Male Connector, Female Connector and End Effector

Abstract

The present disclosure relates to a male connector, a female connector, a pick-up device, a quick-change mechanism, an end effector, a manipulator, and a robot. The male connector includes a core rod and a locking member, and the core rod includes a core rod body and a seat portion disposed at a first axial end of the core rod body and used to engage with a hook of a female connector. The locking member is disposed outside the core rod body, and the core rod body is disposed axially slidably relative to the locking member, and an outer surface of the locking member includes an abutment surface for abutting against an abutment portion of the female connector and moving outwardly to press the abutment portion and release the snap hook from the seat portion. A simple operation of the manipulator can complete the unlocking between the male connector and the female connector of the end effector of the present disclosure, and the pick-up unit of the end effector can be quickly replaced without requiring any other control mechanism or power source, thereby improving the replacement efficiency of the pick-up unit.

Description

[Technical field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This disclosure is based on and claims priority to Chinese Application No. 202210528019.8, filed on May 16, 2022, the disclosure of which is hereby incorporated by reference in its entirety.

[0002] The present disclosure relates to a male connector, a female connector, a pickup device, a quick change mechanism, an end effector, a manipulator, and a robot. [Background technology]

[0003] The end effector is an important part of the manipulator that picks up an article with a pickup unit and transports the article from one location to a specified location.

[0004] In order to accommodate different types of articles, the end effector needs to replace different pickup units, and how to improve the efficiency of replacing the pickup units is an urgent issue. Summary of the Invention [Problem to be solved by the invention]

[0005] The present disclosure relates to a male connector, a female connector, a pickup device, a quick-change mechanism, an end effector, a manipulator, and a robot for improving the replacement efficiency of a pickup unit. [Means for solving the problem]

[0006] The first aspect of the present disclosure is a core rod including a core rod body and a seat, the seat being disposed at a first axial end of the core rod body and configured to engage a snap hook of the female connector; a locking member disposed on the outside of the core rod body, the core rod body being disposed axially slidably relative to the locking member, the outer surface of the locking member including an abutment surface for abutting against an abutment portion of the female connector and for pressing the abutment portion to move outwardly to release the snap hook from the seat; The present invention provides a male connector including:

[0007] In some embodiments, the distance between the abutment surface and the axis of the core rod body gradually decreases in a direction from a first end of the locking member proximal to the seat to a second end distal to the seat.

[0008] In some embodiments, the abutment surface includes a first tapered surface.

[0009] In some embodiments, the outer surface of the locking member further includes a second tapered surface connected to the first tapered surface, with a larger diameter end of the second tapered surface connected to the larger diameter end of the first tapered surface.

[0010] In some embodiments, the male connector further includes a resilient member configured to connect the locking member and a connection portion disposed at the second axial end of the core rod body.

[0011] A second aspect of the present disclosure is The main body, a latch hook, a first end of the latch hook being rotatably connected to the body, a second end of the latch hook including a snap hook and an abutment portion disposed on one side of the snap hook, the snap hook being used to engage with a seat of a male connector, the abutment portion being configured to abut against an abutment surface of the male connector and move outward under the pressure of the abutment surface so as to move the snap hook out of the seat; The present invention provides a female connector including:

[0012] In some embodiments, the body includes a sleeve having an axially extending opening through its thickness, the latch hook is disposed in the opening, and the snap hook is driven by the abutment to move in and out of the sleeve through the opening.

[0013] In some embodiments, the latch hook includes a connecting rod rotatably connected to the body, and the snap hook is disposed on the connecting rod and extends inwardly relative to the connecting rod.

[0014] In some embodiments, the snap hook has a hook surface perpendicular to the connecting rod that fits against the end surface of the seat.

[0015] In some embodiments, the distance between the inner surface of the abutment and the axis of the body gradually decreases in a direction from the free end of the abutment to the connection of the abutment with the snap hook.

[0016] In some embodiments, the inner surface comprises a tapered surface.

[0017] In some embodiments, the female connector further includes a return spring disposed between the latch hook and the body.

[0018] In some embodiments, the female connector includes at least two latch hooks spaced circumferentially about the body.

[0019] A third aspect of the present disclosure is a male connector including a core rod and a locking member, the core rod including a core rod body and a seat disposed at a first axial end of the core rod body; a female connector including a body and a latch hook, a first end of the latch hook being rotatably connected to the body, and a second end of the latch hook including a snap hook and an abutment disposed on one side of the snap hook; a pick-up unit connected at a second axial end of the core rod body and used for picking up an article; an end effector including: The end effector has a locked state in which the snap hook is engaged on the seat and an unlocked state in which the snap hook of the latch hook is disengaged from the seat; When the end effector is switched between the locked and unlocked states, the female connector is configured to move axially to move the core rod relative to the locking member, and the abutment portion abuts against the abutment surface and moves outward under the pressure of the abutment surface to move the snap hook out of the seat.

[0020] In some embodiments, in a direction from the first end of the locking member to the second end of the locking member, the distance between the abutment surface and the axis of the core rod body gradually decreases such that the latch hook swings outward while abutting against the abutment surface.

[0021] In some embodiments, the abutment portion has an inner surface that matches the abutment surface.

[0022] In some embodiments, the male connector further includes an anti-rotation post disposed on the locking member, the body having an anti-rotation hole, and in the locked state, a first end of the anti-rotation post extends beyond the end face of the seat and engages with the anti-rotation hole.

[0023] A fourth aspect of the present disclosure is a pick-up unit for picking up an article, the pick-up unit including a connecting seat; A core rod including a core rod body and a seat disposed at a first axial end of the core rod body, the connecting seat being connected to a second axial end of the core rod body; a locking member disposed on the outside of the core rod body, the core rod body being axially slidable relative to the locking member; The pickup device has a first state in which a first end of the locking member abuts against a seat portion, and a second state in which a second end of the locking member abuts against a connecting seat.

[0024] In some embodiments, the outer surface of the locking member includes an abutment surface, and the distance between the abutment surface and the axis of the core rod body gradually decreases in a direction from the first end of the locking member to the second end of the locking member.

[0025] In some embodiments, the abutment surface includes a first tapered surface.

[0026] In some embodiments, the outer surface of the locking member further includes a second tapered surface connected to the first tapered surface, with a larger diameter end of the second tapered surface connected to the larger diameter end of the first tapered surface.

[0027] In some embodiments, the locking member includes a locking portion configured to mate with a carrier for mounting the pick-up unit to secure the locking member.

[0028] In some embodiments, the exterior surface of the locking member includes a cylindrical surface at the first end, the cylindrical surface having a recess therein that forms the locking portion.

[0029] In some embodiments, the pickup device further includes an elastic member disposed between the locking member and the connecting seat, the elastic member being extended in the first state and compressed in the second state.

[0030] In some embodiments, the resilient member comprises a spring.

[0031] In some embodiments, the locking member includes an inner bore for receiving the core rod body, the inner bore including a stepped bore with a first bore portion near a first end and a second bore portion near a second end, the second bore portion having a larger radius than the first bore portion, the first bore portion slidably mating with the core rod body, and the resilient member extends into the second bore portion and is connected with a step surface between the first bore portion and the second bore portion.

[0032] In some embodiments, the pick-up device further includes an anti-rotation post disposed on the locking member, where in the first state, a first end of the anti-rotation post extends beyond the end surface of the seat.

[0033] In some embodiments, the pick-up device includes at least two pick-up units and a connecting body for connecting the at least two pick-up units, the connecting body being connected to both connection seats of the at least two pick-up units, and the connecting body being provided with a connecting hole for connecting to the second end of the core rod body.

[0034] In some embodiments, the inner wall of the connection hole is provided with a protrusion, and the second end of the core rod body is provided with a recess that fits snugly with the protrusion.

[0035] In some embodiments, the pick-up unit includes an aspirator.

[0036] A fifth aspect of the present disclosure is a sleeve extending axially and including an opening extending therethrough in a thickness direction; a latch hook disposed in the aperture, a first end of the latch hook rotatably connected to the sleeve and a second end of the latch hook including a snap hook, the latch hook configured to move in and out of the sleeve through the aperture; The present invention provides a quick change mechanism including:

[0037] In some embodiments, the latch hook includes a connecting rod rotatably connected to the sleeve, and the snap hook is disposed on the connecting rod and extends radially inward relative to the connecting rod.

[0038] In some embodiments, the hook surface of the snap hook is perpendicular to the connecting rod.

[0039] In some embodiments, the latch hook further includes an abutment disposed at an end of the snap hook remote from the connecting rod, wherein the distance between an inner surface of the abutment and the axis of the sleeve gradually decreases in the direction from the free end of the abutment to the connection of the abutment with the snap hook.

[0040] In some embodiments, the inner surface comprises a tapered surface.

[0041] In some embodiments, the quick-change mechanism further includes a return spring disposed between the latch hook and the sleeve.

[0042] In some embodiments, the quick-change mechanism further includes a connection portion provided on the sleeve and configured to connect with a manipulator.

[0043] In some embodiments, the quick-change mechanism further includes at least two latch hooks circumferentially spaced apart on the sleeve.

[0044] A sixth aspect of the present disclosure provides a manipulator including an end effector as described above.

[0045] A seventh aspect of the present disclosure provides a robot including a manipulator as described above.

[0046] Based on the aspects provided in the present disclosure, the end effector can achieve quick replacement of the pick-up device at the front end of the end effector by simple operation of the manipulator without requiring any other control mechanism or power source, thereby improving the replacement efficiency of the pick-up unit.

[0047] Other features and advantages of the present disclosure will become apparent from the following detailed description of illustrative embodiments thereof, which refer to the accompanying drawings.

[0048] The accompanying drawings shown in this specification are used to provide a further understanding of the present disclosure, and are incorporated in and constitute a part of the present disclosure. The exemplary embodiments of the present disclosure and the description thereof serve to explain the present disclosure and do not constitute undue limitations of the present disclosure. [Brief description of the drawings]

[0049] [Figure 1] 1 is a schematic diagram of an end effector mounted on a carrier in some embodiments of the present disclosure. [Diagram 2] FIG. 2 is a schematic diagram of the internal structure of the end effector of FIG. 1. [Diagram 3] 2 is a schematic diagram of a perspective structure of a pick-up device of the end effector of FIG. 1. [Figure 4] 2 is a schematic diagram of an internal structure of the end effector in FIG. 1 in a locked state. FIG. [Diagram 5] 2 is a schematic diagram of the internal structure of the end effector in FIG. 1 from a locked state to an unlocked state. FIG. [Figure 6] 2 is a schematic diagram of the internal structure of the end effector in FIG. 1 in an unlocked state. FIG. [Figure 7] 2 is a schematic diagram of an internal structure of a portion of the end effector in FIG. 1 in an unlocked state. FIG. [Figure 8] 2 is a schematic diagram of a perspective structure of a core rod and an unlocking member of the end effector of FIG. 1. [Figure 9]2 is a schematic structural diagram of a pickup device of the end effector of FIG. 1 in a first state. [Figure 10] 2 is a schematic structural diagram of the pickup device of the end effector of FIG. 1 in a second state. FIG. [Figure 11] 13A-13C show schematic structural diagrams of a pick-up device according to some other embodiments of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0050] The technical solutions in the embodiments of the present disclosure are described clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure. Obviously, the described embodiments are only some embodiments of the present disclosure, not all embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature, and does not limit the present disclosure and its application or use in any way. All other embodiments that a person skilled in the art can obtain from the embodiments disclosed herein without creative efforts are intended to be within the scope of the present disclosure.

[0051] Unless otherwise specified, the relative arrangement of parts and steps, numerical expressions and values ​​defined in these embodiments do not limit the scope of the present disclosure. Meanwhile, it should be understood that the size of each part shown in the drawings is not drawn in actual proportion for convenience of explanation. Techniques, methods and devices known to those skilled in the art in the relevant art may not be discussed in detail, but are intended to be part of this specification where appropriate. In all examples shown and discussed in this specification, any specific values ​​should be interpreted as illustrative only and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that similar reference numbers and letters in the following attached drawings refer to similar items, so that once an item is defined in one figure, it is not necessary to further discuss it in subsequent figures.

[0052] For ease of description, spatially relative terms such as "above," "on," "on top," "above," and the like may be used herein to describe the spatial relationship of one device or feature to another device or feature as shown in the figures. It should be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation of the device depicted in the figures. For example, if the device in the figures is inverted, a device described as "above other devices or configurations" or "on top of other devices or configurations" would later be oriented as "below other devices or configurations" or "below other devices or configurations." Thus, the exemplary term "above" can include two orientations, "above" and "below." Devices can be arranged in other different ways, and the spatially relative descriptions used herein should be interpreted accordingly.

[0053] An end effector is a gripping device that is usually coupled to the end of a manipulator to grip an item. In logistics, manipulators are often used to pick up goods through the end effector to accomplish picking of the goods.

[0054] The end effector includes a pick-up unit that contacts and picks up an article. In particular, the pick-up unit includes a clamp gripper, a suction device, a magnetic attachment, etc. In other words, the pick-up unit can pick up an article in various ways.

[0055] To adapt to the need to pick up different objects, the end effector needs to change different pick-up units. The process of changing pick-up units affects the efficiency of the pick-up operation of the end effector, so how to speed up this process is a problem that needs to be solved.

[0056] For example, with a pick-up unit in the form of an aspirator, the current conventional method is to provide an aspirator holder in a fixed position, and when it is time to change, the manipulator moves to the aspirator holder where a different aspirator is placed, drops off the current aspirator by means of a quick-change mechanism at the front end of the end effector, then moves to the aspirator to be replaced, grasps the required aspirator by means of the quick-change mechanism and performs the next pick-up operation.

[0057] In the related art known to the inventor, the current quick change technology usually adopts two forms. One is to provide a gripping and placing structure on the head of the end effector, and realize the replacement by controlling the opening and closing pneumatically or electrically to grip and place the aspirator to be changed. The other is to provide a magnetic part on the head of the end effector to attract the aspirator to be replaced by magnetic force, and forcefully separate the aspirator and the magnetic part by pulling hard during replacement. Both forms of quick change technology require a control mechanism to control their operation. Therefore, it is necessary to connect a control line or air path from the manipulator controller or air source to the head of the end effector. Since the extension path of the control line or air path is long, the line or air path is easily entangled or distorted, which leads to a shortened life of the control line and air path. In addition, in the quick change by using a magnetic part, due to the problem of insufficient control of the magnetic force in magnetic attraction, if the magnetic force is too large, separation is difficult, and if the magnetic force is too small, the aspirator is easily dropped.

[0058] In order to solve the above problems existing in the quick change technology, the inventor has proposed an end effector according to an embodiment of the present disclosure after extensive research. The end effector includes a pick-up device and a quick change mechanism, and the locking and unlocking between the pick-up device and the quick change mechanism can be realized only by the operation of the manipulator, thereby achieving quick replacement of the pick-up unit without the need for other power sources or control mechanisms. The locking and unlocking between the pick-up device and the quick change mechanism in this embodiment is achieved through the engagement between the male connector of the pick-up device and the female connector of the quick change mechanism. The locking and unlocking can be achieved according to the engagement of mechanical structures and a simple axial movement between the male connector and the female connector, making it easy to replace the pick-up unit of the pick-up device. Of course, the male connector and the female connector are not limited to the end effector, and can also be used in other situations where easy unlocking and locking are required.

[0059] As shown in FIG. 1, when the end effector needs to replace the pick-up unit, the manipulator moves the end effector horizontally to the carrier 10 and moves the end effector into the bayonet of the carrier 10. The male connector is now captured in the bayonet of the carrier 10 and is neither rotatable nor vertically movable. At this time, the manipulator is lifted upward to push up the female connector, relieving the restrictive relationship between the male connector and the female connector, thus achieving the unlocking and release between the female connector and the male connector. The manipulator then moves the female connector to the carrier to place the pick-up unit to be replaced, aligns the male connector and the female connector of the pick-up unit to be replaced, and pushes down the female connector to form a restriction between the male connector and the female connector to complete the locking connection. It can be seen that the end effector of this embodiment of the present disclosure can realize the unlocked release or locked connection between the female connector and the male connector as long as the manipulator performs simple movements in the horizontal and vertical directions, so that the replacement of the pick-up unit can be quickly completed.

[0060] The specific structure and quick-change process of the end effector according to this embodiment of the present disclosure will be described in detail below in accordance with FIGS.

[0061] As shown in Figure 2, the end effector of this embodiment of the present disclosure includes a female connector, a male connector, and a pick-up unit 35. The male connector and the pick-up unit 35 are connected to each other to form the pick-up device 30, as shown in Figures 2 and 3. The female connector is part of the quick-change mechanism 20.

[0062] The female connector includes a body and a latch hook 22. A first end of the latch hook 22 is rotatably connected to the body, and a second end of the latch hook 22 includes a snap hook 222 and an abutment 223 disposed on one side of the snap hook 222.

[0063] The male connector includes a core rod 31 and a locking member 33, and the core rod 31 includes a core rod body 311 and a seat 312 disposed at a first axial end of the core rod body 311. A pick-up unit 35 is connected to a second axial end of the core rod body 311 and is used to pick up an article.

[0064] The end effector has a locked state in which the snap hook 222 is engaged on the seat 312, and an unlocked state in which the snap hook 222 of the latch hook 22 is disengaged from the seat 312. When the end effector is switched between the locked state and the unlocked state, the female connector is configured to move axially to move the core rod 31 relative to the locking member 33, and the abutment portion 223 abuts against the abutment surface and moves outward under the pressure of the abutment surface so as to move the snap hook to disengage from the seat 312. Here, outward refers to swinging outward radially relative to the axis of the core rod 31 to drive the snap hook 222 to move outward radially in a synchronized manner, thereby disengaging the snap hook 222 from the seat 312.

[0065] As shown in FIG. 4, when the end effector is in a locked state, the snap hook 222 is engaged with the seat 312. Through the hook connection between the snap hook 222 and the seat 312, the core rod body 311 cannot be moved, thereby realizing the connection between the female connector and the male connector. When the end effector needs to replace the pick-up unit, it is necessary to first release the current male connector, that is, to put the end effector into an unlocked state, and at this time, the manipulator drives the female connector to move upward, and the snap hook 222 also moves upward with it, as shown in FIG. 5. During this process, due to the hooking function between the snap hook 222 and the seat 312, the core rod 31 also moves upward with the female connector, in other words, the core rod 31 moves relative to the locking member 33. At this time, while the core rod 31 is moving upward, the abutment portion 223 abuts against the abutment surface so as to move the hook and remove it from the seat portion 312, and moves outward under the pressure of the abutment surface, so that the end effector enters the unlocked state shown in Figure 6, and at this time, the female connector and the male connector are in a disengaged state.

[0066] It can be seen that the end effector of this embodiment of the present invention can achieve rapid replacement of the pick-up unit at the front end of the end effector by simple operation of the manipulator without the need for any other control mechanisms or power sources, thereby improving the efficiency of replacement of the pick-up unit.

[0067] In particular, the female connector includes a sleeve 21 and a latch hook 22. The sleeve 21 includes an axially extending aperture through its thickness. The latch hook 22 is disposed in the aperture, with a first end of the latch hook 22 rotatably connected to the sleeve 21 and a second end of the latch hook 22 including a snap hook 222 and configured to move in and out of the sleeve 21 through the aperture.

[0068] 4 to 6, the male connector includes a core rod 31 and a locking member 33. The pickup unit 35 includes a connecting seat 351. The core rod 31 includes a core rod body 311 and a seat portion 312. The seat portion 312 is disposed at a first axial end of the core rod body 311, and the connecting seat 351 is connected to a second axial end of the core rod body 311. The locking member 33 is disposed outside the core rod body 311. The core rod body 311 is disposed axially slidably relative to the locking member 33. The male connector has a first state in which the first end of the locking member 33 abuts against the seat portion 312, and a second state in which the second end of the locking member 33 abuts against the connecting seat 351.

[0069] The end effector has a locked state in which the female connector receives the male connector and the snap hook 222 of the latch hook 22 enters the sleeve 21 through the opening and is engaged on the seat 312, and an unlocked state in which the snap hook 222 of the latch hook 22 disengages from the seat 312. When the end effector is switched between the locked and unlocked states, the female connector is configured to move axially to drive the core rod 31 to move relative to the locking member 33.

[0070] The pick-up unit 35 may be a suction device, a clamp jaw or other type. The pick-up unit 35 includes a pick-up unit body and a connecting seat 351 arranged on the pick-up unit body. The connecting seat 351 is used to connect with the core rod 31. As shown in FIG. 6, the core rod 31 includes a core rod body 311 and a seat 312 arranged at the upper end of the core rod body 311, so that after the core rod 31 is connected to the connecting seat 351, the seat 312 and the connecting seat 351 are respectively arranged at the upper end and the lower end of the core rod body 311. The core rod body 311 is axially slidably arranged relative to the locking member 33, and the seat 312 and the connecting seat 351 have the function of limiting the movement of the core rod 31, as shown in FIG. 4 to FIG. 6. When the core rod 31 moves downward to make the seat 312 abut against the locking member 33, the core rod 31 reaches a limit position. Similarly, when the core rod 31 moves upward and the lock member 33 abuts against the connecting seat 351, the core rod 31 reaches the limit position.

[0071] As shown in Fig. 4, the sleeve 21 of the female connector accommodates the upper end of the male connector, and when the end effector is in a locked state, the snap hook 222 of the latch hook 22 enters the inside of the sleeve 21 through the opening and engages with the seat 312. Through the hook connection between the snap hook 222 and the seat 312, the core rod body 311 cannot be moved, thereby realizing the connection between the female connector and the male connector. When the end effector needs to replace the pick-up unit, it is necessary to first release the current pick-up unit, that is, to put the end effector into an unlocked state, and at this time, the manipulator drives the female connector to move upward, and the snap hook 222 also moves upward together with it, as shown in Fig. 5. During this process, due to the hooking function between the snap hook 222 and the seat 312, the core rod 31 also moves upward together with the female connector, in other words, the core rod 31 moves relative to the locking member 33, so that the snap hook 222 disengages from the seat 312, and thus the end effector enters the unlocked state shown in FIG. 6, at which time the female connector and the male connector are in a disengaged state.

[0072] When the end effector switches from a locked to an unlocked state, the latch hook 22 needs to swing outward relative to the sleeve 21 to achieve disengagement from the seat 312 .

[0073] In some embodiments, the outer surface of the locking member 33 is configured to push the latch hooks 22 to swing outward when the core rod 31 moves upward relative to the locking member 33. Thus, when switched from the locked state to the unlocked state, the locking member 33 is fixed and the core rod 31 moves upward relative to the locking member 33 under the drive of the latch hooks 22, while the locking hooks 22 swing outward under the drive of the outer surface of the locking member 33. Thus, during the outward swing, the hook area between the latch hooks 22 and the seat 312 gradually decreases until they are disengaged, thereby disengaging the female connector and the male connector from each other.

[0074] In particular, as shown in Fig. 9, the outer surface of the locking member 33 includes an abutment surface. In the direction from the first end of the locking member 33 to the second end of the locking member 33, the distance between the abutment surface and its axis gradually decreases. Therefore, when the core rod 31 moves upward relative to the locking member 33, the abutment between the latch hook 22 and the outer surface of the locking member 33 moves from bottom to top, and the locking hook 22 is gradually pressed radially outward, which causes the locking hook 22 to swing outward, thus achieving disengagement from the seat 312.

[0075] The abutment surface includes a first tapered surface 331. In particular, a small diameter end of the first tapered surface 331 is disposed at a lower end, and a large diameter end of the first tapered surface 331 is disposed at an upper end. This causes the abutment point between the latch hook 22 and the first tapered surface 331 to move radially outward, which in turn pushes the latch hook 22 to swing outward.

[0076] In other embodiments not shown in the figures, the abutment surface may have other shapes, such as spherical, inclined, etc., as long as the distance between the abutment surface and the axis gradually increases from the lower end to the upper end to achieve the outward pressing of the latch hook 22.

[0077] In order to achieve disengagement between the snap hook 222 and the seat 312 while the latch hook 22 swings outward under the pressure of the abutment surface, it is necessary that the maximum horizontal distance between the abutment surface and the shaft is greater than the length of the contact surface of the hook contact between the hook surface of the snap hook 222 and the seat 312, so as to ensure that the snap hook 222 and the seat 312 can be disengaged after the abutment surface is disengaged from the latch hook 22.

[0078] Furthermore, to form a fit between the latch hook 22 and the abutment surface, the latch hook 22 includes an abutment portion 223 that abuts against the abutment surface, and the inner surface of the abutment portion 223 fits the abutment surface. In this way, when the abutment surface is a tapered surface, the inner surface of the abutment portion 223 is also a tapered surface. With the arrangement as shown in Fig. 4, the abutment portion 223 and the abutment surface of the locking member 33 come into contact with and fit together in the locked state without positional interference, thereby making it possible to reduce the volume of the end effector in the locked state.

[0079] 5, the latch hook 22 includes a connecting rod 221 rotatably connected to the sleeve 21. The snap hook 222 is disposed on the connecting rod 221 and extends radially inward relative to the connecting rod 221. In this manner, the snap hook 222 can be driven by the connecting rod 221 to swing outward.

[0080] In some embodiments, the hook surface of the snap hook 222 is perpendicular to the connecting rod 221. In this way, the contact area between the hook surface of the snap hook 222 and the seat 312 is increased, improving the stability of the end effector when in the locked state.

[0081] The female connector further includes a return spring 23 disposed between the latch hook 22 and the sleeve 21. Figures 4 to 6 show that when the latch hook 22 swings outward and the snap hook 222 disengages from the hook with the seat 312, as shown in Figure 6, the latch hook 22 can be automatically reset to a vertical state under the function of the return spring 23.

[0082] 2, the male connector further includes an elastic member 34 configured to connect the locking member 33 and a connection portion disposed at the second axial end of the core rod body 311. In a specific embodiment, the connection portion is a connection seat 351 at the upper end of the pick-up unit 35, which is connected to the second axial end of the core rod body 311. In some other embodiments, the connection portion is directly connected to the second axial end of the core rod body 311.

[0083] As shown in Figure 4, when the end effector is in a locked state, the male connector is in a first state in which the elastic member 34 is extended. When the core rod 31 moves upward under the driving of the female connector as shown in Figure 5, since the lock member 33 is fixed, the core rod 31 moves relative to the lock member 33, and the male connector is in a second state in which the elastic member 34 is compressed. As shown in Figure 6, after the disengagement between the male connector and the female connector is completed, the elastic member 34 extends to move the core rod 31 downward, and further returns the male connector to the first state.

[0084] In some embodiments, the resilient member 34 includes a spring.

[0085] To secure the locking member 33 during the unlocking process, in some embodiments, the locking member 33 includes a locking portion 333a configured to mate with a carrier 10 for mounting the pick-up unit and secure the locking member 33. In particular, the locking portion 333a may be a snap slot as shown in FIG. 8 that cooperates with a bayonet on the carrier 10 to secure the locking member 33 and thereby prevent rotation.

[0086] As can be seen from the above analysis, when the end effector in the embodiment of the present invention needs to complete the quick change of the pick-up unit, its operation process is as follows: The manipulator transports the end effector horizontally to reach the carrier 10, while the snap slot on the locking member 33 is not rotatable with the bayonet of the carrier 10, as shown in Fig. 1 and Fig. 2. The manipulator is lifted upwards and pushes up the female connector. The locking member 33 is fixed because it is snapped to the carrier 10. The female connector pushes up the core rod 31. The elastic member 34 is compressed. The relative position of the core rod 31 and the locking member 33 in the axial direction changes. The outer surface of the locking member 33 pushes the latch hook 22 of the female connector outward, which in turn causes the latch hook 22 to disengage from the hook of the seat 312 of the core rod 31, thus achieving unlocking. When a new pick-up unit needs to be connected, the manipulator drives the end effector without the pick-up unit to move up and down to the pick-up unit to be used. At this time, the abutment part of the latch hook 22 swings outward under the guide of the outer surface of the locking member 33. After moving downward to a predetermined position, the latch hook 22 swings to a vertical position under the function of the return spring, so that the hook surface of the latch hook 22 snaps under the seat 312 to achieve the connection between the female connector and the male connector. The manipulator then drives the end effector to move horizontally, and after the snap slot of the locking member 33 is completely disengaged from the carrier 10, the connection to the pick-up unit is achieved.

[0087] The structures of the pickup device 30 and the quick change mechanism 20 according to one embodiment of the present disclosure will be further described below with reference to FIGS.

[0088] 3, the pick-up device 30 in this embodiment of the present disclosure includes a pick-up unit 35 and a male connector. In particular, the pick-up device 30 includes a pick-up unit 35, a core rod 31 and a locking member 33.

[0089] The pick-up unit 35 is used to pick up an article and includes a connection seat 351. In particular, the pick-up unit 35 includes a suction device and a connection seat 351 disposed on the top of the suction device.

[0090] 6, 8 and 10, the core rod 31 includes a core rod body 311 and a seat 312. The seat 312 is disposed at a first axial end of the core rod body 311, and the connecting seat is connected to a second axial end of the core rod body 311.

[0091] In particular, the core rod body 311 and the seat 312 are integrally formed, that is, the seat 312 is integrally formed at the upper end of the core rod body 311. In a specific embodiment, the outer surface of the seat 312 is a tapered surface, and the upper end surface of the seat 312 has an area smaller than that of the lower end surface of the seat 312, which can prevent the latch hook 22 from interfering with the outer surface of the seat 312 after it is disengaged from the seat 312. The core rod body 311 and the seat 312 are configured to be hollow, which can reduce the weight of the pick-up device 30.

[0092] The locking member 33 is disposed on the outside of the core rod body 311. The core rod body 311 is disposed so as to be axially slidable relative to the locking member 33. The pick-up device 30 has a first state in which a first end of the locking member 33 abuts against the seat portion 312 and a second state in which a second end of the locking member 33 abuts against the connecting seat 351.

[0093] 6, the locking member 33 is an annular structure that houses the core rod body 311. An inner hole of the annular structure slidably fits with the core rod body 311. In other embodiments, the locking member 33 may be other shapes, for example, the locking member 33 is a lock block having an arc-shaped slot disposed on one side of the core rod body 311, the side of the lock block adjacent to the core rod body 311 has the arc-shaped slot so that the core rod body 311 can slide axially relative to the lock block, and the side of the lock block away from the core rod body 311 has an abutment surface for pushing the latch hook 22 to swing outward.

[0094] As can be seen, the pick-up device 30 is in a first state when the end effector is both locked and unlocked. When the end effector is switched between the locked and unlocked states, the pick-up device 30 can only be in a second state if the core rod body 311 moves relative to the locking member 33.

[0095] In some embodiments, the outer surface of the locking member 33 includes an abutment surface that protrudes radially outward relative to the axis of the core rod body 311. In the direction from the first end of the locking member 33 to the second end of the locking member 33, the distance between the abutment surface and the axis gradually decreases. When the core rod 31 moves upward relative to the locking member 33, the abutment between the latch hook 22 and the outer surface of the locking member 33 moves from bottom to top, which gradually pushes the locking hook 22 radially outward, which causes the locking hook 22 to swing outward, thus achieving disengagement from the seat 312.

[0096] The abutment surface includes a first tapered surface 331. In particular, a small diameter end of the first tapered surface 331 is disposed at a lower end, and a large diameter end of the first tapered surface 331 is disposed at an upper end. This allows the abutment point between the latch hook 22 and the first tapered surface 331 to gradually move radially outward, which in turn pushes the latch hook 22 to swing outward.

[0097] 9 and 10, the outer surface of the locking member 33 further includes a second tapered surface 332 connected to the first tapered surface 331. The large diameter end of the second tapered surface 332 is connected to the large diameter end of the first tapered surface 331. The second tapered surface 332 creates a gap at the edge of the second end of the locking member 33, which in turn leaves a space for the snap hook 222 of the latch hook 22 to hook into the seat 312.

[0098] To match this shape, the lower surface of the snap hook 222 of the latch hook 22 also has the same shape as the second tapered surface 332 .

[0099] In some embodiments, the locking member 33 includes a locking portion 333a as shown in Fig. 8. The locking portion 333a is configured to mate with a carrier 10 for mounting the pickup unit thereon to fix the locking member 33.

[0100] In some embodiments, the outer surface of the locking member 33 includes a cylindrical surface 333 at a first end, the cylindrical surface 333 being provided with a recess forming a locking portion 333a.

[0101] As shown in FIG. 8, the locking member 33 includes a cylindrical surface 333 at a first end. The cylindrical surface 333 has a larger radius than the large diameter end of the first tapered surface 331. The cylindrical surface 333 has a smaller radius than the maximum radius of the seat portion 312. In other words, the cylindrical surface 333 forms the radial maximum portion of the locking member 33. Two opposite sides of the cylindrical surface 333 are each provided with a slot forming a locking portion 333a. The slot is rectangular, and when the pick-up device 30 moves horizontally into the bayonet of the carrier 10, the extension arms on both sides of the bayonet 10 extend into the slot to form a snap fit, which prevents the locking member 33 from moving vertically and rotating.

[0102] 9 and 10, the pickup device 30 further includes an elastic member 34 disposed between the locking member 33 and the connecting seat 351. The elastic member 34 is extended in the first state and compressed in the second state.

[0103] In some embodiments, the resilient member 34 includes a spring.

[0104] In some embodiments, as shown in Figures 9 and 10, the sleeve 21 includes an inner bore for receiving the core rod body 311. The inner bore includes a stepped bore with a first bore portion near a first end and a second bore portion near a second end. The second bore portion has a larger radius than the first bore portion. The first bore portion slidably fits with the core rod body 311. The elastic member 34 extends into the second bore portion and connects with the stepped surface between the first bore portion and the second bore portion. This arrangement increases the distance between both ends of the elastic member 34.

[0105] In some embodiments, the pick-up device 30 further includes an anti-rotation post 32 disposed on the locking member 33. In the first state, a first end of the anti-rotation post 32 extends beyond an end face of the seat 312. Thus, when the end effector is in the locked state, the anti-rotation post 32 extends beyond the seat 312 and engages with an anti-rotation hole provided in the sleeve 21, thereby further preventing rotation of the locking member 33.

[0106] In some embodiments, as shown in FIG. 11, the pick-up device 30 includes at least two pick-up units 35 and a connecting body 36 for connecting the at least two pick-up units 35. The connecting body 36 is connected to both connecting seats 351 of the at least two pick-up units 35. The connecting body 36 is provided with a connecting hole that is connected to the second end of the core rod body 311. In this way, the pick-up device of this embodiment can simultaneously achieve pick-up of at least two articles, and the pick-up efficiency can be further improved. In some embodiments, the at least two pick-up units 35 are different pick-up units.

[0107] In some embodiments, a protrusion is provided on the inner wall of the connecting hole, and a recess 311a that fits with the protrusion is provided at the second end of the core rod body 311. The recess 311a is provided at the lower end of the core rod body 311 and can be embedded in the connecting body 36 to provide an anti-rotation effect.

[0108] In some embodiments, a first sensor is provided on the anti-rotation post 32. The first sensor and a second sensor provided on the sleeve 21 of the quick-change mechanism 20 inductively cooperate with each other to determine if the pick-up device 30 is connected or becomes disconnected during operation.

[0109] 5 and 7, the quick change mechanism 20 provided by this embodiment of the disclosure includes a female connector, specifically a sleeve 21, and a latch hook 22, where the sleeve 21 includes an axially extending opening through its thickness. The latch hook 22 is disposed in the opening, with a first end of the latch hook 22 rotatably connected to the sleeve 21, and a second end of the latch hook 22 including a snap hook 222 configured to move in and out of the sleeve 21 through the opening.

[0110] 7, the sleeve 21 has at least two openings arranged in the circumferential direction and at least two latch hooks 22 arranged corresponding to the at least two openings. In this way, when the end effector is in a locked state, the at least two latch hooks 22 in different positions are hooked onto the seats 312 of the core rod 31, thereby improving the connection stability between the female connector and the male connector.

[0111] 5, the latch hook 22 includes a connecting rod 221 rotatably connected to the sleeve 21. The snap hook 222 is disposed on the connecting rod 221 and extends radially inward relative to the connecting rod 221.

[0112] In some embodiments, the hook surface of the snap hook 222 is perpendicular to the connecting rod 221 .

[0113] In particular, as shown in Fig. 5, the sleeve 21 includes a sleeve body 211 and an end cap 212. One end of the sleeve body 211 is configured to open to be a sleeve above the male connector, and the end cap 212 is disposed at the other end of the sleeve body 211. A first end of a connecting rod 221 is connected to the end cap 212 by a return spring 23. At a location of the connecting rod 221 near the first end, a hinge seat is provided, and the hinge seat is bonded to the end cap 212, and a second end of the connecting rod 221 is provided with a snap hook 222 and an abutment 223 provided at the lower end of the snap hook 222.

[0114] In some embodiments, the latch hook 22 includes a connecting rod 221 rotatably mounted to the end cap. The snap hook 222 is provided on the connecting rod 221 and extends radially inward relative to the connecting rod 221. The latch hook 22 further includes an abutment 223 disposed at an end of the snap hook 222 remote from the connecting rod 221. The abutment 223 includes an inner surface. The distance between the inner surface and the axis of the sleeve body 211 gradually decreases in a direction from a free end of the abutment 223 to a connection of the abutment 223 with the snap hook 222.

[0115] In some embodiments, the inner surface comprises a tapered surface.

[0116] 6, the quick-change mechanism 20 further includes a connection member 24 disposed on the end cap 212 and configured to connect with a manipulator. In particular, the connection member 24 is a hexagonal connector, and the top of the connection member 24 is a threaded interface. The mating connection between the connection member 24 and the manipulator allows for adjustment of the operating angle of the end effector.

[0117] In summary, the end effector in the embodiment of the present disclosure designs the structures of the female connector and the male connector so that the exchange can be achieved simply by the interaction of the mechanical structures between them, thereby reducing the extra control and moving parts and ensuring the reliable exchange of the pick-up unit. The end effector operating in a mechanical form has a larger load capacity.

[0118] Finally, it should be noted that the above embodiments are only intended to illustrate the technical solutions of the present disclosure, and do not limit it. Although the present disclosure has been described in detail with reference to preferred embodiments, those skilled in the art will understand that modifications to specific embodiments of the present disclosure or equivalent substitutions to some of the technical features can still be made, all of which are intended to be included in the scope of the claimed technical solutions without departing from the spirit of the present disclosure. [Explanation of symbols]

[0119] 10. Career 20 Quick change mechanism 21 Sleeve 211 Sleeve body 212 End cap 22 Latch hook 221 Connecting rod 222 Snap hook 223 Contact part 23 Return spring 24 Connection parts 30 Pick-up device 31 Core Rod 311 Core rod body 311a Recess 312 Seat part 32 Anti-rotation pillar 33 Locking member 331 First tapered surface 332 Second tapered surface 333 Cylindrical Surface 333a Lock section 34 Elastic member 35 Pickup unit 351 Connection seat 36 Connectors

Claims

1. a core rod (31) including a core rod body (311) and a seat (312), the seat being disposed at a first axial end of the core rod body (311) and configured to engage a snap hook (222) of a female connector; a locking member (33) arranged on the outside of the core rod body (311), the core rod body (311) being arranged to be axially slidable relative to the locking member (33), and an outer surface of the locking member (33) including an abutment surface for abutting against an abutment portion (223) of the female connector to push the abutment portion (223) outwardly to disengage the snap hook (222) from the seat portion (312); Including, male connector.

2. 2. The male connector of claim 1, wherein a distance between the abutment surface and an axis of the core rod body (311) gradually decreases in a direction from a first end of the locking member (33) close to the seat (312) to a second end remote from the seat (312).

3. The male connector of claim 2 , wherein the abutment surface includes a first tapered surface (331).

4. 4. The male connector of claim 3, wherein the outer surface of the locking member (33) further includes a second tapered surface (332) connected to the first tapered surface (331), and a large diameter end of the second tapered surface (332) is connected to the large diameter end of the first tapered surface (331).

5. 5. The male connector according to claim 1, further comprising an elastic member (34) configured to connect the locking member (33) and a connection portion arranged at a second axial end of the core rod body (311).

6. The main body, a latch hook (22), a first end of the latch hook (22) rotatably connected to the body, a second end of the latch hook (22) including a snap hook (222) and an abutment portion (223) arranged on one side of the snap hook (222), the snap hook (222) configured to engage with a seat portion (312) of a male connector, the abutment portion (223) configured to abut against an abutment surface of the male connector and move outward under the pressure of the abutment surface so as to move the snap hook (222) out of the seat portion (312); Includes a female connector.

7. 7. The female connector of claim 6, wherein the body includes a sleeve (21) having an axially extending opening passing through the thickness direction, the latch hook (22) is provided in the opening, and the snap hook (222) is driven by the abutment portion (223) to enter and exit the sleeve (21) through the opening.

8. 8. A female connector as described in claim 6 or 7, wherein the latch hook (22) includes a connecting rod (221) rotatably connected to the body, and the snap hook (222) is provided on the connecting rod (221) and extends inwardly relative to the connecting rod (221).

9. 9. The female connector according to claim 6, wherein the snap hook (222) has a hook surface perpendicular to the connecting rod (221) that fits into an end surface of the seat (312).

10. 10. A female connector according to claim 6, wherein the distance between the inner surface of the abutment portion (223) and the axis of the body gradually decreases in a direction from the free end of the abutment portion (223) to the connection of the abutment portion (223) with the snap hook (222).

11. The female connector of claim 10 , wherein the inner surface includes a tapered surface.

12. 12. The female connector according to any one of claims 6 to 11, further comprising a return spring (23) disposed between the latch hook (22) and the body.

13. 12. A female connector according to any one of claims 6 to 11, comprising at least two of said latch hooks (22) spaced apart in the circumferential direction of said body.

14. A male connector including a core rod (31) and a locking member (33), the core rod (31) including a core rod body (311) and a seat (312) disposed at a first axial end of the core rod body (311); a female connector including a body and a latch hook (22), a first end of the latch hook (22) being rotatably connected to the body (21), and a second end of the latch hook (22) including a snap hook (222) and an abutment portion (223) disposed on one side of the snap hook (222); a pick-up unit (35) connected at a second axial end of the core rod body (311) and used for picking up an article; An end effector comprising: The end effector has a locked state in which the snap hook (222) is engaged on the seat (312) and an unlocked state in which the snap hook (222) of the latch hook (22) is disengaged from the seat (312), When the end effector is switched between the locked state and the unlocked state, the female connector is configured to move axially to move the core rod (31) relative to the locking member (33), and the abutment portion (223) abuts against an abutment surface and moves outward under the pressure of the abutment surface so as to move the snap hook (222) out of the seat (312). End effector.

15. 15. The end effector of claim 14, wherein in a direction from a first end of the locking member (33) to a second end of the locking member (33), a distance between the abutment surface and an axis of the core rod body gradually decreases, such that the latch hook (22) swings outward while abutting against the abutment surface.

16. The end effector of claim 15, wherein the abutment portion (223) has an inner surface that matches the abutment surface.

17. 17. The end effector of claim 14, wherein the male connector further includes an anti-rotation post (32) arranged on the locking member (33), the body having an anti-rotation hole, and in the locked state, a first end of the anti-rotation post (32) extends beyond an end face of the seat portion (312) and engages with the anti-rotation hole.

18. a pick-up unit (35) for picking up an article, the pick-up unit including a connecting seat (351); A core rod (31) including a core rod body (311) and a seat (312) arranged at a first axial end of the core rod body (311), the connecting seat being connected to a second axial end of the core rod body (311); A locking member (33) arranged on the outside of the core rod body (311), the core rod body (311) being arranged so as to be axially slidable relative to the locking member (33); A pickup device (30) comprising: The pickup device (30) has a first state in which a first end of the locking member (33) abuts against the seat portion (312) and a second state in which a second end of the locking member (33) abuts against the connecting seat (351). A pick-up device (30).

19. 19. The pickup device of claim 18, wherein an outer surface of the locking member (33) includes an abutment surface, and a distance between the abutment surface and an axis of the core rod body (311) gradually decreases in a direction from a first end of the locking member (33) to a second end of the locking member (33).

20. The pick-up device of claim 19, wherein the abutment surface comprises a first tapered surface (331).

21. 21. The pickup device according to claim 20, wherein the outer surface of the locking member (33) further includes a second tapered surface (332) connected to the first tapered surface (331), and a large diameter end of the second tapered surface (332) is connected to a large diameter end of the first tapered surface (331).

22. The pickup device according to any one of claims 18 to 21, wherein the locking member (33) includes a locking portion (333a) configured to engage with a carrier (10) for mounting the pickup unit to fix the locking member (33).

23. 23. The pick-up device according to claim 22, wherein the outer surface of the locking member (33) comprises a cylindrical surface (333) at a first end, the cylindrical surface (333) being provided with a recess forming the locking portion (333a).

24. The pickup device according to any one of claims 18 to 23, further comprising an elastic member (34) arranged between the locking member (33) and the connecting seat (351), the elastic member (34) being extended in the first state and being compressed in the second state.

25. 25. The pick-up device of claim 24, wherein the resilient member (34) comprises a spring.

26. 26. The pickup device of claim 24 or 25, wherein the locking member (33) includes an inner hole for receiving the core rod body (311), the inner hole including a stepped hole with a first hole portion near a first end and a second hole portion near a second end, the second hole portion having a larger radius than the first hole portion, the first hole portion slidably fitting with the core rod body (311), and the elastic member (34) extends into the second hole portion and is connected to a step surface between the first hole portion and the second hole portion.

27. 27. The pickup device according to claim 18, further comprising an anti-rotation post (32) arranged on the locking member (33), wherein in the first state, the first end of the anti-rotation post (32) extends beyond an end face of the seat (312).

28. The pickup device according to any one of claims 18 to 26, comprising at least two of the pickup units (35) and a connecting body (36) for connecting the at least two pickup units (35), the connecting body (36) being connected to both connection seats (351) of the at least two pickup units (35), and the connecting body (36) being provided with a connecting hole for connecting to the second end of the core rod body (311).

29. 29. The pickup device according to claim 28, wherein a protrusion is provided on an inner wall of the connection hole, and a recess is provided on the second end of the core rod body (311) to be engaged with the protrusion.

30. A pick-up device according to any one of claims 18 to 26, wherein the pick-up unit (35) comprises an aspirator.

31. a sleeve (21) extending axially and including an opening extending therethrough in a thickness direction; a latch hook (22) disposed in the opening, a first end of the latch hook being rotatably connected to the sleeve (21) and a second end of the latch hook (22) including a snap hook (222) configured to move in and out of the sleeve (21) through the opening; and A quick change mechanism (20).

32. 32. The quick change mechanism of claim 31, wherein the latch hook (22) includes a connecting rod (221) rotatably connected to the sleeve (21), and the snap hook (222) is disposed on the connecting rod (221) and extends radially inward relative to the connecting rod (221).

33. 33. The quick change mechanism of claim 32, wherein the hook surface of the snap hook (222) is perpendicular to the connecting rod (221).

34. 34. The quick change mechanism according to claim 32 or 33, wherein the latch hook (22) further comprises an abutment (223) arranged at an end of the snap hook (222) remote from the connecting rod (221), and the distance between an inner surface of the abutment (223) and the axis of the sleeve (21) gradually decreases in a direction from a free end of the abutment (223) to a connection of the abutment (223) with the snap hook (222).

35. 35. The quick change mechanism of claim 34, wherein the inner surface includes a tapered surface.

36. 36. The quick change mechanism according to any one of claims 31 to 35, further comprising a return spring (23) disposed between the latch hook (22) and the sleeve (21).

37. 36. The quick change mechanism according to any one of claims 31 to 35, further comprising a connecting member (24) provided on the sleeve (21) and configured to connect with a manipulator.

38. 36. A quick change mechanism according to any one of claims 31 to 35, comprising at least two of the latch hooks (22) spaced apart in the circumferential direction of the sleeve (21).

39. 39. An end effector comprising the pick-up device (30) of any one of claims 18 to 30 and the quick change mechanism (20) of any one of claims 31 to 38, the end effector having a locked state in which the quick change mechanism (20) houses the pick-up device (30) and an unlocked state in which a snap hook (222) of the latch hook (22) enters the sleeve (21) through the opening and engages on the seat (312), the snap hook (222) of the latch hook (22) being separated from the seat (312) in the unlocked state, the quick change mechanism (20) being configured to move axially to move the core rod (31) relative to the locking member (33) when the end effector is switched between the locked state and the unlocked state.

40. 40. The end effector of claim 39, wherein an outer surface of the locking member (33) is configured to push the latch hooks (22) to swing outward when the core rod (31) moves upward relative to the locking member (33).

41. 41. The end effector of claim 40, wherein the outer surface of the locking member (33) includes an abutment surface, and in a direction from a first end of the locking member (33) to a second end of the locking member (33), a distance between the abutment surface and an axis of the core rod body gradually decreases, such that the latch hook (22) swings outward while abutting against the abutment surface.

42. 42. The end effector of any one of claims 39 to 41, wherein the latch hook (22) includes an abutment portion (223) that abuts against the abutment surface, the abutment portion (223) having an inner surface that matches the abutment surface.

43. 42. The end effector of any one of claims 39 to 41, wherein the pickup device (30) further includes an anti-rotation post (32) arranged on the locking member (33), the sleeve having an anti-rotation hole, and in the locked state, a first end of the anti-rotation post (32) extends beyond an end face of the seat portion (312) and fits into the anti-rotation hole.

44. A manipulator comprising an end effector according to any one of claims 14 to 17 and any one of claims 39 to 43.

45. A robot including a manipulator according to claim 44.

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