good elasticity and wear resistance, is suitable for occasions with high load and high-speed movement, and helps to reduce the wear of the bearing member 442, improve the sealing performance of the bearing member 442, reduce the friction force, and improve the tensile strength of the bearing member 442.

[0056] Referring to Figure 2 and Figure 7 , in an embodiment of the present utility model, the number of the support roller modules 44 is multiple, the number of the driven roller groups 41 is multiple, and the multiple support roller modules 44 and the multiple driven roller groups 41 are alternately arranged in the first direction.

[0057] In this embodiment, a plurality of driven roller groups 41 are arranged in the chute 211 of the transverse moving beam 2, and the plurality of driven roller groups 41 are arranged at intervals in the first direction. By means of the plurality of driven roller groups 41, the moving efficiency of the transverse moving beam 2 is improved, the moving efficiency of the end effector assembly 3 is improved, and further the processing efficiency of different workpieces is improved, and the production capacity is increased. On this basis, a plurality of support roller modules 44 are also arranged in the chute 211 of the transverse moving beam 2, and the plurality of support roller modules 44 are arranged at intervals in the first direction. The plurality of support roller modules 44 and the plurality of driven roller groups 41 are alternately arranged in the first direction, that is, one support roller module 44 is arranged between every two driven roller groups 41. Through the cooperative action of the plurality of support roller modules 44, the friction between the plurality of driven roller groups 41 and the chute 211 is reduced as a whole, and the effect of reducing vibration and noise can also be achieved while increasing the production capacity.

[0058] The present utility model also provides a manipulator, which includes a transverse movement device. The specific structure of the transverse movement device refers to the above-mentioned embodiments. Since this manipulator adopts all the technical solutions of the above-mentioned embodiments, it at least has all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, which will not be elaborated one by one here. Specifically, the transverse movement device is applicable to a stamping manipulator. Of course, this transverse movement device can also be applicable to other manipulators or related equipment, which is not limited here.

[0059] The above are only the preferred embodiments of the present utility model, and do not limit the patent scope of the present utility model accordingly. Any equivalent structural transformation made under the inventive concept of the present utility model by using the content of the specification and drawings of the present utility model, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present utility model.

Claims

1. A lateral shifting device (100), characterized in that, Comprising: Installation support (1); Transverse moving beam (2), movably installed on the installation support (1); End picking component (3), detachably connected to the transverse moving beam (2) for picking up workpieces; Transverse moving drive component (4), arranged on the installation support (1), the transverse moving drive component (4) is drivingly connected to the transverse moving beam (2) for driving the transverse moving beam (2) to reciprocate in a first direction, driving the end picking component (3) to reciprocate in the first direction.

2. The traversing device (100) according to claim 1, characterized in that, The transverse moving beam (2) is provided with a first quick-change part (5), and the end picking component (3) is provided with a second quick-change part (6); one of the first quick-change part (5) and the second quick-change part (6) is provided with a clamping part (51), and the other of the first quick-change part (5) and the second quick-change part (6) is provided with a clamping hole (61), and the clamping part (51) is clamped with the clamping hole (61) to install the end picking component (3) on the transverse moving beam (2).

3. The crosswise displacement device (100) according to claim 1, characterized in that, The end picking component (3) includes an end picker (31) and an actuator (32), and the end picker (31) and the actuator (32) are detachably connected to both ends of the transverse moving beam (2).

4. The crosswise displacement device (100) according to any one of claims 1 to 3, characterized in that, The transverse moving beam (2) is provided with a chute (211); the transverse moving drive component (4) includes a driven roller group (41), a driving roller (42) and a driving member (43), the driven roller group (41) is drivingly connected to the driving roller (42), the driven roller group (41) is embedded in the chute (211), the wheel surface of the driven roller group (41) abuts against the inner wall surface of the chute (211), the driving member (43) is arranged on the installation support (1) and is drivingly connected to the driving roller (42), and the driving member (43) is used for driving the driving roller (42) to rotate, driving the driven roller group (41) to rotate in the chute (211), and then driving the transverse moving beam (2) to move in the first direction by the driven roller group (41).

5. The crosswise displacement device (100) according to claim 4, characterized in that, The transverse moving beam (2) has opposite first side (S1) and second side (S2), and at least one of the first side (S1) and the second side (S2) is provided with a slide rail (21), and the slide rail (21) is provided with the chute (211).

6. The crosswise displacement device (100) according to claim 5, characterized in that, The transverse moving drive component (4) further includes a support roller module (44), the support roller module (44) is embedded in the chute (211), the support roller module (44) is drivingly connected to the driving roller (42), and the support roller module (44) is used for rotating when the driving roller (42) group rotates to support the driven roller group (41).

7. The traversing device (100) according to claim 6, characterized in that, The support roller module (44) includes a bracket (441) and a bearing member (442), the bracket (441) is embedded in the chute (211), the bearing member (442) is rotatably arranged on the bracket (441), and the bearing member (442) is drivingly connected to the driving roller (42).

8. The traversing device (100) according to claim 7, characterized in that, The support roller module (44) further includes a shock absorber (443), and the shock absorber (443) is sleeved on the outer periphery of the bearing member (442).

9. The crosswise displacement device (100) according to claim 6, characterized in that, The number of the support roller modules (44) is multiple, the number of the driven roller groups (41) is multiple, and the multiple support roller modules (44) and the multiple driven roller groups (41) are alternately arranged in a first direction.

10. A manipulator, characterized in that, It includes the traversing device (100) according to any one of claims 1 to 9.

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