End Pick-Up Devices, Manipulators, and Robots

Abstract

The present application relates to the field of handling equipment technology, in particular to an end pick-up device, a manipulator, and a robot. The end pick-up device includes a mounting sheet, a pick-up mechanism, and a driving mechanism. The pick-up mechanism is disposed on the mounting sheet and includes at least two pick-up devices that are movable relative to each other, and the pick-up devices include pick-up parts for picking up an article. The driving mechanism is disposed on the mounting sheet and is drivingly connected to the pick-up mechanism, and the driving mechanism drives the at least two pick-up devices to move relative to each other, so that the at least two pick-up devices pick up the article in a switching manner. Based on this, the replacement time of the pick-up parts can be shortened, and the working efficiency of the end pick-up device can be improved.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application is based on and claims priority from Chinese Application No. 202110406383.2, filed on April 15, 2021, which is incorporated herein by reference in its entirety.

[0002] The present application relates to the field of handling equipment technology, in particular to end pickup devices, manipulators, and robots. [Background technology]

[0003] The end pickup device is an important part of the manipulator, which is used to pick up the object by the pickup part and transport the object from one position to a specified position.

[0004] In order to meet the various pick-up requirements of different articles, the end pick-up device needs to exchange different pick-up parts. In the related art, the end pick-up device needs to move between the working area and other areas to realize the exchange of pick-up parts, which takes a lot of time to exchange pick-up parts and affects the work efficiency. Summary of the Invention [Problem to be solved by the invention]

[0005] The technical problem to be solved in this application is to improve the working efficiency of end pickup devices. [Means for solving the problem]

[0006] In order to solve the above technical problems, the present application provides: A mounting sheet; a pickup mechanism disposed above the mounting sheet and including at least two pickup devices, the at least two pickup devices being movable relative to each other, the pickup devices including a pickup part for picking up an article; a drive mechanism disposed above the mounting sheet and in driving connection with the pickup mechanism, the drive mechanism driving the at least two pickup devices to move relative to each other, such that the at least two pickup devices pick up articles in a switching manner; An end pickup device is provided, comprising:

[0007] In some embodiments, the pickup device further includes a sleeve, the pickup part is arranged at an end of the sleeve, and the at least two pickup devices are arranged in a sequential sleeve-type manner and are relatively flexible, and the drive mechanism drives the at least two pickup devices to extend and retract relatively, so that the at least two pickup devices pick up items in a switching manner.

[0008] In some embodiments, the at least two pickup devices include a first pickup device and at least one second pickup device, the first pickup device being fixedly arranged, the at least one second pickup device being sleeved outside the first pickup device and being telescopic relative to the first pickup device, and a drive mechanism being drivingly connected to the at least one second pickup device and driving the at least one second pickup device to extend and retract, such that the at least one second pickup device and the first pickup device pick up items in a switching manner.

[0009] In some embodiments, the at least two pick-up devices include at least two second pick-up devices.

[0010] In some embodiments, the drive mechanism includes a drive device that corresponds one-to-one to at least one second pickup device, the drive device being in driving connection with the second pickup device and driving the second pickup device to extend and retract.

[0011] In some embodiments, the drive device includes a lead screw motor, the lead screw motor in driving connection with the second pickup device.

[0012] In some embodiments, the drive device further includes a nut seat, which connects a nut of the lead screw motor with a sleeve of the second pick-up device and provides a drive connection between the lead screw motor and the second pick-up device.

[0013] In some embodiments, the nut seat comprises a first connecting part and a second connecting part connected to each other, the first connecting part and the sleeve being connected through a first pin shaft, or the first connecting part and the sleeve being connected in a clamping manner, and / or the second connecting part and the nut being connected through a second pin shaft.

[0014] In some embodiments, a first cavity is disposed in the first connecting part, a sleeve is positioned in the first cavity, and the first connecting part and the sleeve are connected through a first pin shaft, or the first connecting part includes a clamping part, a clamping groove is disposed in a side wall of the sleeve, the clamping part is clamped in the clamping groove, and the displacement of the clamping part toward the radial outside of the sleeve and along the axial direction of the sleeve is limited by the clamping groove, and a second pin shaft connecting the second connecting part with the nut abuts against the outer wall of the sleeve and limits the displacement of the nut seat toward the radial inside of the sleeve.

[0015] In some embodiments, the side wall of the first cavity is provided with a first hole part and the outer wall of the sleeve is provided with a second hole part, the first hole part and the second hole part are butted to form a closed first pin hole part, the second connecting part is provided with a first through hole part communicating with the first pin hole part, and the first pin shaft passes through the first through hole part and is inserted into the first pin hole part to connect the sleeve with the first connecting part.

[0016] In some embodiments, the second cavity is disposed in the second connecting part, the nut is positioned in the second cavity, and the second connecting part and the nut are connected through the second pin shaft.

[0017] In some embodiments, the side wall of the second cavity is provided with a third hole part and the outer wall of the nut is provided with a fourth hole part, the third hole part and the fourth hole part butt together to form a closed second pin hole part, the second connecting part is provided with a second through hole part communicating with the second pin hole part, and the second pin shaft passes through the second through hole part and is inserted into the second pin hole part to connect the nut with the second connecting part.

[0018] In some embodiments, in two pick-up devices adjacent to each other and both telescopic, the sleeve of the pick-up device positioned on the outside is provided with an escape opening to avoid extension and retraction of the pick-up device positioned on the inside.

[0019] In some embodiments, the end pickup device further includes a limiting device disposed above the mounting sheet to limit the displacement of the pickup device.

[0020] In some embodiments, the limiting device includes a first limiting switch and a second limiting switch, the first limiting switch and the second limiting switch being arranged sequentially along the extension direction of the pick-up device, the first limiting switch limiting the retraction displacement of the pick-up device and the second limiting switch limiting the extension displacement of the pick-up device.

[0021] In some embodiments, the pick-up part comprises a suction cup.

[0022] The present application further provides a manipulator including an end pickup device according to an embodiment of the present application.

[0023] The present application further provides a robot including a manipulator according to an embodiment of the present application.

[0024] In an embodiment of the present application, based on cooperation between a driving mechanism and at least two pickup apparatuses, the end pickup device is capable of replacing pickup parts locally in the working area without moving between the working area and other areas, thereby saving time and improving work efficiency.

[0025] Other features and advantages of the present application will become apparent through the following detailed description of exemplary embodiments thereof, taken in conjunction with the accompanying drawings.

[0026] In order to more clearly describe the technical solutions in the embodiments of the present application or in the prior art, the following briefly introduces the accompanying drawings required to describe the embodiments or the prior art. It is obvious that the accompanying drawings in the following description are merely some embodiments of the present application, and those skilled in the art can derive other accompanying drawings from these accompanying drawings without creative efforts. [Brief description of the drawings]

[0027] [Figure 1] 1 is a schematic diagram of a state in the related art when an end pickup device performs installation in a working area. [Diagram 2] 1 is a schematic diagram of a related art end pickup device moving to a suction cup holder to place an existing suction cup thereon; FIG. [Diagram 3] FIG. 1 is a schematic diagram of a state in the related art when an end pick-up device is required to replace a suction cup. [Figure 4] FIG. 1 is a schematic diagram of an end pickup device returning to a working area in the related art. [Diagram 5] 1 is a schematic flow chart of switching suction cups by an end pickup device in the related art. [Figure 6] 1 is a schematic flowchart of switching a suction cup by an end pickup device in an embodiment of the present application. [Figure 7] FIG. 2 is a schematic structural diagram of an end pickup device in an embodiment of the present application. [Figure 8] FIG. 13 is a schematic diagram of a state in which a third stage pickup apparatus of an end pickup device retracts in an embodiment of the present application. [Figure 9] FIG. 1 is a schematic diagram of a state in which a second stage pickup apparatus of an end pickup device retracts in an embodiment of the present application. [Figure 10] FIG. 2 illustrates the cooperation of three stages of a pick-up device in an embodiment of the present application. [Figure 11] FIG. 2 illustrates a cooperative relationship between a drive mechanism and a pick-up mechanism in an embodiment of the present application. [Figure 12] FIG. 2 is a schematic exploded view of the combined structure of a nut seat, a nut, and a sleeve of a second stage pick-up device in an embodiment of the present application. [Figure 13] FIG. 2 illustrates the cooperative relationship of a nut seat, a nut, and a sleeve of a second stage pick-up device in an embodiment of the present application. [Figure 14] FIG. 2 is a schematic diagram of the combined structure of a nut seat, a nut, and a sleeve of a third-stage pick-up device in an embodiment of the present application. [Figure 15] FIG. 15 is a schematic exploded view of FIG. [Figure 16] 15 is a diagram showing the cooperative relationship of the nut seat, nut, and sleeve of the third stage pick-up device of FIG. 14. [Figure 17] 1 is a schematic layout diagram of a restriction device in an embodiment of the present application. [Figure 18] FIG. 13 is a diagram showing the cooperation relationship between the limiting device and the driving device corresponding to the third-stage pick-up device in an embodiment of the present application. [Figure 19] FIG. 13 is a diagram showing the cooperation relationship between the limiting device and the driving device corresponding to the second-stage pick-up device in an embodiment of the present application. [Figure 20]FIG. 13 is a schematic diagram of a state when a second limit switch is not triggered in an embodiment of the present application. [Figure 21] FIG. 13 is a schematic diagram of a state when a second limit switch is triggered in an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the accompanying drawings in the embodiments of the present application. It is obvious that the described embodiments are only a part of the embodiments of the present application, and are not all of the embodiments of the present application. The following description of at least one exemplary embodiment is merely for illustrative purposes in nature, and is in no way intended to limit the present disclosure, its application, or use. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work are within the protection scope of the present application.

[0029] Techniques, methods, and apparatus known to those skilled in the relevant art may not have been discussed in detail, but where appropriate, the techniques, methods, and apparatus should be considered to be part of this specification.

[0030] In the description of this application, the orientations or positional relationships indicated by directional terms such as "front, rear, upper, lower, left, right", "transverse, vertical, upright, horizontal", and "top, bottom" are based on the orientations or positional relationships shown in the drawings, which are merely for the purpose of facilitating and simplifying the description of this application, and are not intended to indicate or imply that a particular device or element must be specifically positioned, structured, or operated in a particular direction, unless otherwise stated, and therefore should not be understood as a limitation on the scope of protection of this application, and it should be understood that the directional terms "inside and outside" refer to the inside and outside relative to the outer shape of each component itself.

[0031] It should be understood that in the description of this application, the use of terms such as "first" and "second" to define components is merely for the convenience of distinguishing corresponding components. Unless otherwise stated, the above terms do not have any special meaning and therefore should not be understood as a limitation on the protection scope of this application.

[0032] In addition, the technical features involved in different implementations of the present application described below can be combined with each other unless they are mutually inconsistent.

[0033] The end pickup device is a gripping device, which is usually connected to the tail end of the manipulator to grip the article. In the field of logistics, a robot is often used to pick up the article through the end pickup device to realize the selection of the article.

[0034] The end pickup device includes a pickup part that is in contact with the article and picks up the article, such as by clamping and gripping, vacuum attraction, or magnetic attraction.

[0035] In order to meet the pick-up requirements of different articles, the end pick-up device needs to exchange different pick-up parts. The process of exchanging pick-up parts is actually an inefficient operation. Therefore, it is desired to reduce the time occupied by the process of exchanging pick-up parts and increase the time occupied by the pick-up operation.

[0036] However, in the related technology, the end pickup device needs to move between the working area and the replacement area far away from the working area to realize the replacement of the pickup part, which consumes a lot of time and affects the work efficiency.

[0037] Here, the replacement process of pick-up parts in the related art is described by taking a vacuum suction type end pick-up device as an example.

[0038] 1 to 5 show a process for replacing pick-up parts of a vacuum suction type end pick-up device in the related art.

[0039] Referring to FIG. 1, when the end pickup device 20 disposed at the end of the manipulator 10 is a vacuum suction type end pickup device, the pickup part of the end pickup device 20 is a suction cup 25, and the end pickup device 20 contacts an article through the suction cup 25 and picks up the article.

[0040] 1-5, in order to replace the suction cup 25, in the related art, the end pick-up device 20 is provided with a quick-change mechanism (not shown in the figures), the suction cup holder 8 is specially arranged outside the working area A, and a backup suction cup 25 is arranged above the suction cup holder 8 for the end pick-up device 20 to replace. In this case, the area where the suction cup holder 8 is located is the replacement area, which needs not to affect the normal progress of the gripping and placing operations, and therefore is generally far away from the working area A.

[0041] When the existing suction cup 25 does not meet the pick-up requirements of the article and needs to be replaced, as shown in Fig. 1-2, after the existing suction cup 25 finishes placing the article, the end pickup device 20 needs to move from the working area A to the replacement area (where the suction cup holder 8 is located, which is far away from the working area A), and then the existing suction cup 25 is released by the quick-change mechanism. Then, as shown in Fig. 3, the end pickup device 20 is controlled to move to the position where the required suction cup 25 is located in the replacement area, and the required suction cup 25 is gripped by the quick-change mechanism. Then, as shown in Fig. 4, the end pickup device 20 is controlled to move from the replacement area back to the working area A for the next operation.

[0042] As can be seen, referring to FIG. 5, in the related art, many links (e.g., "finish installation - move to suction cup holder - place existing suction cup - move to required suction cup location - grasp required suction cup - return to operate") are required to complete a suction cup replacement and pick up another item.

[0043] In the above replacement process, the actions corresponding to "move to suction cup holder - place existing suction cup - move to required suction cup position - grip required suction cup" (which are all prepared for the next pick-up operation) are actually inefficient operations, and the time consumed to move the manipulator and the time consumed to replace the suction cup by the quick-change mechanism are inefficient times, which take up a large proportion in the entire replacement process and affect the work efficiency.

[0044] Considering the above cases, the embodiment of the present application improves the structure of the end pick-up device to shorten the replacement time of the pick-up parts and improves the work efficiency.

[0045] 7 to 21 show schematic configurations of end pickup devices according to the present application.

[0046] 7 to 21, in some embodiments of the present application, the end pickup device 20 includes: With mounting sheet 1; a pickup mechanism 2, the pickup mechanism 2 being disposed above the mounting sheet 1 and including at least two pickup devices 21, the at least two pickup devices 21 being capable of moving relative to one another, the pickup device 21 including a pickup part 2d for picking up an article; A driving mechanism 3 is disposed on the mounting sheet 1 and is drivingly connected to the pickup mechanism 2, and the driving mechanism 3 drives at least two pickup devices 21 to move relative to each other, so that the at least two pickup devices 21 pick up articles in a switching manner. Includes.

[0047] It can be understood that picking up items in a switching manner means that when one pickup part 2d picks up an item, the other pickup part 2d does not pick up the item, and the pickup parts 2d perform pickup tasks one by one.

[0048] Based on the above arrangement, the end pickup device 20 no longer includes only one pickup part 2d, but at least two pickup parts 2d, which are driven by the driving mechanism 3 and move relatively to pick up the articles in a switching manner. In this way, the exchange of the pickup parts 2d can be completed on the end pickup device 20 itself, that is, the end pickup device 20 can complete the exchange of the pickup parts 2d locally in the working area. Since there is no need to move the end pickup device 20 between the working area and other areas, the exchange time of the pickup parts is shortened, and the end pickup device 20 can pick up more articles, thereby effectively improving the working efficiency.

[0049] The work flow of the end pickup device 20 according to the embodiment of the present application is shown in Fig. 6. As can be seen from Fig. 6, in the embodiment of the present application, the end pickup device 20 does not need to move between the working area A and the replacement area as a whole after the installation is completed, but can directly complete the replacement of the pick-up part 2d in the working area and quickly move to the next operation.

[0050] 5 and 6, it can be seen that the embodiment of the present application omits some links of "move to suction cup holder - place existing suction cup - move to required suction cup position - grip required suction cup" in the related art, eliminates the actions and movement processes corresponding to these links, and can save the inefficient time for the end pick-up device 20 to specially go to the exchange area to place and exchange the pick-up part 2d, and then return to the working area A. Therefore, the exchange time of the pick-up part is effectively shortened, the quick exchange of the pick-up part is realized, and the efficiency is significantly improved.

[0051] The form of relative movement between the pickup devices 21 can be various. As one of the forms, the pickup devices 21 are relatively telescopic. For example, referring to Figs. 7 to 10, in some embodiments, the pickup device 21 further includes a sleeve 24, and the pickup part 2d is disposed at the end of the sleeve 24. The above-mentioned at least two pickup devices 21 are disposed in a sequential sleeve manner and are relatively telescopic, and the drive mechanism 3 drives the at least two pickup devices 21 to extend and retract relatively, so that the at least two pickup devices 21 pick up the articles in a switching manner.

[0052] In the above arrangement, the replacement of the pick-up part 2d is realized by the relative extension and retraction of the pick-up device 21. When a certain pick-up part 2d needs to work, the pick-up device 21 outside the pick-up part 2d is driven and retracted to expose the pick-up part 2d, so that the pick-up part 2d is in contact with the article, and the pick-up function can be realized. When the other external pick-up part 2d needs to be replaced for work after the current pick-up part 2d completes the work, the required pick-up part 2d is driven and extended to be in contact with the article to perform the pick-up task. In this way, based on the relative extension and retraction of the pick-up device 21, the quick replacement of the pick-up part 2d is completed, so that the pick-up device 21 performs the pick-up task in a switching manner.

[0053] Since the sleeve method is adopted, the specifications of the outer pick-up parts 2d are larger than those of the inner pick-up parts 2d in all the pick-up devices 21. In this case, when the pick-up parts 2d are exchanged by the relative extension and retraction of the pick-up devices 21, the pick-up parts 2d with different specifications are exchanged so that the pick-up requirements of the articles with different specifications are met. For example, when the article to be picked up is larger, the outer pick-up device 21 is driven to extend to provide a larger pick-up force. When the article to be picked up is smaller and the larger pick-up part 2d cannot pick up the article effectively, the outer pick-up device 21 is driven to retract, so that the inner pick-up device 21 is exposed to pick up the smaller article.

[0054] In the case where the pick-up devices 21 are arranged in a mutually sleeved manner, each pick-up device 21 can be called a single stage pick-up device, and all the pick-up devices 21 can be called, respectively, from the inside to the outside, the first stage pick-up device 2a, the second stage pick-up device 2b, and the third stage pick-up device 2c, etc. Accordingly, the pick-up parts 2d of the pick-up devices 21 can be called, respectively, from the inside to the outside, the first stage pick-up part, the second stage pick-up part, and the third stage pick-up part, etc. The sleeves 24 of the pick-up devices 21 can be called, respectively, from the inside to the outside, the first stage sleeve, the second stage sleeve, and the third stage sleeve.

[0055] In order to prevent the pickup devices 21 arranged in a mutually sleeved manner from interfering with each other during the extension and retraction process, referring to FIG. 11, in some embodiments, in two pickup devices 21 (which are adjacent to each other and both are telescopic), the sleeve 24 of the pickup device 21 positioned on the outside is provided with an avoidance opening 26 to avoid the extension and retraction of the pickup device 21 positioned on the inside.

[0056] The entire pickup device 21 may be movably arranged above the mounting sheet 1, or only a portion of the pickup device 21 may be movably arranged above the mounting sheet 1, and another portion of the pickup device 21 may be fixedly arranged above the mounting sheet 1.

[0057] For example, referring to FIG. 7-FIG. 9, in some embodiments, the at least two pickup devices 21 described above include a first pickup device 22 and at least one second pickup device 23. The first pickup device 22 is fixedly arranged, and the at least one second pickup device 23 is sleeved outside the first pickup device 22 and is telescopic relative to the first pickup device 22. In this case, the drive mechanism 3 is in driving connection with the at least one second pickup device 23 and drives the at least one second pickup device 23 to extend and retract, so that the at least one second pickup device 23 and the first pickup device 22 pick up the articles in a switching manner. In this case, the innermost pickup device 21 that is fixedly arranged is called the first pickup device 22. This first pickup device 22 does not move relative to the mounting sheet 1 and remains stationary. Each pickup device 21 that is sleeved outside the first pickup device 22 is called the second pickup device 23. The second pickup device 23 is movable relative to the mounting sheet 1, such that the second pickup device 23 can be extended and retracted. Since the first pickup device 22 is not movable, the structure is simpler, the control is more convenient, the replacement efficiency is higher, and the end pickup device 20 realizes quick replacement of the pick-up parts based on a simpler structure.

[0058] The number of the second pick-up devices 23 can be one, two or more. When the pick-up mechanism 2 includes at least two second pick-up devices 23, the pick-up mechanism 2 includes at least three pick-up devices 21, which can realize the quick exchange of multiple stages of pick-up devices 21, so that different pick-up requirements are met more efficiently and flexibly.

[0059] 7 to 11 as one embodiment of the driving mechanism 3, in some embodiments, the driving mechanism 3 includes a driving device 31 that corresponds one-to-one to at least one second pickup device 23. The driving device 31 is drivingly connected to the second pickup device 23 and drives the second pickup device 23 to extend and retract. Each second pickup device 23 is equipped with one separate driving device 31, which is convenient to realize independent control over the extension and retraction process of each second pickup device 23.

[0060] As shown in FIGS. 7 and 11, in some embodiments the drive device 31 includes a lead screw motor 32 which is in driving connection with the second pick-up device 23 .

[0061] The lead screw motor 32 is a mechanism that converts the rotary motion of the motor into linear motion based on the cooperation between the lead screw and the nut. As shown in FIG. 11, the lead screw motor 32 includes a motor 33, a lead screw 35, and a nut 36. The motor 33 is in driving connection with the lead screw 35, and the nut 36 is sleeved on the outside of the lead screw 35. When the motor 33 rotates, the nut 36 moves along the axial direction of the lead screw 35 under constraint, which realizes the conversion from rotary motion to linear motion. As shown in FIG. 11, in some embodiments, a reducer 34 is disposed between the motor 33 and the lead screw 35, and the motor 33 is in driving connection with the lead screw 35 through the reducer 34. In this case, the motor 33 can be a DC motor, and the lead screw motor 32 can be a DC reduction lead screw motor. Alternatively, in some other embodiments, the reducer 34 may not be disposed between the motor 33 and the lead screw 35, and the motor 33 and the lead screw 35 may have a direct driving connection. In this case, the motor 33 may be a stepper motor, and the lead screw motor 32 may be a lead screw stepper motor.

[0062] The lead screw motor 32 is capable of realizing linear motion, and therefore, when in driving connection with the second pickup device 23, the lead screw motor 32 can drive the second pickup device 23 to move along a straight line and realize extension and retraction of the second pickup device 23.

[0063] When the lead screw motor 32 is in driving connection with the second pickup device 23, the lead screw motor 32 is in driving connection with the second pickup device 23 through its nut 36. For example, referring to FIG. 11, in some embodiments, the driving device 31 further includes a nut seat 37, which connects the nut 36 of the lead screw motor 32 with the sleeve 24 of the second pickup device 23, and realizes the driving connection between the lead screw motor 32 and the second pickup device 23. The nut seat 37 limits the rotation of the nut 36 and realizes the power transmission between the nut 36 and the second pickup device 23, so that when moving linearly, the nut 36 can drive the second pickup device 23 to move linearly and realize the extension and retraction of the second pickup device 23.

[0064] 12-13 as a structural form of the nut seat 37, in some embodiments, the nut seat 37 includes a first connection part 38 and a second connection part 39 connected to each other. The nut seat 37 is connected to the second pickup device 23 through the first connection part 38, and is connected to the nut 36 through the second connection part 39. For example, the connection between the first connection part 38 and the second pickup device 23 is realized by a first pin shaft 61 or by clamping. For example, the connection between the second connection part 39 and the nut 36 is realized by a second pin shaft 62.

[0065] As an embodiment for realizing a fixed connection between the first connection part 38 and the second pick-up device 23 based on the first pin shaft 61, referring to Figs. 12-13, in some embodiments, the first connection part 38 is provided with a first cavity 41 therein, the sleeve 24 is positioned in the first cavity 41, and the first connection part 38 and the sleeve 24 are connected through the first pin shaft 61. Specifically, as can be seen from Figs. 12 and 13, in some embodiments, the side wall of the first cavity 41 is provided with a first hole part 51, and the outer wall of the sleeve 24 is provided with a second hole part 52. The first hole part 51 and the second hole part 52 are butted together to form a closed first pin hole part 55, and the second connection part 39 is provided with a first through hole part 57 that is in communication with the first pin hole part 55. The first pin shaft 61 penetrates the first through hole portion 57 and is inserted into the first pin hole portion 55 to connect the sleeve 24 with the first connecting part 38. In this case, the first connecting part 38 and the sleeve 24 are connected by the first pin shaft 61, so that the nut seat 37 and the second pickup device 23 cannot rotate or move relative to each other, which is convenient for the nut 36 to drive the second pickup device 23 to move up and down through the nut seat 37. Such a manner of connecting the nut seat 37 with the second pickup device 23 by the first pin shaft 61 is particularly suitable for the second pickup device 23 (e.g., the second stage pickup device 2b) that is located inside.

[0066] 14-16 as an embodiment of the clamping connection between the first connecting part 38 and the second pick-up device 23, in some embodiments the first connecting part 38 is connected with the sleeve 24 in a clamping manner. For example, in some embodiments, with reference to Figs. 14-16, the first connecting part 38 includes a clamping part 3a, the side wall of the sleeve 24 is provided with a clamping groove 3c, the clamping part 3a is clamped in the clamping groove 3c, and the displacement of the clamping part 3a towards the radial outside of the sleeve 24 and along the axial direction of the sleeve 24 is limited by the clamping groove 3c. Moreover, the second pin shaft 62 connecting the second connecting part 39 with the nut 36 abuts against the outer wall of the sleeve 24 and limits the displacement of the nut seat 37 towards the radial inside of the sleeve 24. In this way, under the action of the clamping part 3a, the clamping groove 3c and the second pin shaft 62, the nut seat 37 and the second pickup device 23 cannot rotate or move relative to each other, which is convenient for the nut 36 to drive the second pickup device 23 to move up and down through the nut seat 37. Such a manner of clamping connection between the first connecting part 38 and the second pickup device 23 is particularly suitable for the second pickup device 23 located on the outside (e.g., the third-stage pickup device 2c).

[0067] In addition, as one embodiment for realizing a fixed connection between the nut seat 37 and the nut 36 based on the second pin shaft 62, referring to Figs. 12-16, in some embodiments, the second cavity 42 is disposed in the second connecting part 39, the nut 36 is positioned in the second cavity 42, and the second connecting part 39 and the nut 36 are connected through the second pin shaft 62. Specifically, as shown in Figs. 12-13 and 16, in some embodiments, the side wall of the second cavity 42 is provided with a third hole part 53, and the outer wall of the nut 36 is provided with a fourth hole part 54. The third hole part 53 and the fourth hole part 54 are butted together to form a closed second pin hole part 56. Moreover, the second connecting part 39 is provided with a second through hole portion 58 communicating with the second pin hole portion 56, and the second pin shaft 62 penetrates the second through hole portion 58 and is inserted into the second pin hole portion 56 to connect the nut 36 with the second connecting part 39. On this basis, the nut seat 37 and the nut 36 cannot rotate or move relative to each other, and the nut seat 37 limits the rotation of the nut 36, so that when the motor 33 drives the lead screw 35 to rotate, the nut 36 only moves along the axial direction of the lead screw 35 without rotating, which is convenient for the nut 36 to drive the second pickup device 23 to move along the axial direction of the lead screw 35 through the nut seat 37, so as to realize the extension and retraction of the second pickup device 23.

[0068] In addition, in order to allow the pickup device 21 to be extended and retracted more accurately in a desired region, referring to Figs. 17 to 21, in some embodiments, the end pickup device 20 includes a limiting device 7, which is disposed on the mounting sheet 1 and limits the displacement of the pickup device 21. For example, in some embodiments, the limiting device 7 includes a first limiting switch 71 and a second limiting switch 72, which are disposed sequentially along the extension direction of the pickup device 21. The first limiting switch 71 limits the retracting displacement of the pickup device 21, and the second limiting switch 72 limits the extending displacement of the pickup device 21. In this way, the extension and retracting range of the pickup device 21 is limited to prevent the pickup device 21 from being extended and retracted excessively. The first limiting switch 71 and the second limiting switch 72 can be various types of switches, such as a micro switch or a proximity switch. When the switch is triggered, the drive mechanism 3 stops working and prevents the pick-up device 21 from continuing to extend or retract further, thereby limiting the extension and retraction displacements.

[0069] In each of the above embodiments, the pick-up part 2d is not limited in terms of type, for example, the pick-up part 2d can include a suction cup 25, a mechanical claw, or a magnetic member, etc. Next, the end pick-up device 20 of the embodiment of the present application will be further described by taking the case where the pick-up part 2d is a suction cup 25 as an example.

[0070] 7 to 21 show a schematic diagram of a case where the pickup part 2d is a suction cup 25. FIG.

[0071] 7 to 21, in this embodiment, the end pickup device 20 includes a mounting sheet 1, a pickup mechanism 2, a driving mechanism 3, and a limiting device 7. The pickup mechanism 2, the driving mechanism 3, and the limiting device 7 are all disposed on the mounting sheet 1.

[0072] The pickup mechanism 2 includes three stages of pickup devices 21 arranged in a sleeved manner from the inside to the outside, which are a first stage pickup device 2a, a second stage pickup device 2b, and a third stage pickup device 2c, respectively, in which the first stage pickup device 2a is located at the innermost part and is fixedly arranged, the second stage pickup device 2b is arranged outside the first stage pickup device 2a in a sleeved manner and is arranged movably relative to the mounting sheet 1, and the third stage pickup device 2c is arranged outside the second stage pickup device 2b in a sleeved manner and is arranged movably relative to the mounting sheet 1. Each of the first stage pickup device 2a, the second stage pickup device 2b, and the third stage pickup device 2c includes a sleeve 24 and a suction cup 25. The suction cup 25 is arranged at the end of the sleeve 24 and serves as a pickup part 2d for picking up an article. The suction cups 25 of the first stage pick-up device 2a, the second stage pick-up device 2b, and the third stage pick-up device 2c can be referred to as the first stage suction cup, the second stage suction cup, and the third stage suction cup, respectively.

[0073] When vacuumed, the suction cups 25 suck the article and realize the pickup of the article. As shown in FIG. 7, in this embodiment, the air flow path 27 is arranged inside the first stage pickup device 2a, and the first stage pickup device 2a, the second stage pickup device 2b, and the third stage pickup device 2c are gas-communicated with the vacuum mechanism through the air flow path 27, so that the vacuum mechanism can vacuum the suction cups 25 of each stage of the pickup device 21. In this case, in the pickup device 21, the pickup device 21 positioned on the outside communicates with the vacuum mechanism through the pickup device 21 positioned on the inside. The suction cups 25 are elastic members and can be deformed due to the influence of negative pressure in the working process or pressure exerted by the article. In order to allow the suction cups 25 of each stage of the pickup device 21 to provide a relatively sufficient suction force, each stage of the pickup device 21 can be arranged such that when one pickup device 21 performs a pickup task and is at the compression limit, the tail end of the suction cup 25 of the pickup device 21 is still lower than the tail end of the suction cup 25 located inside the pickup device 21, so that the suction cup 25 located inside cannot contact the article. In this way, the air path of the current suction cup 25 is not blocked by the article on the suction cup 25 of the previous stage, so that the current suction cup 25 can have a larger vacuum generating area and can provide a larger suction force. For example, when the third stage pickup device 2c performs a pickup task, even if the third stage suction cup is compressed to the maximum compression amount, the tail end of the third stage suction cup is still positioned below the tail end of the second stage suction cup, so that the second stage suction cup does not contact the article, and the first stage suction cup 25 does not contact the article either.In this way, the gas path of the third stage suction cup is not blocked by the article sucked onto the second stage suction cup, and the vacuum generation area is larger, providing greater suction force.

[0074] The sleeve relationship of each stage of the pick-up device 21 is as shown in Fig. 7. In this embodiment, the specifications of the suction cups 25 increase in sequence from the inside to the outside, that is, the cross-sectional area of ​​the suction cups 25 increases in sequence from the inside to the outside, that is, the suction area of ​​the third stage suction cup is larger than that of the second stage suction cup, which is larger than that of the first stage suction cup. Therefore, the third stage suction cup is the largest and has the strongest suction ability and can adsorb the largest article, followed by the second stage suction cup, and the first stage suction cup is the smallest and has the weakest suction ability and can adsorb the smallest article.

[0075] 10, in order to facilitate the relative extension and retraction of the pickup device 21, in this embodiment, a guide sleeve 28 is disposed between two adjacent pickup devices 21 on the inside and outside, and plays the role of a guide. Moreover, in this embodiment, the guide sleeve 28 also has a sealing function, and plays the role of sealing, prevents gas leakage, and enables the suction cup 25 to adsorb the article more reliably. Specifically, as can be seen from FIG. 10, in this embodiment, one guide sleeve 28 is disposed between the third stage pickup device 2c and the second stage pickup device 2b, and one guide sleeve 28 is disposed between the second stage pickup device 2b and the first stage pickup device 2a, and the guide sleeve 28 both plays the role of a guide and a sealing role. The guide sleeve 28 can be disposed between the sleeves 24 of two adjacent stages of the pickup device 21.

[0076] The drive mechanism 3 is drivingly connected to the second stage pickup device 2b and the third stage pickup device 2c, and drives the second stage pickup device 2b and the third stage pickup device 2c to move relative to the mounting sheet 1, thereby realizing the relative extension and retraction between the three stages of the pickup device 21. As shown in Figs. 7 to 9 and 11, in this embodiment, the drive mechanism 3 includes two drive devices 31 disposed on the mounting sheet 1, and the two drive devices 31 are disposed on both sides of the central axis of the sleeve 24, and are drivingly connected to the second stage pickup device 2b and the third stage pickup device 2c in a one-to-one correspondence relationship, respectively, and drive the second stage pickup device 2b and the third stage pickup device 2c to extend and retract, respectively. In Fig. 7, the left drive device 31 is drivingly connected to the third stage pickup device 2c to drive the third stage pickup device 2c to move up and down, thereby realizing the extension and retraction of the third stage pickup device 2c. The right-side driving device 31 is drivingly connected to the second-stage pickup device 2b for driving the second-stage pickup device 2b to move up and down, thereby realizing the extension and retraction of the second-stage pickup device 2b.

[0077] 11, in this embodiment, each of the two driving devices 31 includes a lead screw motor 32 and a nut seat 37. The lead screw motor 32 is drivingly connected to the sleeve 24 through the nut seat 37, so that the sleeve 24 can move along the axial direction of the sleeve 24 under the driving of the lead screw motor 32 to realize the extension and retraction of the pick-up device 21.

[0078] Specifically, the lead screw motor 32 is a DC reduction lead screw motor, and includes a motor 33, which is a DC motor, a reducer 34, a lead screw 35, and a nut 36. The motor 33 is connected to the lead screw 35 through the reducer 34. The axial direction of the lead screw 35 coincides with the axial direction of the sleeve 24. The nut 36 sleeves the lead screw 35. The nut seat 37 sleeves on the outside of the nut 36 and connects the nut 36 to the sleeve 24, so that the nut 36 can drive the sleeve 24 to move along the axial direction of the lead screw 35, thereby realizing the extension and retraction of the pickup device 21.

[0079] 12 to 16, in this embodiment, the nut sheet 37 corresponding to the third stage pickup device 2c and the nut sheet 37 corresponding to the second stage pickup device 2b have different structures. For ease of distinction, the nut sheet 37 connected to the second stage pickup device 2b is called the first nut sheet, and the nut sheet 37 connected to the third stage pickup device 2c is called the second nut sheet.

[0080] 12-13 show the structure of the first nut seat, and the cooperative relationship between the first nut seat, the nut 36, and the sleeve 24. As shown in FIG. 12-13, in this embodiment, the first nut seat sleeves the nut 36 and the sleeve 24 (i.e., the second stage sleeve) of the second stage pickup device 2b, and is connected to the second stage sleeve and the nut 36 through the first pin shaft 61 and the second pin shaft 62, respectively, so that when the motor 33 drives the lead screw 35 to rotate, the nut 36 does not rotate, but drives the second stage sleeve to move only along the axial direction of the lead screw 35, thereby driving the second stage pickup device 2b to extend and retract.

[0081] The first nut seat comprises a first connecting part 38 and a second connecting part 39 connected to one side of the first connecting part 38. A first cavity 41 is arranged in the first connecting part 38, and the second stage sleeve is positioned in the first cavity 41 such that the first connecting part 38 sleeves outside the second stage sleeve. A second cavity 42 is arranged in the second connecting part 39, and the nut 36 is positioned in the second cavity 42 such that the second connecting part 39 sleeves outside the nut 36. The inner wall of the part of the first connecting part 38 connected to the second connecting part 39 is provided with a first hole part 51, and the outer wall of the second stage sleeve is provided with a second hole part 52. The first hole part 51 and the second hole part 52 are butted together to form a closed first pin hole 55. The inner wall of the second connecting part 39 is provided with a third hole part 53, and the outer wall of the nut 36 is provided with a fourth hole part 54. The third hole part 53 and the fourth hole part 54 are butted together to form a closed second pin hole part 56. On the one hand, the second connecting part 39 is provided with a first through hole part 57 communicating with the first pin hole part 55 and a second through hole part 58 communicating with the second pin hole part 56. The first pin shaft 61 penetrates the first through hole part 57 and is inserted into the first pin hole part 55 to connect the second stage sleeve with the first connecting part 38, so that the nut seat 37 and the second stage sleeve cannot rotate or move relative to each other. The second pin shaft 62 passes through the second through hole portion 58 and is inserted into the second pin hole portion 56, connecting the nut 36 with the second connecting part 39 so that the nut seat 37 and the nut 36 cannot rotate or move relative to each other.

[0082] In this way, under the action of the first pin shaft 61 and the second pin shaft 62, the nut 36 is fixedly arranged on the first nut seat, the first nut seat is fixedly arranged on the second stage sleeve, and the nut 36 drives the second stage pickup device 2b to move along the axial direction of the lead screw 35, thereby realizing the extension and retraction of the second stage pickup device 2b.

[0083] 14 to 16 show the structure of the second nut seat, and the cooperative relationship between the second nut seat, the nut 36, and the sleeve 24. As shown in FIG. 14 to FIG. 16, in this embodiment, the second nut seat sleeves the nut 36 and is connected to the nut 36 through the second pin shaft 62. At the same time, the second nut is connected to the sleeve 24 (i.e., the third stage sleeve) of the third stage pickup device 2c in a clamping manner, so that when the motor 33 drives the lead screw 35 to rotate, the nut 36 does not rotate, but drives the third stage sleeve to only move along the axial direction of the lead screw 35, thereby driving the third stage pickup device 2c to extend and retract.

[0084] The second nut seat comprises a first connecting part 38 and a second connecting part 39 connected to one side of the first connecting part 38. The first connecting part 38 comprises a clamping part 3a, the side wall of the third stage sleeve being provided with a clamping groove 3c, the clamping part 3a being clamped in the clamping groove 3c, limiting the displacement of the second nut seat in the axial and circumferential directions, as well as radially outwardly with respect to the third stage sleeve. A second cavity 42 is arranged in the second connecting part 39, the nut 36 being positioned in the second cavity 42, such that the second connecting part 39 sleeves on the outside of the nut 36. A second pin shaft 62 connects the second connecting part 39 with the nut 36, abutting against the outer wall of the third stage sleeve, such as to realize a fixed connection between the second connecting part 39 and the nut 36, and such as to limit the displacement of the second nut seat in the radially inwardly with respect to the third stage sleeve.

[0085] Specifically, in the radial direction of the third sleeve, one side of the clamping groove 3c facing the central axis of the third sleeve is open, and one side facing away from the central axis of the third sleeve is provided with two clamping platforms 3d. Along the axial direction of the third sleeve, the two ends of the clamping groove 3c are provided with end walls 3e, such that the two ends of the clamping groove 3c along the axial direction of the third sleeve are at least partially closed. The clamping part 3a includes two clamping claws 3b, which are connected to two opposite parts of the second connecting part 39 in the circumferential direction of the third sleeve. In the radial direction of the third sleeve, the two clamping claws 3b are clamped in one-to-one correspondence with the two clamping platforms 3d, such that the clamping groove 3c can limit the displacement of the nut seat 37 toward the radial outside of the third sleeve. In the axial direction of the third-stage sleeve, the two clamping claws 3b are positioned between the upper end wall and the lower end wall 3e of the clamping groove 3c, so that the clamping groove 3c can limit the displacement of the nut seat 37 toward both axial sides of the third-stage sleeve and prevent the nut seat 37 from moving up and down. It can be seen that due to the cooperation of the clamping parts 3a and the clamping groove 3c, the nut seat 37 cannot move relative to the third-stage sleeve radially outward and toward both axial sides of the third-stage sleeve.

[0086] The inner wall of the second connecting part 39 is provided with a third hole part 53, and the outer wall of the nut 36 is provided with a fourth hole part 54. The third hole part 53 and the fourth hole part 54 are butted together to form a closed second pin hole 56. On the one hand, the second connecting part 39 is provided with a second through hole part 58 which communicates with the second pin hole part 56. A second pin shaft 62 penetrates the second through hole part 58 and is inserted into the second pin hole part 56 to connect the nut 36 with the second connecting part 39, such that the nut seat 37 and the nut 36 cannot rotate or move relative to each other. Moreover, the second pin shaft 62 abuts against the outer side wall of the third stage sleeve, such that the nut seat 37 cannot move radially inwards of the third stage sleeve.

[0087] In this way, by cooperation between the second pin shaft 62, the clamping part 3a and the clamping groove portion 3c, the nut 36 is fixedly arranged on the second nut seat, which is fixedly arranged on the third stage sleeve, and the nut 36 is capable of driving the third stage pickup device 2c to move along the axial direction of the lead screw 35, thereby realizing the extension and retraction of the third stage pickup device 2c.

[0088] It can be seen that in this embodiment, the connection mode between the first nut seat and the nut 36 is the same as that between the second nut seat and the nut 36, the second connecting part 39 and the nut 36 being arranged in a sleeved manner relative to each other are connected by the second pin shaft 62. However, the connection mode between the first nut seat and the sleeve 24 is different from that between the second nut seat and the sleeve 24, the first nut seat and the second stage sleeve are arranged in a sleeved manner and connected by the first pin shaft 61, while the second nut seat and the third stage sleeve are connected in a clamping manner instead of being arranged in a sleeved manner and connected by the first pin shaft 61.

[0089] The connection between the nut seat 37 and the nut 36 is realized by the cooperation of the second pin shaft 62, the third hole part 53 and the fourth hole part 54, and the connection between the first nut seat and the second stage sleeve is realized by the cooperation of the first pin shaft 61, the first hole part 51 and the second hole part 52. Compared with other connection modes such as coupling, screw connection or clamping connection, the structure is simpler, the layout is more compact, the adaptability to narrow space is stronger, and the requirements for machining precision are lower. The first pin hole 55 and the second pin hole 56 are configured to be formed by butting two hole parts (i.e., the first hole part 51 and the second hole part 52, and the third hole part 53 and the fourth hole part 54) in the two connected parts, which is more suitable for the connection requirements of the nut seat 37, the nut 36, and the sleeve 24, which have smaller wall thicknesses, compared to the method of directly disposing a complete pin hole in the connected parts.

[0090] The second nut seat and the third stage sleeve are not connected in a sleeved manner, but in a clamping manner through cooperation between the clamping groove portion 3c and the clamping part 3a, and based on realizing a fixed connection between the second nut seat and the third stage sleeve, the reciprocating movement of the first nut seat can be avoided, which is favorable for the first nut seat and the second nut seat to move upwards to the same height, and avoids the case where the sleeved first nut seat cannot move upwards to the upper limit position of the second nut seat due to the blocking of the second nut seat.

[0091] In addition, as shown in Figures 11 and 19, in this embodiment, the sleeve 24 of the third stage pickup device 2c is provided with an avoidance opening 26, which is arranged on the side surface of the sleeve 24 of the third stage pickup device 2c and positioned above the movement path of the second stage pickup device 2b, so that when the second stage pickup device 2b moves up and retracts, the avoidance opening 26 can just avoid the nut seat 37 (i.e., the first nut seat) of the second stage pickup device 2b, promoting smooth extension and retraction of the second stage pickup device 2b.

[0092] The extension and retraction displacements of the pickup device 21 are limited by the limiting device 7. The limiting device 7 has a one-to-one correspondence with the retractable pickup device 21. In this embodiment, referring to FIG. 17, the end pickup device 20 includes two limiting devices 7, and these two limiting devices 7 have a one-to-one correspondence with the second stage pickup device 2b and the third stage pickup device 2c, for limiting the movement displacements of the second stage pickup device 2b and the third stage pickup device 2c, respectively. In FIG. 17, the right limiting device 7 corresponds to the third stage pickup device 2c to limit the displacement of the third stage pickup device 2c, and the left limiting device 7 corresponds to the second stage pickup device 2b to limit the displacement of the second stage pickup device 2b.

[0093] As shown in Figures 17 to 21, in this embodiment, the two limiting devices 7 have the same structure and both include a first limiting switch 71 and a second limiting switch 72, which are arranged sequentially along the extension direction of the pickup device 21, with the first limiting switch 71 limiting the backward displacement of the pickup device 21 and the second limiting switch 72 limiting the extension displacement of the pickup device 21. Thus, referring to Figures 20-21, after the lead screw motor 32 is activated, the corresponding stage of the pick-up device 21 will start to move, and when it moves to a predetermined place, the corresponding nut seat 37 will contact the limit switch and compress the contact 73 of the limit switch, so that the limit switch is triggered, and a signal is sent to control the lead screw motor 32 to stop working; then the lead screw motor 32 will not continue to rotate along this direction, but will start to rotate in the reverse direction after receiving a reverse rotation signal, so that the corresponding stage of the pick-up device 21 will rotate in the reverse direction until the other limit switch is touched, thereby realizing the limit on the displacement in both directions.

[0094] Based on the above arrangement, the end pickup device 20 according to this embodiment can realize local replacement of the suction cup 25, which is convenient and fast.

[0095] As shown in Fig. 7, at the initial stage, the first stage pickup device 2a, the second stage pickup device 2b, and the third stage pickup device 2c are all in the initial position. At this time, the tail end of the suction cup 25 of the second stage pickup device 2b is lower than the tail end of the suction cup 25 of the first stage pickup device 2a, and the tail end of the suction cup 25 of the third stage pickup device 2c is lower than the tail end of the suction cup 25 of the second stage pickup device 2b, that is, from the inside to the outside, the tail ends of the suction cups 25 of each stage of the pickup device 21 are arranged downward in sequence. In other words, from the inside to the outside, the tail ends of the suction cups 25 of each stage of the pickup device 21 are arranged at a predetermined interval in sequence along the extension direction. In this case, when it is necessary to perform a pick-up task, only the suction cups 25 of the third tier pick-up device 2c can be in contact with the article, while the suction cups 25 of the second tier pick-up device 2b and the first tier pick-up device 2a are not exposed and cannot be in contact with the article and cannot pick up the article, which is therefore suitable for picking up larger articles at this time.

[0096] When the article to be picked up is relatively small and not suitable for being picked up by the suction cup 25 of the third stage pickup device 2c, but is suitable for being picked up by the suction cup 25 of the second stage pickup device 2b, as shown in Fig. 8, a signal is sent to the lead screw motor 32 corresponding to the third stage pickup device 2c to control the lead screw motor 32 and drive the third stage pickup device 2c to move upward and back, so that the third stage pickup device 2c is released so as not to block the suction cup 25 of the second stage pickup device 2b, and the suction cup 25 of the second stage pickup device 2b is exposed. At this time, the suction cup 25 of the second stage pickup device 2b is in contact with the article and can pick up the article. As can be seen from FIG. 8, when only the third stage pickup device 2c is retracted to a predetermined location but the second stage pickup device 2b is not retracted, the nut seat 37 corresponding to the third stage pickup device 2c moves upward to the upper limit position, but the nut seat 37 corresponding to the second stage pickup device 2b does not move and is at the lower limit position.

[0097] When the article to be picked up is smaller and neither the suction cups 25 of the third stage pickup device 2c nor the second stage pickup device 2b are suitable, a signal is sent to the lead screw motor 32 to drive the third stage pickup device 2c and the second stage pickup device 2b to move up and back, as shown in Fig. 9, to expose the suction cups 25 of the first stage pickup device 2a so that the suction cups 25 of the first stage pickup device 2a can pick up the article and complete the pick-up operation. As can be seen from Fig. 9, when both the second stage pickup device 2b and the third stage pickup device 2c are backed into place, their corresponding nut seats 37 move upward to their upper limit positions.

[0098] In this way, according to actual needs, the third stage pickup device 2c and the second stage pickup device 2b are controlled to move up and down, so that the suction cups 25 of each stage of the pickup device 21 are in contact with the articles in a switching manner, and the replacement of the suction cups 25 is completed.

[0099] As can be seen, the end pickup device 20 according to this embodiment is equipped with a backup suction cup 25 itself, and can switch between the current suction cup 25 and the backup suction cup 25. In other words, the end pickup device 20 according to this embodiment has a suction cup exchange function itself, and can realize the quick exchange of the suction cup 25 by using the relative extension and retraction of each stage of the pickup device 21. After the installation is completed, when the suction cup 25 needs to be exchanged, the end pickup device 20 according to this embodiment only needs to control the pickup device 21 positioned outside the required suction cup 25 to move up and retract, and then the required suction cup 25 can be switched to perform the next operation, thereby completing the switching process of the suction cup 25. The switching of the suction cup 25 can be completed in the necessary moving process after the installation action is completed, and the inefficient process of the manipulator 10 specially moving from the working area A to the suction cup holder 8 farther away, putting down and replacing the suction cup 25, and then returning to the working area A can be omitted, and the inefficient time consumed by the corresponding inefficient process is saved. Therefore, the changing time for the suction cup can be greatly shortened, allowing the end pick-up device 20 to spend more time on the pick-up operation, which improves the usage efficiency of the end pick-up device 20 and improves the input / output ratio.

[0100] It should be understood that the embodiments shown in Figures 7 to 21 are merely described by taking the case of a three-stage pick-up device 21 as an example, and the number of stages of the pick-up device 21 can be greater, for example, four or more stages can be provided.

[0101] In summary, according to the embodiment of the present application, by improving the structure of the end pickup device 20, inefficient actions in the replacement process of the pickup parts are eliminated, much of the time wasted in the replacement process of the pickup parts is greatly saved, and work efficiency is effectively improved.

[0102] Based on the provided end pickup device 20, embodiments of the present application also provide a manipulator 10 and a robot 100 including an end pickup device 20 according to embodiments of the present application.

[0103] The foregoing are merely exemplary embodiments of the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall fall within the protection scope of the present application. [Explanation of symbols]

[0104] 1 Installation sheet 2 Pickup mechanism 2a First stage pickup device 2b Second stage pickup device 2c Third stage pickup device 2d Pickup parts 3. Driving mechanism 3a Clamping parts 3b Clamping Claw 3c Clamping groove 3d clamping platform 3e End wall 7 Restriction Devices 8 Suction Cup Holder 10. Manipulator 20 End Pickup Device 21 Pick-up device 22 First Pick-up Device 23 Second Pick-up Device 24 Sleeve 25 Suction Cup 26 Avoidance opening 27 Air Flow Path 28 Guide sleeve 31 Driving Device 32 Lead screw motor 33 Motor 34 Reducer 35 Lead screw 36 Nut 37 Nut Sheet 38 First connecting part 39 Second connecting part 41 First Cavity 42 Second Cavity 51 First hole part 52 Second hole part 53 Third hole part 54 4th hole part 55 First pin hole 56 Second pin hole 57 First through hole portion 58 Second through hole portion 61 First pin shaft 62 Second pin shaft 71 First limit switch 72 Second limit switch 73 Contacts 100 Robots A work area

Claims

1. A mounting sheet (1); a pickup mechanism (2) disposed above the mounting sheet (1) and including at least two pickup devices (21), the at least two pickup devices (21) being movable relative to each other, the pickup devices (21) including a pickup part (2d) for picking up an article; a drive mechanism (3) disposed above the mounting sheet (1) and drivingly connected to the pickup mechanism (2), the drive mechanism (3) driving the at least two pickup devices (21) to move relative to each other, so that the at least two pickup devices (21) pick up the articles in a switching manner; An end pickup device (20).

2. The end pickup device (20) of claim 1, wherein the pickup device (21) further includes a sleeve (24), the pickup part (2d) is arranged at the end of the sleeve (24), the at least two pickup devices (21) are arranged in a sequential sleeve manner and are relatively flexible, and the drive mechanism (3) drives the at least two pickup devices (21) to extend and retract relatively, so that the at least two pickup devices (21) pick up the items in a switching manner.

3. 3. The end pickup device (20) according to claim 2, wherein the at least two pickup devices (21) include a first pickup device (22) and at least one second pickup device (23), the first pickup device (22) being fixedly arranged, the at least one second pickup device (23) being sleeved outside the first pickup device (22) and being telescopic with respect to the first pickup device (22), the drive mechanism (3) being in driving connection with the at least one second pickup device (23) and driving the at least one second pickup device (23) to extend and retract, and the at least one second pickup device (23) and the first pickup device (22) being adapted to pick up the articles in a switching manner.

4. The end pickup device (20) of claim 3, wherein the at least two pickup devices (21) include at least two second pickup devices (23).

5. The end pickup device (20) according to claim 3, wherein the drive mechanism (3) includes a drive device (31) that corresponds one-to-one with the at least one second pickup device (23), the drive device (31) being in driving connection with the second pickup device (23) and driving the second pickup device (23) to extend and retract.

6. 6. The end pickup device (20) of claim 5, wherein the drive device (31) comprises a lead screw motor (32), the lead screw motor (32) being in driving connection with the second pickup device (23).

7. The end pickup device (20) of claim 6, wherein the drive device (31) further comprises a nut seat (37) that connects a nut (36) of the lead screw motor (32) with the sleeve (24) of the second pickup device (23) and provides a driving connection between the lead screw motor (32) and the second pickup device (23).

8. The end pickup device (20) according to claim 7, wherein the nut seat (37) comprises a first connecting part (38) and a second connecting part (39) connected to each other, and the first connecting part (38) and the sleeve (24) are connected through a first pin shaft (61), or the first connecting part (38) and the sleeve (24) are connected in a clamping manner, and / or the second connecting part (39) and the nut (36) are connected through a second pin shaft (62).

9. a first cavity (41) is disposed in the first connecting part (38), the sleeve (24) is positioned in the first cavity (41), and the first connecting part (38) and the sleeve (24) are connected through the first pin shaft (61); or 9. The end pickup device (20) according to claim 8, wherein the first connecting part (38) comprises a clamping part (3a) and a clamping groove (3c) arranged in a side wall of the sleeve (24), the clamping part (3a) being clamped in the clamping groove (3c), the displacement of the clamping part (3a) towards the radial outside of the sleeve (24) and along the axial direction of the sleeve (24) being limited by the clamping groove (3c), and the second pin shaft (62) connecting the second connecting part (39) with the nut (36) abuts against an outer wall of the sleeve (24) and limits the displacement of the nut seat (37) towards the radial inside of the sleeve (24).

10. 10. The end pickup device (20) according to claim 9, wherein a side wall of the first cavity (41) is provided with a first hole part (51), the outer wall of the sleeve (24) is provided with a second hole part (52), the first hole part (51) and the second hole part (52) are butted together to form a closed first pin hole part (55), the second connecting part (39) is provided with a first through hole part (57) communicating with the first pin hole part (55), and the first pin shaft (61) passes through the first through hole part (57) and is inserted into the first pin hole part (55) to connect the sleeve (24) with the first connecting part (38).

11. The end pickup device (20) according to any one of claims 8 to 10, wherein a second cavity (42) is disposed in the second connecting part (39), the nut (36) is positioned in the second cavity (42), and the second connecting part (39) and the nut (36) are connected through the second pin shaft (62).

12. 12. The end pickup device (20) according to claim 11, wherein a side wall of the second cavity (42) is provided with a third hole part (53) and an outer wall of the nut (36) is provided with a fourth hole part (54), the third hole part (53) and the fourth hole part (54) butting together to form a closed second pin hole part (56), the second connecting part (39) is provided with a second through hole part (58) communicating with the second pin hole part (56), and the second pin shaft (62) passes through the second through hole part (58) and is inserted into the second pin hole part (56) to connect the nut (36) with the second connecting part (39).

13. 11. The end pickup device (20) according to any one of claims 2 to 10, wherein in the two pickup devices (21) adjacent to each other and both telescopic, the sleeve (24) of the pickup device (21) positioned on the outside is provided with an avoidance opening (26) to avoid extension and retraction of the pickup device (21) positioned on the inside.

14. The end pickup device (20) according to any one of claims 1 to 10, further comprising a limiting device (7), the limiting device (7) being arranged on the mounting seat (1) for limiting the displacement of the pickup apparatus (21).

15. The end pickup device (20) according to claim 14, wherein the limiting device (7) includes a first limiting switch (71) and a second limiting switch (72), the first limiting switch (71) and the second limiting switch (72) being arranged sequentially along the extension direction of the pickup device (21), the first limiting switch (71) limiting the backward displacement of the pickup device (21), and the second limiting switch (72) limiting the extension displacement of the pickup device (21).

16. The end pickup device (20) according to any one of claims 1 to 10, wherein the pickup part (2d) comprises a suction cup (25).

17. A manipulator (10) including an end pickup device (20) as described in claim 1.

18. A robot (100) comprising a manipulator (10) according to claim 17.

Images