End pickup 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 Chinese Application No. 202110406383.2 filed on April 15, 2021, claims the priority thereof, and the literature thereof is incorporated herein by reference in its entirety.

[0002] This application relates to the field of handling device technology, and particularly relates to an end pickup device, a manipulator, and a robot.

Background Art

[0003] An end pickup device is an important part of a manipulator, and is adapted to pick up an article by a pickup part and transport the article from one position to a specified position.

[0004] To meet the various pickup requirements of different articles, the end pickup device needs to replace different pickup parts. In the related technology, the end pickup device needs to move between the working area and other areas to realize the replacement of the pickup parts, which takes a lot of time to replace the pickup parts and affects the working efficiency.

Summary of the Invention

Problems to be Solved by the Invention

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

Means for Solving the Problems

[0006] To solve the above - mentioned technical problem, this application provides a mounting sheet, and A pickup mechanism, wherein the pickup mechanism is disposed on a mounting sheet and includes at least two pickup devices, the at least two pickup devices being movable relative to each other, and the pickup devices include pickup parts for picking up articles. A drive mechanism, wherein the drive mechanism is disposed on a mounting seat and is drive-connected to a pickup mechanism, and the drive mechanism drives at least two pickup devices to move relative to each other, and the at least two pickup devices pick up items in a switching manner, We provide an end pickup device that includes [this].

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

[0008] In some embodiments, the pickup device comprises at least two pickup devices, a first pickup device and at least one second pickup device, the first pickup device being fixedly mounted, the at least one second pickup device being sleeved outside the first pickup device and retractable relative to the first pickup device, and a drive mechanism being drive-connected to the at least one second pickup device and driving the at least one second pickup device to extend and retract, the at least one second pickup device and the first pickup device being configured to pick up articles in a switching manner.

[0009] In some embodiments, the at least two pickup devices include at least two second pickup devices.

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

[0011] In some embodiments, the drive device includes a reed screw motor, which is drive-connected to a second pickup device.

[0012] In some embodiments, the drive device further includes a nut sheet, which connects the nut of the lead screw motor to the sleeve of the second pickup device, thereby realizing a drive connection between the lead screw motor and the second pickup device.

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

[0014] In some embodiments, a first cavity is disposed within a first connecting part, a sleeve is positioned within the first cavity, 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 within the side wall of the sleeve, the clamping part is clamped within the clamping groove, the displacement of the clamping part radially outward and along the axial direction of the sleeve is restricted by the clamping groove, and a second pin shaft connecting the second connecting part to a nut abuts against the outer wall of the sleeve and restricts the displacement of the nut seat radially inward of the sleeve.

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

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

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

[0018] In some embodiments, in two adjacent pickup devices, both of which are extendable and retractable, the sleeve of the outer pickup device is provided with an escapement opening to avoid extension and retraction of the inner pickup device.

[0019] In some embodiments, the end pickup device further includes a limiting device, which is disposed on a mounting sheet and limits the displacement of the pickup device.

[0020] In some embodiments, the limiting device includes a first limiting switch and a second limiting switch, which are arranged sequentially along the extending direction of the pickup device, the first limiting switch limiting the backward displacement of the pickup device, and the second limiting switch limiting the extension displacement of the pickup device.

[0021] In some embodiments, the pickup part includes a suction cup.

[0022] This application further provides a manipulator including an end pickup device according to an embodiment of this application.

[0023] This application further provides a robot including a manipulator according to an embodiment of this application.

[0024] In an embodiment of the present application, based on the cooperation between the drive mechanism and at least two pickup devices, the end pickup device can locally replace the pickup parts 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 of the present application with reference to the accompanying drawings.

[0026] To more clearly explain the technical solutions in the embodiments of the present application or in the prior art, the following briefly introduces the accompanying drawings required for explaining the embodiments or the prior art. Obviously, the accompanying drawings in the following description are merely some embodiments of the present application, and those skilled in the art can also derive other accompanying drawings from these accompanying drawings without creative efforts.

Brief Description of the Drawings

[0027] [Figure 1] It is a schematic diagram of the state when the end pickup device installs in the working area in the related art. [Figure 2] It is a schematic diagram of the state when the end pickup device moves to the suction cup holder to place the existing suction cup in the related art. [Figure 3] It is a schematic diagram of the state when the end pickup device replaces the required suction cup in the related art. [Figure 4] It is a schematic diagram of the state of the end pickup device returning to the working area in the related art. [Figure 5] It is a schematic flowchart of switching the suction cup by the end pickup device in the related art. [Figure 6] It is a schematic flowchart of switching the suction cup by the end pickup device in an embodiment of the present application. [Figure 7] This is a schematic diagram of the end pickup device in an embodiment of the present application. [Figure 8] This is a schematic diagram showing the state when the third stage pickup device of the end pickup device is retracted in an embodiment of the present application. [Figure 9] This is a schematic diagram showing the state when the second stage pickup device of the end pickup device is retracted in an embodiment of the present application. [Figure 10] This figure shows the cooperative relationship of the three stages of the pickup device in the embodiment of this application. [Figure 11] This figure shows the cooperative relationship between the drive mechanism and the pickup mechanism in the embodiment of this application. [Figure 12] This is a schematic exploded view of the combined structure of the nut sheet, nut, and sleeve of the second stage pickup device in an embodiment of this application. [Figure 13] This figure shows the cooperative relationship between the nut sheet, nut, and sleeve of the second-stage pickup device in an embodiment of this application. [Figure 14] This is a schematic diagram of the combined structure of the nut sheet, nut, and sleeve of the third-stage pickup device in an embodiment of this application. [Figure 15] Figure 14 is a schematic exploded view. [Figure 16] This diagram shows the cooperative relationship between the nut sheet, nut, and sleeve of the third-stage pickup device in Figure 14. [Figure 17] This is a schematic arrangement diagram of the limiting device in an embodiment of the present application. [Figure 18] This figure shows the cooperative relationship between the limiting device and the drive device corresponding to the third stage pickup device in an embodiment of this application. [Figure 19] This figure shows the cooperative relationship between the limiting device and the drive device corresponding to the second stage pickup device in the embodiment of this application. [Figure 20]This is a schematic diagram of the state when the second limit switch is not triggered in the embodiment of this application. [Figure 21] This is a schematic diagram showing the state when the second limit switch is triggered in the embodiment of this application. [Modes for carrying out the invention]

[0028] The technical solutions in the embodiments of this application will be described clearly and completely below in conjunction with the accompanying drawings of the embodiments of this application. It is obvious that the embodiments described are merely a part of the embodiments of this application, and not all embodiments of this application. The following description of at least one exemplary embodiment is for illustrative purposes only and is not intended in any way to limit the disclosure, its use, or application. All other embodiments that can be obtained by those skilled in the art without creative work based on the embodiments of this application are within the scope of protection of this application.

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

[0030] In the description of this application, orientations or positional relationships indicated by directional terms such as “front, rear, top, bottom, left, right,” “transverse, vertical, vertical, horizontal,” and “top, bottom” are based on the orientations or positional relationships shown in the drawings and are solely for the purpose of facilitating the description of this application and simplifying the description, 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 the directional terms “inside and outside” should be understood as referring to the inside and outside relative to the external shape of each component itself.

[0031] In the description of this application, the use of terms such as “first” and “second” to define components should be understood as merely for the convenience of distinguishing corresponding components. Unless otherwise stated, the above terms have no special meaning and should not be understood as a limitation on the scope of protection of this application.

[0032] In addition, the technical features relating to the different implementations of this application, as described below, can be combined with each other, provided that they do not contradict one another.

[0033] An end pickup device is a gripping device that is typically connected to the tail end of a manipulator to grasp an item. In the field of logistics, robots are often used to pick up items through end pickup devices to enable product selection.

[0034] An end pickup device includes a pickup part, which is in contact with an article and picks up the article by means of clamping and gripping, vacuum suction, or magnetic suction.

[0035] To meet the pickup requirements for different items, end pickup devices need to have interchangeable pickup parts. The process of changing pickup parts is, in practice, an inefficient operation. Therefore, it is desirable to reduce the time occupied by the pickup part replacement process and increase the time occupied by the pickup operation itself.

[0036] However, in related technologies, end pickup devices need to move between the work area and a replacement area far from the work area in order to replace the picked-up part, which consumes a lot of time and affects work efficiency.

[0037] Here, the process of replacing pickup parts in related technologies is explained using a vacuum suction type end pickup device as an example.

[0038] Figures 1 to 5 illustrate the replacement process for the pickup component of a vacuum suction type end pickup device in related technologies.

[0039] Referring to Figure 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 is in contact with the article through the suction cup 25 and picks up the article.

[0040] Referring to Figures 1-5, in the relevant technology, the end pickup device 20 is provided with a quick-change mechanism (not shown in the figures), the suction cup holder 8 is specifically positioned outside the work area A, and the backup suction cup 25 is positioned on top of the suction cup holder 8 for the end pickup device 20 to replace. In this case, the area where the suction cup holder 8 is positioned is the replacement area, and the replacement area must not affect the normal progress of the gripping and setting operations, and therefore is generally located far from the work area A.

[0041] When the existing suction cup 25 does not meet the item pickup requirements and needs to be replaced, as shown in Figures 1 and 2, after the existing suction cup 25 has finished placing the item, the end pickup device 20 needs to move from the work area A to the replacement area (where the suction cup holder 8 is located, which is far from the work area A), and the existing suction cup 25 is then released by the quick-change mechanism. Then, as shown in Figure 3, the end pickup device 20 is controlled to move to the position in the replacement area where the required suction cup 25 is located, and the required suction cup 25 is grasped by the quick-change mechanism. Then, as shown in Figure 4, the end pickup device 20 is controlled to return from the replacement area to the work area A for the next operation.

[0042] To make it clearer, referring to Figure 5, the relevant technology requires many links (for example, "finish setting up - move to suction cup holder - place existing suction cup - move to the position of the required suction cup - grasp the required suction cup - return to work") to complete the suction cup replacement and pick up another item.

[0043] In the above exchange process, the actions corresponding to "move to the suction cup holder - place the existing suction cup - move to the position of the required suction cup - grasp the required suction cup" (all of which are prepared for the next pickup operation) are actually inefficient operations. The time spent moving the manipulator and the time spent exchanging the suction cup by the quick-change mechanism are inefficient, and this accounts for a large proportion of the overall exchange process, impacting work efficiency.

[0044] Taking the above-mentioned cases into consideration, the embodiments of this application improve the structure of the end pickup device in order to shorten the time required to replace the pickup parts and to improve work efficiency.

[0045] Figures 7 to 21 schematically show the structure of the end pickup device according to this application.

[0046] Referring to Figures 7 to 21, in some embodiments of this application, the end pickup device 20 is Installation seat 1 and; A pickup mechanism 2 is provided, which is disposed on a mounting sheet 1 and includes at least two pickup devices 21, the at least two pickup devices 21 being relatively movable, and the pickup devices 21 include pickup parts 2d for picking up articles; A drive mechanism 3 is provided, which is disposed on the mounting seat 1 and is drive-connected to the pickup mechanism 2, which drives at least two pickup devices 21 to move relative to each other, and which are configured to pick up items in a switching manner. Includes.

[0047] It can be understood that a switching method for picking up items means that when one pickup part 2d picks up an item, the other pickup parts 2d do not pick up any items, and the pickup parts 2d perform the pickup task one item at a time.

[0048] Based on the above arrangement, the end pickup device 20 no longer includes only one pickup part 2d, but includes at least two pickup parts 2d, which are driven by the drive mechanism 3 and move relative to pick up items in a switching manner. In this way, the replacement 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 replacement of the pickup parts 2d locally within the work area. Since there is no need to move the end pickup device 20 between the work area and other areas, the time required to replace the pickup parts is reduced, and the end pickup device 20 is able to pick up more items, thereby effectively improving work efficiency.

[0049] The workflow of the end pickup device 20 according to an embodiment of the present application is shown in Figure 6. As can be seen from Figure 6, in the embodiment of the present application, the end pickup device 20 does not need to move as a whole between the work area A and the replacement area after installation is complete, and the replacement of the pickup part 2d can be completed directly in the work area, allowing for a quick move to the next operation.

[0050] Compared with Figures 5 and 6, it can be seen that the embodiments of the present application omit several links in the related art, such as "move into suction cup holder - place existing suction cup - move to the position of the required suction cup - grasp the required suction cup," eliminating the actions and movement processes corresponding to these links, thereby saving inefficient time for the end pickup device 20 to go specifically to the replacement area to place and replace the pickup part 2d and then return to the work area A. Thus, the time for replacing the pickup part is effectively reduced, rapid replacement of the pickup part is achieved, and efficiency is significantly improved.

[0051] The relative movement between the pickup devices 21 can take various forms. In one such form, the pickup devices 21 are relatively retractable. For example, referring to Figures 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 at least two pickup devices 21 described above are arranged in a sequential sleeve configuration and are relatively retractable, and the drive mechanism 3 drives the at least two pickup devices 21 to relatively extend and retract, so that the at least two pickup devices 21 pick up items in a switching configuration.

[0052] In the above configuration, the replacement of pickup parts 2d is achieved by the relative extension and retraction of the pickup device 21. When a particular pickup part 2d needs to be worked, the pickup device 21 on the outside of the pickup part 2d is driven to retract, exposing the pickup part 2d so that it is in contact with the item, enabling the pickup function to be realized. When another external pickup part 2d needs to be replaced for work after the current pickup part 2d has completed its work, the required pickup part 2d is driven to extend to be in contact with the item in order to perform the pickup task. In this way, based on the relative extension and retraction of the pickup device 21, the rapid replacement of pickup parts 2d is completed, and the pickup device 21 performs the pickup task in a switchover manner.

[0053] Because a sleeved system is employed, in all pickup devices 21, the specifications of the outer pickup part 2d are larger than those of the inner pickup part 2d. In this case, when the pickup part 2d is replaced by the relative extension and retraction of the pickup device 21, pickup parts 2d of different specifications are replaced, so that the pickup requirements of articles of different specifications are met. For example, when the article to be picked up is larger, the outer pickup device 21 is driven to extend to provide a greater pickup force. When the article to be picked up is smaller and the larger pickup part 2d cannot effectively pick up the article, the outer pickup device 21 is driven to retract, exposing the inner pickup device 21 to pick up the smaller article.

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

[0055] To prevent interference between pickup devices 21 arranged in a sleeve-like manner during extension and retraction processes, as shown in Figure 11, in some embodiments, in two pickup devices 21 (which are adjacent to each other and both are retractable), the sleeve 24 of the outerly positioned pickup device 21 is provided with an escapement opening 26 to avoid the extension and retraction of the innerly positioned pickup device 21.

[0056] The pickup device 21 can be entirely movably mounted on the mounting sheet 1, or only a portion of the pickup device 21 can be movably mounted on the mounting sheet 1, while the other portion of the pickup device 21 can be fixedly mounted on the mounting sheet 1.

[0057] For example, referring to Figures 7 to 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 positioned, and at least one second pickup device 23 is sleeved outside the first pickup device 22 and is extendable relative to the first pickup device 22. In this case, the drive mechanism 3 is drive-connected to 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 items in a switching manner. In this case, the innermost pickup device 21 that is fixedly positioned 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 a second pickup device 23. The second pickup device 23 is movable relative to the mounting seat 1, and the second pickup device 23 can extend and retract. Since the first pickup device 22 is immovable, the structure is simpler, control is more convenient, and replacement efficiency is higher, and the end pickup device 20 enables rapid replacement of pickup parts based on a simpler structure.

[0058] The number of second pickup devices 23 can be one, two, or more. When the pickup mechanism 2 includes at least two second pickup devices 23, the pickup mechanism 2 includes at least three pickup devices 21, which enables rapid replacement of multiple stages of pickup devices 21, thereby meeting different pickup requirements more efficiently and flexibly.

[0059] Referring to Figures 7 to 11 as one embodiment of the drive mechanism 3, in some embodiments, the drive mechanism 3 includes a drive device 31 that corresponds one-to-one with at least one second pickup device 23. The drive device 31 is drive-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 drive device 31, which is convenient for achieving independent control over the extension and retraction process of each second pickup device 23.

[0060] As shown in Figures 7 and 11, in some embodiments, the drive device 31 includes a lead screw motor 32, which is drive-connected to a second pickup device 23.

[0061] The lead screw motor 32 is a mechanism that converts the rotational motion of a motor into linear motion based on the cooperation between a lead screw and a nut. As shown in Figure 11, the lead screw motor 32 includes a motor 33, a lead screw 35, and a nut 36. The motor 33 is driven to the lead screw 35, and the nut 36 is sleeved on the outside of the lead screw 35. As the motor 33 rotates, the nut 36 moves along the axial direction of the lead screw 35 under constraint, thereby realizing the conversion from rotational motion to linear motion. As shown in Figure 11, in some embodiments, a reduction gear 34 is disposed between the motor 33 and the lead screw 35, and the motor 33 is driven to the lead screw 35 through the reduction gear 34. In this case, the motor 33 can be a DC motor, and the lead screw motor 32 can be a DC reduced-speed lead screw motor. Alternatively, in some other embodiments, the gearbox 34 does not need to be located between the motor 33 and the lead screw 35, and the motor 33 and the lead screw 35 are directly driven by each other. In this case, the motor 33 can be a stepping motor, and the lead screw motor 32 can be a lead screw stepping motor.

[0062] The lead screw motor 32 is capable of achieving linear motion, and therefore, when connected to drive the second pickup device 23, the lead screw motor 32 can drive the second pickup device 23 to move along a straight line, thereby enabling the extension and retraction of the second pickup device 23.

[0063] When the lead screw motor 32 is driven to the second pickup device 23, it is driven to the second pickup device 23 through its nut 36. Referring to Figure 11, for example, in some embodiments, the drive device 31 further includes a nut seat 37, which connects the nut 36 of the lead screw motor 32 to the sleeve 24 of the second pickup device 23, thereby realizing the drive connection between the lead screw motor 32 and the second pickup device 23. The nut seat 37 restricts the rotation of the nut 36, enabling power transmission between the nut 36 and the second pickup device 23, and when moving linearly, the nut 36 drives the second pickup device 23 to move linearly, enabling the extension and retraction of the second pickup device 23.

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

[0065] Referring to Figures 12-13, as one embodiment of achieving a fixed connection between a first connecting part 38 and a second pickup device 23 based on a first pin shaft 61, in some embodiments the first connecting part 38 is provided with a first cavity 41, the sleeve 24 is positioned within the first cavity 41, and the first connecting part 38 and the sleeve 24 are connected through the first pin shaft 61. Specifically, as can be seen from Figures 12 and 13, in some embodiments the side wall portion of the first cavity 41 is provided with a first hole portion 51, and the outer wall portion of the sleeve 24 is provided with a second hole portion 52. The first hole portion 51 and the second hole portion 52 are abutted to form a closed first pin hole portion 55, and the second connecting part 39 is provided with a first through hole portion 57 that communicates with the first pin hole portion 55. The first pin shaft 61 penetrates the first through-hole 57 and is inserted into the first pinhole 55, connecting the sleeve 24 to 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 driving the nut 36 to move the second pickup device 23 up and down through the nut seat 37. Such a method of connecting the nut seat 37 to the second pickup device 23 by the first pin shaft 61 is particularly suitable for a second pickup device 23 that is positioned internally (for example, a second-stage pickup device 2b).

[0066] Referring to Figures 14-16 as one embodiment of the clamping connection between the first connecting part 38 and the second pickup device 23, in some embodiments, the first connecting part 38 is connected to the sleeve 24 in a clamping manner. For example, referring to Figures 14-16, in some embodiments, the first connecting part 38 includes a clamping part 3a, the side wall of the sleeve 24 provides a clamping groove 3c, the clamping part 3a is clamped within the clamping groove 3c, and the displacement of the clamping part 3a radially outward and along the axial direction of the sleeve 24 is limited by the clamping groove 3c. Furthermore, a second pin shaft 62 connecting the second connecting part 39 to the nut 36 abuts against the outer wall of the sleeve 24 and limits the displacement of the nut seat 37 radially inward of the sleeve 24. Thus, 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 driving the nut 36 to move the second pickup device 23 up and down through the nut seat 37. Such a clamping connection between the first connecting part 38 and the second pickup device 23 is particularly suitable for the second pickup device 23 that is positioned outward (for example, the third-stage pickup device 2c).

[0067] In addition, as one embodiment of achieving a fixed connection between the nut seat 37 and the nut 36 based on a second pin shaft 62, referring to Figures 12 to 16, in some embodiments, the second cavity 42 is disposed within a second connecting part 39, the nut 36 is positioned within 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 Figures 12 to 13 and 16, in some embodiments, the side wall portion of the second cavity 42 is provided with a third hole portion 53, and the outer wall portion of the nut 36 is provided with a fourth hole portion 54. The third hole portion 53 and the fourth hole portion 54 are abutted to form a closed second pin hole portion 56. Furthermore, the second connecting part 39 is provided with a second through-hole 58 that communicates with the second pin hole 56, and the second pin shaft 62 passes through the second through-hole 58 and is inserted into the second pin hole 56, connecting the nut 36 to the second connecting part 39. Based on this, the nut seat 37 and the nut 36 cannot rotate or move relative to each other, the nut seat 37 restricts the rotation of the nut 36, and when the motor 33 is driven to rotate the lead screw 35, the nut 36 moves only 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 through the nut seat 37 to move along the axial direction of the lead screw 35, thereby enabling the extension and retraction of the second pickup device 23.

[0068] In addition, to enable the pickup device 21 to extend and retract more precisely in the desired area, as shown in Figures 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 arranged sequentially along the extending direction of the pickup device 21. The first limiting switch 71 limits the retraction displacement of the pickup device 21, and the second limiting switch 72 limits the extension displacement of the pickup device 21. In this way, the extension and retraction range of the pickup device 21 is limited to prevent the pickup device 21 from extending and retracting excessively. The first limiting switch 71 and the second limiting switch 72 can be various types of switches, such as microswitches or proximity switches. When the switch is triggered, the drive mechanism 3 stops working, preventing the pickup device 21 from continuing to extend or retract further, thereby limiting the extension and retraction displacements.

[0069] In each of the embodiments described above, the pickup part 2d is not limited in type and may include, for example, a suction cup 25, a mechanical claw, or a magnetic member. The end pickup device 20 of the embodiments of this application will be further described by taking the case in which the pickup part 2d is a suction cup 25 as an example.

[0070] Figures 7 to 21 schematically show the case where the pickup part 2d is the suction cup 25.

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

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

[0073] When vacuum is applied, the suction cup 25 attracts the article, enabling the article to be picked up. As shown in Figure 7, in this embodiment, an air passage 27 is located 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 in gas communication with the vacuum mechanism through the air passage 27, allowing the vacuum mechanism to 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 located on the outside is in communication with the vacuum mechanism through the pickup device 21 located on the inside. The suction cup 25 is an elastic member and can be deformed due to the effects of negative pressure in the work process or pressure acted upon by the article. To enable each stage of the pickup device 21 to provide relatively sufficient suction force, each stage of the pickup device 21 can be arranged such that when one pickup device 21 is performing a pickup task and is at its 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 inside suction cup 25 cannot come into contact with the article. In this way, the air path of the current suction cup 25 is not blocked by the article on the preceding suction cup 25, allowing the current suction cup 25 to have a larger vacuum generating area and to provide a greater 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 its maximum compression amount, the tail end of the third stage suction cup is still located below the tail end of the second stage suction cup, so that the second stage suction cup does not come into contact with the article, and the first stage suction cup 25 also does not come into contact with the article.Thus, the gas path of the third-stage suction cup is not blocked by the object adsorbed on the second-stage suction cup, resulting in a larger vacuum generation area and a greater adsorption force.

[0074] The sleeve relationships of each stage of the pickup device 21 are as shown in Figure 7. In this embodiment, the specifications of the suction cups 25 increase sequentially from the inside to the outside, that is, the cross-sectional area of ​​the suction cups 25 increases sequentially 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, and the suction area of ​​the second stage suction cup is larger than that of the first stage suction cup. Therefore, the third stage suction cup is the largest and has the strongest suction capacity, and is capable of picking up the largest items, followed by the second stage suction cup, and the first stage suction cup is the smallest and has the weakest suction capacity, and is capable of picking up the smallest items.

[0075] Referring to Figure 10, in this embodiment, guide sleeves 28 are positioned between two adjacent inner and outer pickup devices 21 to facilitate the relative extension and retraction of the pickup device 21, and act as guides. Furthermore, in this embodiment, the guide sleeves 28 also have a sealing function, performing a sealing role to prevent gas leakage and enabling the suction cup 25 to pick up items more reliably. Specifically, as can be seen from Figure 10, in this embodiment, one guide sleeve 28 is positioned between the third-stage pickup device 2c and the second-stage pickup device 2b, and another guide sleeve 28 is positioned between the second-stage pickup device 2b and the first-stage pickup device 2a, with both guide sleeves 28 serving as guides and seals. The guide sleeves 28 can also be positioned between two adjacent stage sleeves 24 of the pickup device 21.

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

[0077] As shown in Figure 11, in this embodiment, each of the two drive devices 31 includes a lead screw motor 32 and a nut seat 37. The lead screw motor 32 is driven and connected to the sleeve 24 through the nut seat 37, so that the sleeve 24 moves along its axial direction under the drive of the lead screw motor 32, enabling the extension and retraction of the pickup device 21.

[0078] Specifically, the lead screw motor 32 is a DC reduced-speed lead screw motor and includes a DC motor 33, a reduction gear 34, a lead screw 35, and a nut 36. The motor 33 is connected to the lead screw 35 through the reduction gear 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 the outside of the nut 36 and connects the nut 36 to the sleeve 24, allowing the nut 36 to drive the sleeve 24 to move along the axial direction of the lead screw 35, thereby enabling the extension and retraction of the pickup device 21.

[0079] As shown in Figures 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 convenience 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] Figures 12-13 show the structure of the first nut seat, as well as the cooperative relationship between the first nut seat, the nut 36, and the sleeve 24. As shown in Figures 12-13, in this embodiment, the first nut seat sleeves the nut 36 and the sleeve 24 of the second stage pickup device 2b (i.e., the second stage sleeve), 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. When the motor 33 is driven to rotate the lead screw 35, the nut 36 does not rotate, but rather 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 includes 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 disposed within the first connecting part 38, and a second stage sleeve is positioned within the first cavity 41, with the first connecting part 38 sleeved outside the second stage sleeve. A second cavity 42 is disposed within the second connecting part 39, and a nut 36 is positioned within the second cavity 42, with the second connecting part 39 sleeved outside the nut 36. The inner wall portion of the portion of the first connecting part 38 connected to the second connecting part 39 is provided with a first hole portion 51, and the outer wall portion of the second stage sleeve is provided with a second hole portion 52. The first hole portion 51 and the second hole portion 52 are abutted to form a closed first pinhole portion 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 abutted together to form a closed second pinhole 56. On the one hand, the second connecting part 39 is provided with a first through hole 57 communicating with the first pinhole 55 and a second through hole 58 communicating with the second pinhole 56. The first pin shaft 61 passes through the first through hole 57 and is inserted into the first pinhole 55, connecting the second stage sleeve to 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 58 and is inserted into the second pin hole 56, connecting the nut 36 to the second connecting part 39, so that the nut seat 37 and the nut 36 cannot rotate or move relative to each other.

[0082] Thus, under the action of the first pin shaft 61 and the second pin shaft 62, the nut 36 is fixedly positioned on the first nut seat, the first nut seat is fixedly positioned 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 enabling the extension and retraction of the second stage pickup device 2b.

[0083] Figures 14 to 16 show the structure of the second nut seat, as well as the cooperative relationship between the second nut seat, the nut 36, and the sleeve 24. As shown in Figures 14 to 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 of the third stage pickup device 2c (i.e., the third stage sleeve) in a clamping manner, so that when the motor 33 is driven to rotate the lead screw 35, the nut 36 does not rotate but drives the third stage sleeve to move only 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 includes 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 includes a clamping part 3a, the side wall of the third stage sleeve is provided with a clamping groove 3c, and the clamping part 3a is clamped within the clamping groove 3c, restricting the displacement of the second nut seat axially and circumferentially, as well as radially outward relative to the third stage sleeve. A second cavity 42 is disposed within the second connecting part 39, and a nut 36 is positioned within the second cavity 42, so that the second connecting part 39 sleeves the outside of the nut 36. A second pin shaft 62 connects the second connecting part 39 to the nut 36 and abuts against the outer wall of the third stage sleeve, so as to provide a fixed connection between the second connecting part 39 and the nut 36, and so as to restrict the displacement of the second nut seat radially inward relative to the third stage sleeve.

[0085] Specifically, in the radial direction of the third stage sleeve, one side of the clamping groove 3c facing the central axis of the third stage sleeve is open, and the other side facing away from the central axis of the third stage sleeve is provided with two clamping platforms 3d. Along the axial direction of the third stage sleeve, the two ends of the clamping groove 3c are provided with end walls 3e, so that the two ends of the clamping groove 3c along the axial direction of the third stage sleeve are at least partially closed. The clamping part 3a includes two clamping claws 3b, which are connected to two opposite sides of the second connecting part 39 in the circumferential direction of the third stage sleeve. In the radial direction of the third stage sleeve, the two clamping claws 3b are clamped in a one-to-one correspondence with the two clamping platforms 3d, so that the clamping groove 3c can restrict the displacement of the nut seat 37 radially outward of the third stage sleeve. In the axial direction of the third stage sleeve, the two clamping claws 3b are positioned between the upper and lower end walls 3e of the clamping groove 3c, so that the clamping groove 3 can restrict 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 is understood that, through the cooperation of the clamping part 3a and the clamping groove 3c, the nut seat 37 cannot move toward the radially outward side of the third stage sleeve 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 abutted together to form a closed second pinhole 56. On the other hand, the second connecting part 39 is provided with a second through-hole 58 that communicates with the second pinhole 56. The second pin shaft 62 passes through the second through-hole 58 and is inserted into the second pinhole 56, connecting the nut 36 to the second connecting part 39 so that the nut seat 37 and the nut 36 cannot rotate or move relative to each other. Furthermore, the second pin shaft 62 abuts against the outer side wall of the third stage sleeve so that the nut seat 37 cannot move radially inward of the third stage sleeve.

[0087] Thus, through the cooperation of the second pin shaft 62, the clamping part 3a, and the clamping groove 3c, the nut 36 is fixedly positioned on the second nut seat, the second nut seat is fixedly positioned 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 enabling the extension and retraction of the third stage pickup device 2c.

[0088] In this embodiment, the connection mode between the first nut sheet and the nut 36 is the same as the connection mode between the second nut sheet and the nut 36, and it is understood that the second connecting part 39 and the nut 36, which are arranged in a sleeve-like manner, are connected by the second pin shaft 62. However, the connection mode between the first nut sheet and the sleeve 24 is different from the connection mode between the second nut sheet and the sleeve 24. The first nut sheet and the second stage sleeve are arranged in a sleeve-like manner and connected by the first pin shaft 61, while the second nut sheet and the third stage sleeve are connected in a clamping manner instead of being arranged in a sleeve-like manner and are connected by the first pin shaft 61.

[0089] The connection between the nut seat 37 and the nut 36 is achieved by the cooperation of the second pin shaft 62, the third bore part 53, and the fourth bore part 54, and the connection between the first nut seat and the second stage sleeve is achieved by the cooperation of the first pin shaft 61, the first bore part 51, and the second bore part 52. Compared to other connection modes such as coupling, screw connection, or clamping connection, the structure is simpler, the layout is more compact, it is more adaptable to confined spaces, and the requirements for machining precision are lower. The first pinhole portion 55 and the second pinhole portion 56 are formed by butting together two hole portion parts within two connected parts (i.e., the first hole portion 51 and the second hole portion 52, as well as the third hole portion 53 and the fourth hole portion 54), which is more suitable for the connection requirements of the nut sheet 37, nut 36, and sleeve 24 having smaller wall thicknesses compared to a method in which the complete pinhole portion is directly provided within the connected parts.

[0090] The second nut seat and the third stage sleeve are not connected by sleeve, but rather by clamping through the cooperation between the clamping groove 3c and the clamping part 3a. This ensures a fixed connection between the second nut seat and the third stage sleeve, thereby preventing reciprocating movement of the first nut seat. This is advantageous for the first and second nut seats to move upward to the same height, and avoids cases where the sleeved first nut seat cannot move upward to the upper limit position of the second nut seat due to obstruction by 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 a clearance opening 26, which is located on the side surface of the sleeve 24 of the third-stage pickup device 2c and positioned on the movement path of the second-stage pickup device 2b, so that when the second-stage pickup device 2b moves upward and retracts, the clearance opening 26 can just clear the nut seat 37 (i.e., the first nut seat) of the second-stage pickup device 2b, thereby facilitating the 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 devices 7. The limiting devices 7 have a one-to-one correspondence with the retractable pickup device 21. In this embodiment, referring to Figure 17, the end pickup device 20 includes two limiting devices 7, which have a one-to-one correspondence with the second-stage pickup device 2b and the third-stage pickup device 2c, and are for limiting the movement displacements of the second-stage pickup device 2b and the third-stage pickup device 2c, respectively. In Figure 17, the limiting device 7 on the right corresponds to the third-stage pickup device 2c in order to limit the displacement of the third-stage pickup device 2c, and the limiting device 7 on the left corresponds to the second-stage pickup device 2b in order 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 extending 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. As shown in Figures 20 and 21, after the lead screw motor 32 is activated, the corresponding stage of the pickup device 21 begins to move, and as it moves to a predetermined position, the corresponding nut seat 37 comes into contact with the limit switch, compressing the contact 73 of the limit switch, which triggers the limit switch, sending a signal to control the lead screw motor 32 to stop working. Subsequently, the lead screw motor 32 does not continue to rotate in this direction, but after receiving a reverse rotation signal, begins to rotate in the reverse direction, and the corresponding stage of the pickup device 21 rotates in the reverse direction until the other limit switch is touched, thereby achieving limiting of displacement in both directions.

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

[0095] As shown in Figure 7, initially, the first-stage pickup device 2a, the second-stage pickup device 2b, and the third-stage pickup device 2c are all in their initial positions. 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. In other words, from the inside out, the tail ends of the suction cups 25 of each stage of the pickup device 21 are arranged sequentially downwards. In other words, from the inside out, the tail ends of the suction cups 25 of each stage of the pickup device 21 are arranged sequentially at predetermined intervals along the extending direction. In this case, when a pickup task needs to be performed, only the suction cup 25 of the third-stage pickup device 2c can come into contact with the article, while the suction cups 25 of the second-stage pickup device 2b and the first-stage pickup device 2a are not exposed and cannot come into contact with the article, thus being unable to pick up the article. Therefore, it is suitable for picking up larger articles in this case.

[0096] If the item to be picked up is relatively small and unsuitable for being picked up by the suction cup 25 of the third-stage pickup device 2c, but suitable for being picked up by the suction cup 25 of the second-stage pickup device 2b, as shown in Figure 8, a signal is sent to the lead screw motor 32 corresponding to the third-stage pickup device 2c, which controls the lead screw motor 32 to move the third-stage pickup device 2c upward and retract, 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 item, making it possible to pick up the item. As can be seen from Figure 8, when only the third-stage pickup device 2c is retracted to a predetermined position, 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 remains at the lower limit position.

[0097] When the item to be picked up is smaller and neither the suction cup 25 of the third-stage pickup device 2c nor the second-stage pickup device 2b is suitable, a signal is sent to the lead screw motor 32, as shown in Figure 9, to drive the third-stage pickup device 2c and the second-stage pickup device 2b upward and backward, exposing the suction cup 25 of the first-stage pickup device 2a, allowing the suction cup 25 of the first-stage pickup device 2a to pick up the item and complete the pickup operation. As can be seen from Figure 9, when both the second-stage pickup device 2b and the third-stage pickup device 2c are backward to their predetermined positions, their corresponding nut seats 37 move upward to their upper limit positions.

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

[0099] To make it clear, the end pickup device 20 according to this embodiment is equipped with a backup suction cup 25 itself, and it is possible to 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 it is possible to quickly exchange the suction cup 25 by using the relative extension and retraction of each stage of the pickup device 21. When it is necessary to exchange the suction cup 25 after installation is complete, the end pickup device 20 according to this embodiment only needs to control the pickup device 21, which is positioned outside the required suction cup 25, to move upward and retract, and the required suction cup 25 is then switched to perform the next action, thereby completing the suction cup 25 exchange process. The replacement of the suction cup 25 can be completed in the necessary movement process after the installation action is completed, eliminating the inefficient process of the manipulator 10 moving specifically to the suction cup holder 8 further away from the work area A, placing and replacing the suction cup 25, and then returning to the work area A. This saves the inefficient time consumed by the corresponding inefficient process. Therefore, the replacement time for the suction cup can be significantly reduced, allowing the end pickup device 20 to spend more time on the pickup operation, which improves the utilization efficiency of the end pickup device 20 and improves the input-output ratio.

[0100] The embodiments shown in Figures 7 to 21 are merely illustrative examples of a three-stage pickup device 21, and it should be understood that the number of stages in the pickup device 21 can be greater, for example, four or more stages can be arranged.

[0101] In summary, according to the embodiments of this application, by improving the structure of the end pickup device 20, inefficient actions in the pickup part replacement process are eliminated, a great deal of time wasted in the pickup part replacement process is 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 that include the end pickup device 20 according to embodiments of the present application.

[0103] The foregoing is merely an exemplary embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc., made in the spirit and principles of the present application shall be included within the scope of protection of the present application. [Explanation of symbols]

[0104] 1. Installed seat 2. Pickup Mechanism 2a First stage pickup device 2b Second stage pickup device 2c Third stage pickup device 2D pickup parts 3. Drive Mechanism 3a Clamping parts 3b Clamping claws 3c Clamping groove 3D Clamping Platform 3e End wall 7. Restricted Devices 8 Suction cup holder 10 Manipulators 20 End Pickup Devices 21 Pickup device 22 First pickup device 23. Second pickup device 24 sleeves 25 Suction Cups 26 Avoidance opening 27 Airflow channels 28 Guide Sleeves 31. Drive devices 32 Lead Screw Motor 33 Motor 34 Reducer 35 Lead Screw 36 nuts 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. Fourth hole part 55 First pinhole 56 Second pinhole 57 First through hole 58 Second through-hole 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. Installation seat (1), A pickup mechanism (2) is disposed on the mounting sheet (1) and includes at least two pickup devices (21), the at least two pickup devices (21) being disposed in a sequential sleeve manner and being relatively expandable and contractible, and including a first pickup device (22) and at least one second pickup device (23), the first pickup device (22) being fixedly disposed, the at least one second pickup device (23) being sleeved outside the first pickup device (22) and being expandable and contractible relative to the first pickup device (22), the pickup device (21) including a pickup part (2d) for picking up an article and a sleeve (24), the pickup part (2d) being disposed at the end of the sleeve (24), and the pickup mechanism (2), A drive mechanism (3) is provided, wherein the drive mechanism (3) is disposed on the mounting seat (1) and is drive-connected to the pickup mechanism (2), and the drive mechanism (3) includes a drive device (31) that corresponds one-to-one with at least one second pickup device (23), the drive device (31) is drive-connected to the second pickup device (23), drives the second pickup device (23) to extend and retract, and the at least two pickup devices (21) pick up the article in a switching manner, Includes, The drive device (31) includes a lead screw motor (32) and a nut seat (37), the nut seat (37) connecting the nut (36) of the lead screw motor (32) to the sleeve (24) of the second pickup device (23), thereby realizing a drive connection between the lead screw motor (32) and the second pickup device (23), the nut seat (37) includes a first connecting part (38) and a second connecting part (39) connected to each other, the first connecting part (38) and the sleeve (24) being connected through a first pin shaft (61), or the first connecting part (38) and the sleeve (24) being connected in a clamping manner, and / or the second connecting part (39) and the nut (36) being connected through a second pin shaft (62), the end pickup device (20).

2. The end pickup device (20) according to claim 1, wherein the at least two pickup devices (21) include at least two second pickup devices (23).

3. A first cavity (41) is disposed within the first connecting part (38), the sleeve (24) is positioned within the first cavity (41), and the first connecting part (38) and the sleeve (24) are connected through the first pin shaft (61); or, The end pickup device (20) according to claim 1, wherein the first connecting part (38) includes a clamping part (3a), the clamping groove (3c) is disposed within the side wall of the sleeve (24), the clamping part (3a) is clamped within the clamping groove (3c), the displacement of the clamping part (3a) toward the radially outward direction of the sleeve (24) and along the axial direction of the sleeve (24) is restricted by the clamping groove (3c), and the second pin shaft (62) connecting the second connecting part (39) to the nut (36) abuts against the outer wall of the sleeve (24) and restricts the displacement of the nut seat (37) toward the radially inward direction of the sleeve (24).

4. The end pickup device (20) according to claim 3, wherein the 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 abutted together to form a closed first pinhole (55), the second connecting part (39) is provided with a first through hole (57) communicating with the first pinhole (55), the first pin shaft (61) passes through the first through hole (57) and is inserted into the first pinhole (55) to connect the sleeve (24) to the first connecting part (38).

5. The end pickup device (20) according to any one of claims 1 to 4, wherein a second cavity (42) is disposed within the second connecting part (39), the nut (36) is positioned within the second cavity (42), and the second connecting part (39) and the nut (36) are connected through the second pin shaft (62).

6. The end pickup device (20) according to claim 5, wherein the side wall of the second cavity (42) is provided with a third hole part (53), 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) abut to form a closed second pinhole (56), the second connecting part (39) is provided with a second through hole (58) communicating with the second pinhole (56), the second pin shaft (62) passes through the second through hole (58) and is inserted into the second pinhole (56) to connect the nut (36) to the second connecting part (39).

7. An end pickup device (20) according to any one of claims 1 to 4, wherein the two pickup devices (21) are adjacent to each other and both are extendable and retractable, the sleeve (24) of the pickup device (21) located on the outside is provided with a relief opening (26) to avoid extension and retraction of the pickup device (21) located on the inside.

8. The end pickup device (20) according to any one of claims 1 to 4, further comprising a limiting device (7), the limiting device (7) being disposed on the mounting sheet (1) to limit the displacement of the pickup device (21).

9. 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 extending direction of the pickup device (21), the first limiting switch (71) limiting the retraction displacement of the pickup device (21), and the second limiting switch (72) limiting the extension displacement of the pickup device (21), as described in claim 8, the end pickup device (20).

10. The pickup part (2d) includes a suction cup (25), the end pickup device (20) according to any one of claims 1 to 4.

11. A manipulator (10) including the end pickup device (20) according to claim 1.

12. A robot (100) including the manipulator (10) according to claim 11.

Images