Tooling and workpiece carrying system

Abstract

The utility model discloses an end picking-up device and a workpiece carrying system. The end picking-up device comprises a main body frame, two side moving assemblies connected to the two ends of the main body frame respectively, and two end picking-up assemblies detachably connected with the two side moving assemblies respectively. The side moving assembly is used for driving the end picking assembly to move in the length direction of the main body frame. A first limiting piece is arranged on the main body frame, the end picking assembly comprises a main rod and a second limiting piece connected to the main rod, and when the end picking assembly moves to the limiting position, the second limiting piece makes contact with the first limiting piece. In the embodiment of the utility model, in different end picking assemblies, the position of the second limiting piece is matched with the limit position requirement of the end picking assembly, after the end picking assembly is replaced, the second limiting piece in the end picking assembly is matched with the first limiting piece to limit the limit position of the end picking assembly, and after the end picking assembly is replaced, the position of the first limiting piece does not need to be adjusted; the operation can be simplified.

Description

Technical Field

[0001] This utility model relates to the field of end effector technology, and in particular to an end effector and a workpiece handling system. Background Technology

[0002] In automated stamping production lines, there are usually handling robots. The handling robots use end effectors to grab workpieces and move them from the current process to the next process.

[0003] In related technologies, end effectors typically include two end effector assemblies for gripping workpieces, which are connected to a mounting bracket. To meet the needs of variable-pitch production between adjacent workpieces in consecutive processes, the end effector assemblies are usually designed to be movable with the mounting bracket, and the extreme positions of the end effector assemblies are limited by the cooperation of the mounting bracket and a limit block.

[0004] However, each time the end effector assembly is replaced, the position of the limit block needs to be adjusted accordingly to adjust the extreme position of the end effector assembly, which is a cumbersome operation. Utility Model Content

[0005] This utility model provides an end effector and a workpiece handling system, aiming to at least solve the technical problem in the prior art that the position of the limit block needs to be adjusted every time the end effector component is replaced, which is cumbersome.

[0006] In a first aspect of this utility model, an end effector is provided, comprising a main frame, two lateral shifting components respectively connected to both ends of the main frame, and two end effector components respectively detachably connected to the two lateral shifting components;

[0007] The lateral shifting component is used to drive the end-picking component to move along the length direction of the main frame;

[0008] The main frame is provided with a first limiting member, and the end-grabbing assembly includes a main rod and a second limiting member connected to the main rod. When the end-grabbing assembly moves to the extreme position, the second limiting member contacts the first limiting member.

[0009] Optionally, the end of the second limiting member away from the main rod is used to contact the first limiting member;

[0010] The second limiting member can move along the length of the main rod at least at one end away from the main rod.

[0011] Optionally, the second limiting member is connected to the main rod via a clamping structure;

[0012] The clamping structure has a released state. In the released state, the clamping structure is used to move along the length direction of the main rod under the action of an external force. When the clamping structure moves, it drives the second limiting member to move along the length direction of the main rod.

[0013] Optionally, the clamping structure includes a clamping member and a fastener, and the second limiting member is connected to the clamping member;

[0014] The clamping member has a clamping through hole, which mates with the main rod;

[0015] The fastener is used to secure the clamping member so that the clamping member is clamped onto the main rod.

[0016] Optionally, the clamping member includes a first sub-member and a second sub-member, wherein the first sub-member is connected to the second limiting member;

[0017] The first sub-component and the second sub-component are mated to form the clamping through hole;

[0018] The first sub-component is connected to the second sub-component via the fastener.

[0019] Optionally, the second limiting member includes a limiting rod and a buffer. The limiting rod is connected to the main rod, and the buffer is connected to the end of the limiting rod away from the main rod, and the buffer is located on the side of the limiting rod facing the first limiting member corresponding to the second limiting member.

[0020] Optionally, a limit switch is provided on the first limiting member or the main frame;

[0021] When the second limiting member comes into contact with the first limiting member, the limit switch is triggered.

[0022] Optionally, the number of the second limiting members in a single end-grab assembly is two, and the two second limiting members in a single end-grab assembly are arranged at intervals along the length direction of the main frame;

[0023] The number of main rods is two, and the two main rods are arranged at intervals along the width direction of the main frame;

[0024] The two second limiting members are connected to the same main rod, or the two second limiting members are respectively connected to the two main rods.

[0025] Optionally, the main frame includes a main connector and two branch connectors connected to both ends of the main connector;

[0026] The lateral shifting assembly includes a movable bracket and a driving component. The movable bracket is slidably connected to the support connector along the length direction of the main frame. The driving component is connected to the movable bracket. The movable bracket is detachably connected to the main rod.

[0027] In a second aspect of this invention, a workpiece handling system is also provided, including a handling robot and an end effector as described above.

[0028] In this embodiment of the invention, during the process of moving two workpieces gripped by two end-grabbing components from the current process to the next process, two lateral shifting components can be used to drive the two end-grabbing components to move along the length direction of the main frame, thereby adjusting the distance between the centers of the two end-grabbing components along the length direction of the main frame. This adjusts the distance between the centers of the two workpieces gripped by the two end-grabbing components along the length direction of the main frame, thus meeting the needs of variable-distance production of two adjacent workpieces between preceding and following processes, and exhibiting high versatility.

[0029] In this embodiment of the invention, the second limiting member is integrated into the end-effector assembly. In different end-effector assemblies, the position of the second limiting member adapts to the extreme position requirements of that end-effector assembly. After the end-effector assembly is replaced, the second limiting member in that assembly, in conjunction with the first limiting member, can limit the extreme position of the end-effector assembly. In other words, this invention adjusts the extreme position of the end-effector assembly by changing the position of the second limiting member. After replacing the end-effector assembly, there is no need to adjust the position of the first limiting member, thus eliminating the need to adjust the position of the limiting block every time the end-effector assembly is replaced, simplifying operation. Furthermore, this end-effector has a simple structure, low cost, and long service life. Attached Figure Description

[0030] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0031] Figure 1 This is a schematic diagram of the end effector provided in an embodiment of the present utility model;

[0032] Figure 2 A schematic diagram of the structure of the support connector, the lateral shifting component, and the end-cap assembly in the end-cap device provided in an embodiment of this utility model;

[0033] Figure 3 A schematic diagram of an extreme position of the end-cap assembly in the end-cap device provided in an embodiment of this utility model;

[0034] Figure 4 This is a structural schematic diagram of another extreme position of the end-cap assembly in the end-cap device provided in an embodiment of the present utility model.

[0035] Figure label:

[0036] 1-End pickup assembly, 11-Main rod, 12-Second limiting component, 121-Limiting rod, 122-Buffer, 13-Clamping structure, 131-Clamping component, 2-Side shift assembly, 21-Moving bracket, 22-Drive component, 221-First air pipe connector, 222-Second air pipe connector, 3-Main frame, 31-Main connector, 32-Support connector, 4-First limiting component, 5-Connector, 6-Guide rail. Detailed Implementation

[0037] The technical solutions of the present invention will now be described with reference to the accompanying drawings in the embodiments of the present invention.

[0038] The embodiments described herein are for illustrative purposes only and are not intended to limit the scope of the invention. The invention will be described more specifically in the following paragraphs by way of example with reference to the accompanying drawings. It should be noted that the drawings are in a very simplified form and use non-precise proportions, and are only used to facilitate and clarify the illustration of the embodiments of the invention.

[0039] In related technologies, end effectors typically include two end effector assemblies for gripping workpieces, which are connected to a mounting bracket. To meet the needs of variable-distance production between adjacent workpieces in preceding and following processes, the end effector assemblies are usually designed to be movable with the mounting bracket, and their extreme positions are limited by the cooperation of the mounting bracket and a limiting block. However, each time an end effector assembly is replaced, the position of the limiting block needs to be adjusted accordingly to adjust the extreme position of the end effector assembly, which is cumbersome. To solve the above problems, this utility model provides an end effector and workpiece handling system, which will be described in detail below.

[0040] Firstly, referring to Figure 1 and Figure 2 This utility model provides an end effector, including a main frame 3, two lateral shifting components 2 respectively connected to both ends of the main frame 3, and two end effector components 1 respectively detachably connected to the two lateral shifting components 2; the lateral shifting components 2 are used to drive the end effector components 1 to move along the length direction of the main frame 3; a first limiting member 4 is provided on the main frame 3, and the end effector component 1 includes a main rod 11 and a second limiting member 12 connected to the main rod 11. When the end effector component 1 moves to the limit position, the second limiting member 12 contacts the first limiting member 4.

[0041] The two ends of the main frame 3 are also the two ends along its length. The length direction of the main frame 3 can be referred to as... Figure 1 and Figure 2The direction indicated by arrow A. The main frame 3 may include a main connector 31 and two support connectors 32 connected to both ends of the main connector 31. The support connectors 32 are detachably connected to the main connector 31, for example, by bolts. The main connector 31 is used to connect to the robotic arm in the handling robot. A gun changing disc for quick connection with the robotic arm in the handling robot may be connected to the main connector 31; the gun changing disc may be a flange-type gun changing disc.

[0042] The lateral displacement assembly 2 is detachably connected to the main rod 11 of the end-grabbing assembly 1. It should be noted that the position on the main rod 11 for connecting to the lateral displacement assembly 2 is fixed; for example, the position on the main rod 11 for connecting to the lateral displacement assembly 2 is the middle position of the main rod 11. The end-grabbing assembly 1 is used to grip workpieces, and two end-grabbing assemblies 1 are used to grip two workpieces respectively. The workpiece can be a stamped workpiece. The end-grabbing assembly 1 also includes a suction cup for picking up the workpiece. The main rod 11 is used for mounting the suction cup.

[0043] The first limiting member 4 can be a block structure. The connection between the first limiting member 4 and the main frame 3 is a detachable connection, for example, a bolt connection. The first limiting member 4 is specifically connected to the support connector 32. The number of second limiting members 12 included in a single end-grab assembly 1 is preferably two. The number of first limiting members 4 is preferably equal to the number of second limiting members 12. The second limiting members 12 can be movably connected to the main rod 11. In other embodiments, the second limiting members 12 are detachably connected to the main rod 11.

[0044] During the movement of the end-capture assembly 1, the second limiting member 12 moves with the main rod 11. When the end-capture assembly 1 reaches its limit position, the second limiting member 12 contacts the first limiting member 4, meaning the second limiting member 12 cooperates with the first limiting member 4 to limit the limit position of the end-capture assembly 1. It should be noted that when the end-capture assembly 1 reaches its limit position, it indicates that the end-capture assembly 1 has reached its designated position, and at this point, the end-capture assembly 1 stops moving. In different end-capture assemblies 1, the position of the second limiting member 12 is adapted to the limit position requirements of that end-capture assembly 1. The position of the second limiting member 12 is usually different in different end-capture assemblies 1.

[0045] Workpieces are typically formed using molds, and a single mold can be used to form two workpieces. In the current process, after the workpieces are formed, the handling robot uses two end-effectors 1 in the end effector to grasp the two workpieces and transport them from the current process to the next process. The center distance between the two workpieces formed by a single mold in different processes is usually different to make the mold as compact as possible, thereby optimizing the mold size and reducing mold development costs.

[0046] In this embodiment of the utility model, during the process of moving two workpieces gripped by two end-grabbing components 1 from the current process to the next process, two side-shifting components 2 can respectively drive the two end-grabbing components 1 to move along the length direction of the main frame 3, so as to adjust the distance between the centers of the two end-grabbing components 1 along the length direction of the main frame 3, thereby adjusting the distance between the centers of the two workpieces gripped by the two end-grabbing components 1 along the length direction of the main frame 3, thus meeting the needs of variable distance production of two adjacent workpieces between the preceding and following processes, and having high versatility.

[0047] In this embodiment of the invention, the second limiting member 12 is integrated into the end-effector assembly 1. In different end-effector assemblies 1, the position of the second limiting member 12 adapts to the extreme position requirements of that end-effector assembly 1. After the end-effector assembly 1 is replaced, the second limiting member 12 in the end-effector assembly 1 cooperates with the first limiting member 4 to limit the extreme position of the end-effector assembly 1. That is, this invention adjusts the extreme position of the end-effector assembly 1 based on the change in the position of the second limiting member 12. After the end-effector assembly 1 is replaced, there is no need to adjust the position of the first limiting member 4, thus eliminating the need to adjust the position of the limiting block every time the end-effector assembly is replaced, simplifying operation. Furthermore, this end-effector has a simple structure, low cost, and long service life.

[0048] Preferably, there are two second limiting members 12 in a single end-grab assembly 1, and the two second limiting members 12 in a single end-grab assembly 1 are arranged at intervals along the length direction of the main frame 3. In this embodiment, there are four first limiting members 4. The two second limiting members 12 in a single end-grab assembly 1 cooperate with the two first limiting members 4 on the same side to limit the two extreme positions of the end-grab assembly 1.

[0049] Reference Figure 3 In a single end-capture assembly 1, the second limiting member 12, located away from the main connector 31, cooperates with the first limiting member 4, also located away from the main connector 31 on the same side. The end-capture assembly 1 is in a limit position, at which point the distance between the centers of the two end-capture assemblies 1 along the length of the main frame 3 is L1. (Refer to...) Figure 4 In a single end-pickup assembly 1, the second limiting member 12 near the main connector 31 cooperates with the first limiting member 4 near the main connector 31 on the same side, and the end-pickup assembly 1 is in another extreme position. At this time, the distance between the centers of the two end-pickup assemblies 1 along the length direction of the main frame 3 is L2, and L2 is less than L1.

[0050] In an optional embodiment of this invention, the end of the second limiting member 12 away from the main rod 11 is used to contact the first limiting member 4; at least one end of the second limiting member 12 away from the main rod 11 can move along the length direction of the main rod 11. In this embodiment, the length of the second limiting member 12 is sufficient to contact the first limiting member 4, which is beneficial for the lightweight design of the end effector.

[0051] In one embodiment, the second limiting member 12 is connected to the main rod 11 via a clamping structure 13; the clamping structure 13 has a released state, in which the clamping structure 13 is used to move along the length direction of the main rod 11 under the action of an external force, and when the clamping structure 13 moves, it drives the second limiting member 12 to move along the length direction of the main rod 11.

[0052] The clamping structure 13 also has a clamping state, in which it is clamped onto the main rod 11. At this state, the position of the clamping structure 13 is fixed, and the position of the second limiting member 12 is also fixed. The external force can be manually applied by the operator. In the released state, the entire second limiting member 12 can move along the length of the main rod 11. After the end-capture assembly 1 is initially installed, during debugging, the clamping structure 13 can be released, and then pushed along the length of the main rod 11 to fine-tune the position of the second limiting member 12. After the position of the second limiting member 12 is fine-tuned, the extreme positions of the end-capture assembly 1 change accordingly, and the maximum lateral displacement distance of the end-capture assembly 1 changes accordingly. The maximum lateral displacement distance of the end-capture assembly 1 is also the distance between the two extreme positions of the end-capture assembly 1.

[0053] In this embodiment, after the end-capture assembly 1 is initially installed, during debugging, the position of the second limiting member 12 can be finely adjusted along the length direction of the main rod 11 to ensure that the position of the second limiting member 12 meets the requirements, thereby ensuring the accurate lateral movement of the end-capture assembly 1. The lateral movement of the end-capture assembly 1 is also the movement of the end-capture assembly 1 along the length direction of the main frame 3. It should be noted that after the end-capture assembly 1 is initially installed and debugged, when it is reinstalled, since it has already been debugged, there is no need for further debugging, that is, there is no need to finely adjust the position of the second limiting member 12 again.

[0054] In another embodiment, the second limiting member 12 may include a fixed body and a movable sub-component. The movable sub-component is located at the end of the second limiting member 12 away from the main rod 11. During the movement of the end-grabbing assembly 1, the movable sub-component is used to contact the first limiting member 4. The fixed body can be fixedly connected to the main rod 11, and the movable sub-component is movably connected to the fixed body. In this case, only the movable sub-component in the second limiting member 12 can move along the length direction of the main rod 11. In this embodiment, after the end-grabbing assembly 1 is initially installed, during debugging, the position of the movable sub-component can be finely adjusted along the length direction of the main rod 11 to ensure that the position of the movable sub-component meets the requirements.

[0055] In an optional embodiment of the present invention, the clamping structure 13 includes a clamping member 131 and a fastener, and the second limiting member 12 is connected to the clamping member 131; the clamping member 131 has a clamping through hole, which cooperates with the main rod 11; the fastener is used to fasten the clamping member 131 so that the clamping member 131 is clamped on the main rod 11.

[0056] When the clamping member 131 is clamped onto the main rod 11, the clamping structure 13 is in a clamping state. Fasteners may include bolts and nuts. The connection between the second limiting member 12 and the clamping member 131 can be welding, bolting, etc. The shape of the clamping through hole matches the cross-sectional shape of the main rod 11; for example, if the cross-sectional shape of the main rod 11 is circular, the shape of the clamping through hole is also circular. The clamping through hole can be a circumferentially closed hole or a circumferentially open hole.

[0057] In the fastener, the bolt and nut are threadedly connected, and when the nut is tightened, the clamping member 131 is clamped onto the main rod 11. When the fastener is not connected to the clamping member 131 or the nut in the fastener is loosened, the clamping structure 13 is in a loosened state, and the clamping member 131 can move along the length direction of the main rod 11. The movement of the clamping member 131 drives the second limiting member 12 to move. In this embodiment, the clamping member 131 can both drive the second limiting member 12 to move and clamp onto the main rod 11 to fix the position of the second limiting member 12, resulting in a simple structure.

[0058] In an optional embodiment of this utility model, the clamping member 131 includes a first sub-member and a second sub-member, the first sub-member being connected to the second limiting member 12; the first sub-member and the second sub-member are mated to form a clamping through hole; the first sub-member is connected to the second sub-member by a fastener. When the first sub-member and the second sub-member are mated, the first sub-member is positioned on top of the second sub-member. When the fastener is tightened, the first sub-member and the second sub-member cooperate to clamp onto the main rod 11. In this embodiment, when installing the clamping member 131, the first sub-member and the second sub-member are simply mated and installed onto the main rod 11, without needing to be inserted from the end of the main rod 11, thus simplifying the installation method of the clamping member 131.

[0059] In an optional embodiment of this utility model, the second limiting member 12 includes a limiting rod 121 and a buffer 122. The limiting rod 121 is connected to the main rod 11, and the buffer 122 is connected to the end of the limiting rod 121 away from the main rod 11, and the buffer 122 is located on the side of the limiting rod 121 facing the first limiting member 4 corresponding to the second limiting member 12. The buffer 122 is used to contact the first limiting member 4. Specifically, the buffer 122 is detachably connected to the end of the limiting rod 121 away from the main rod 11. The limiting rod 121 is movably connected to the main rod 11 through a clamping structure 13, and the buffer 122 moves with the movement of the limiting rod 121. The buffer 122 can be a spring buffer, a hydraulic buffer, etc. In this embodiment, by setting the buffer 122, the impact when the second limiting member 12 contacts the first limiting member 4 can be reduced, thereby preventing damage to the first limiting member 4 and the second limiting member 12.

[0060] In other embodiments, the buffer 122 may be mounted on the first limiting member 4, and the second limiting member 12 may consist only of the limiting rod 121.

[0061] In an optional embodiment of this utility model, a limit switch is provided on the first limiting member 4 or the main frame 3; when the second limiting member 12 contacts the first limiting member 4, the limit switch is triggered. Preferably, the number of limit switches is equal to the number of the first limiting members 4. After the limit switch is triggered, it outputs an electrical signal. In this embodiment, the limit switch can be used to determine whether the end-feed assembly 1 has moved to its limit position.

[0062] In an optional embodiment of this utility model, there are two main rods 11, which are arranged at intervals along the width direction of the main frame 3; two second limiting members 12 are connected to the same main rod 11, or the two second limiting members 12 are respectively connected to the two main rods 11. The width direction of the main frame 3 can be referred to... Figure 1 The direction indicated by arrow B. Preferably, the two second limiting members 12 are connected to the same main rod 11.

[0063] In an optional embodiment of the present invention, the lateral shifting component 2 includes a movable support 21 and a driving member 22. The movable support 21 is slidably connected to the support connector 32 along the length direction of the main frame 3. The driving member 22 is connected to the movable support 21. The movable support 21 is detachably connected to the main rod 11.

[0064] The drive component 22 has a telescopic shaft connected to the movable support 21. The drive component 22 can be a cylinder, an electric actuator, a hydraulic cylinder, etc. Preferably, the drive component 22 is a cylinder. When the drive component 22 is a cylinder, the telescopic shaft can have a threaded section, which can be connected to the movable support 21 via a nut. The support connector 32 is provided with a guide rail 6 extending along the length of the main frame 3. A slider is slidably connected to the guide rail 6, and the slider is connected to the movable support 21. The sliding stroke of the slider matches the moving stroke of the movable support 21. The movable support 21 can be connected to the main rod 11 via a detachable connector 5, which can be a T-shaped connector.

[0065] When the drive unit 22 is a cylinder, the end effector also includes a solenoid valve. The solenoid valve can be installed on the main connector 31 or the robotic arm of the handling robot. The solenoid valve is connected to the cylinder via an air pipe, which can be connected to the cylinder via a cable chain. The solenoid valve can be a two-position four-way solenoid valve. The cylinder has two air pipe connectors: a first air pipe connector 221 and a second air pipe connector 222. The air pipes include a first air pipe connected to the first air pipe connector 221 and a second air pipe connected to the second air pipe connector 222. The end effector also includes a controller, which is electrically connected to the solenoid valve and the limit switch.

[0066] In one example, initially, the second air tube is connected to the air source via a solenoid valve, and the end-feed assembly 1 is in the position... Figure 3The position is shown. After the two end-grabbing components 1 grasp the two workpieces, the controller controls the solenoid valve to activate, so that the first air pipe is connected to the air source through the solenoid valve. At this time, the end-grabbing component 1 moves towards the main connector 31 until the second limiting member 12 near the main connector 31 contacts the first limiting member 4 near the main connector 31 on the same side. The limit switch is triggered, and the limit switch sends an electrical signal to the controller. The controller controls the solenoid valve to activate, so that the extension shaft of the cylinder stops moving, thereby stopping the end-grabbing component 1. After the end-grabbing component 1 stops moving, it is in the position shown. Figure 4 The location shown.

[0067] Secondly, this utility model embodiment provides a workpiece handling system, which includes a handling robot and an end effector provided in the first aspect. The workpiece handling system can be applied to an automated stamping production line. The handling robot includes a robotic arm, the end effector of which is connected to a main connector 31.

[0068] Since the workpiece handling system includes the aforementioned end effector, it also possesses the beneficial effects of the aforementioned end effector, which will not be elaborated upon here.

[0069] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0070] It should be noted that when a component is described as "fixed to" another component, it can be directly on the other component or may have a component in between. When a component is considered "connected to" another component, it can be directly connected to the other component or may have a component in between. When a component is considered "set on" another component, it can be directly set on the other component or may have a component in between. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0071] The various embodiments in this specification are described in a related manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions of the method embodiments.

[0072] The above are merely preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model are included within the scope of protection of this utility model.

[0073] The end effector and workpiece handling system provided by this utility model have been described in detail above. Specific examples have been used to illustrate the principle and implementation of this utility model. The description of the above embodiments is only for the purpose of helping to understand the structure and core idea of ​​this utility model. At the same time, for those skilled in the art, there will be changes in the specific implementation and application scope based on the idea of ​​this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. An end effector, characterized in that, It includes a main frame, two lateral shifting components respectively connected to both ends of the main frame, and two end-grabbing components detachably connected to the two lateral shifting components respectively; The lateral shifting component is used to drive the end-picking component to move along the length direction of the main frame; The main frame is provided with a first limiting member, and the end-grabbing assembly includes a main rod and a second limiting member connected to the main rod. When the end-grabbing assembly moves to the extreme position, the second limiting member contacts the first limiting member.

2. The end effector according to claim 1, characterized in that, The end of the second limiting member away from the main rod is used to contact the first limiting member; The second limiting member can move along the length of the main rod at least at one end away from the main rod.

3. The end effector according to claim 2, characterized in that, The second limiting member is connected to the main rod via a clamping structure; The clamping structure has a released state. In the released state, the clamping structure is used to move along the length direction of the main rod under the action of an external force. When the clamping structure moves, it drives the second limiting member to move along the length direction of the main rod.

4. The end effector according to claim 3, characterized in that, The clamping structure includes a clamping member and a fastener, and the second limiting member is connected to the clamping member; The clamping member has a clamping through hole, which mates with the main rod; The fastener is used to secure the clamping member so that the clamping member is clamped onto the main rod.

5. The end effector according to claim 4, characterized in that, The clamping member includes a first sub-member and a second sub-member, wherein the first sub-member is connected to the second limiting member; The first sub-component and the second sub-component are mated to form the clamping through hole; The first sub-component is connected to the second sub-component via the fastener.

6. The end effector according to any one of claims 1 to 5, characterized in that, The second limiting member includes a limiting rod and a buffer. The limiting rod is connected to the main rod, and the buffer is connected to the end of the limiting rod away from the main rod. The buffer is located on the side of the limiting rod facing the first limiting member corresponding to the second limiting member.

7. The end effector according to any one of claims 1 to 5, characterized in that, A limit switch is provided on the first limiting member or the main frame; When the second limiting member comes into contact with the first limiting member, the limit switch is triggered.

8. The end effector according to any one of claims 1 to 5, characterized in that, The number of the second limiting members in a single end-grab assembly is two, and the two second limiting members in a single end-grab assembly are arranged at intervals along the length direction of the main frame; The number of main rods is two, and the two main rods are arranged at intervals along the width direction of the main frame; The two second limiting members are connected to the same main rod, or the two second limiting members are respectively connected to the two main rods.

9. The end effector according to any one of claims 1 to 5, characterized in that, The main frame includes a main connector and two branch connectors connected to both ends of the main connector; The lateral shifting assembly includes a movable bracket and a driving component. The movable bracket is slidably connected to the support connector along the length direction of the main frame. The driving component is connected to the movable bracket. The movable bracket is detachably connected to the main rod.

10. A workpiece handling system, characterized in that, Includes a handling robot and an end effector as described in any one of claims 1 to 9.

Images