CN109571527B - End effector of storage and picking robot - Google Patents

Abstract

The invention relates to an end effector of a warehouse goods-picking robot, wherein the end effector is arranged on a mechanical arm and is connected with a robot body through the mechanical arm; the clamping mechanism comprises a turnover mechanism, a clamping mechanism, a clasping mechanism and a locking mechanism; the mechanical arm is provided with a turnover mechanism and a clamping mechanism, the holding mechanism is connected with the turnover mechanism and the clamping mechanism, and the tail end of the holding mechanism is provided with a locking mechanism; the clamping mechanism comprises a clamping frame, a first driving motor, a screw rod sliding table group and an L-shaped plate; the L-shaped plate is formed by connecting a vertical clamping finger and a horizontal clamping finger, and the lead screw sliding table group is formed by a first sliding block and a lead screw; the clamping frame is connected with a sliding block of the mechanical arm, a first driving motor is arranged at the top of the clamping frame, and the output end of the first driving motor is connected with a lead screw in the clamping frame; the lead screw is provided with a first sliding block, and the first sliding block is fixedly connected with the vertical clamping finger. The invention avoids the risk of air leakage of the sucker manipulator, has light and handy whole structure and improves the carrying efficiency.

Description

End effector of storage and picking robot

Technical Field

The invention relates to the technical field of warehouse logistics, in particular to an end effector of a warehouse goods-picking robot.

Background

Warehousing is an important component of modern logistics, plays an important role in logistics systems, and is the key point for research and planning of manufacturers. The high-efficient reasonable storage can help the firm accelerate the speed that the goods and materials flow, reduce cost, the smooth of guarantee production goes on to can realize effectively controlling and managing the resource. The warehousing development goes through different historical periods and stages, from original manual warehousing to intelligent warehousing, and the warehousing efficiency is greatly improved by supporting the warehousing through various high and new technologies. With the continuous development of warehousing technology, the demand for quick disassembly and efficient transportation of goods is increasing. Various warehouse picking robots are available in the market, and most of the robots adopt a sucker type end effector. However, the sucker-type end effector has its own disadvantages, such as that the pneumatic device is complicated and heavy, especially a heavy vacuum pump or air compressor must be arranged on the robot to provide negative pressure or positive pressure, the vacuum pump and air compressor consume large electric energy and are not satisfied by common batteries, and if the robot is powered by a circuit, the robot is inconvenient to move due to the long circuit. In a real situation, the suction surface of the box may have protrusions and gaps, so that air leakage is also a safety hazard.

Disclosure of Invention

Aiming at the defect problems of the sucker type end effector, the invention aims to provide the end effector of the warehouse picking robot, which greatly reduces the weight of a driving system by using a motor as a driving device. Meanwhile, the risk that the sucker manipulator fails to grab due to air leakage is avoided, so that the whole structure of the robot is light and handy, and the carrying efficiency is improved.

In order to achieve the purpose, the invention adopts the following technical scheme: an end effector of a warehouse picking robot is arranged on a mechanical arm and is connected with a robot body through the mechanical arm; the clamping mechanism comprises a turnover mechanism, a clamping mechanism, a clasping mechanism and a locking mechanism; the mechanical arm is provided with the turnover mechanism and the clamping mechanism, the clasping mechanism is connected with the turnover mechanism and the clamping mechanism, and the tail end of the clasping mechanism is provided with the locking mechanism; the clamping mechanism comprises a clamping frame, a first driving motor, a lead screw sliding table group and an L-shaped plate; the L-shaped plate is formed by connecting a vertical clamping finger and a horizontal clamping finger, and the lead screw sliding table group is formed by a first sliding block and a lead screw; the clamping frame is connected with a sliding block of the mechanical arm, the first driving motor is arranged at the top of the clamping frame, and the output end of the first driving motor is connected with the lead screw in the clamping frame; the lead screw is provided with the first sliding block, and the first sliding block is fixedly connected with the vertical clamping finger.

Further, the turnover mechanism comprises an L-shaped connecting plate, a worm and gear reducer, a second driving motor and a bent arm; the bent arm is of an L-shaped structure; the vertical plate of the L-shaped connecting plate is connected with the sliding block of the mechanical arm, the tail end of the horizontal plate of the L-shaped connecting plate is provided with the worm gear reducer, and the second driving motor is arranged at the upper part of the worm gear reducer; the central shaft of the worm gear and worm reducer is connected with one end of the bent arm, and the other end of the bent arm is connected with the side wall of the clamping frame in the clamping mechanism.

Furthermore, a reinforcing plate is arranged on the L-shaped connecting plate.

Further, the clasping mechanism comprises a connecting plate, a first stepping motor, a second stepping motor, a first lead screw, a second lead screw, a first synchronous belt, a second sliding block, a second synchronous belt, a third sliding block and a chain; the bottom of the connecting plate is slidably connected with the top of a horizontal clamping finger of the clamping mechanism, the end part of the connecting plate, which is positioned at one side close to the mechanical arm, is provided with a mounting plate corresponding to the connecting plate, and the mounting plate is provided with the first stepping motor and the second stepping motor; an output shaft of the first stepping motor is connected with one end of the first lead screw through the first synchronous belt, so as to drive the second sliding block arranged on the first lead screw to move along the first lead screw, the upper part of the connecting plate is connected with the second sliding block, and the second sliding block drives the connecting plate to move; an output shaft of the second stepping motor is connected with one end of the second screw rod through the second synchronous belt to drive the third sliding block arranged on the second screw rod to move along the second screw rod; the two ends of the third sliding block are respectively provided with the chain, and the third sliding block drives the chains to slide on the connecting plate.

Furthermore, the second stepping motor, the second lead screw and the third slide block form a second lead screw slide table group, and the first stepping motor, the first lead screw and the second slide block form a first lead screw slide table group; the first lead screw sliding table group and the second lead screw sliding table group are vertically arranged in parallel along the length direction of the connecting plate.

Further, the chain is composed of a plurality of chain links and used for holding fingers tightly.

Furthermore, the two adjacent chain links penetrate through each other through a through shaft, and the shaft end of the through shaft is fixed by a shaft end retainer ring.

Further, the relative rotation angle of two adjacent chain links is between 0 and 90 degrees.

Furthermore, the number of the locking mechanisms is two, and the two locking mechanisms are respectively arranged at two ends of a third sliding block of the clasping mechanism.

Furthermore, each locking mechanism comprises a fourth sliding block, two sliding ways, four electromagnet supports, four electromagnets and a steel sheet; the two slide ways are fixed at the end part of the third slide block in parallel, the fourth slide block slides up and down along the slide ways, the steel sheet is connected to the top of the fourth slide block, and a through hole matched with the slide ways is formed in the steel sheet; the electromagnet support is fixed on the outer side faces of the upper end and the lower end of the slide way, and 4 electromagnets are fixed on the electromagnet support and used for adsorbing and fixing the steel sheets on the fourth sliding block.

Due to the adoption of the technical scheme, the invention has the following advantages: 1. the invention adopts the end effector consisting of the clamping mechanism, the turnover mechanism and the holding mechanism, can simulate the action of hands, and realizes the disassembly of single goods from the box type goods stack which is densely stacked on the tray and has no gap. The function can completely replace manual operation, and the labor intensity is greatly reduced. 2. The clamping mechanism, the turnover mechanism and the holding mechanism can adapt to the disassembly of goods with different sizes by changing the respective lengths through the driving mechanism. 3. The chain mechanism replaces the direct adoption of the screw rod sliding table group as a holding finger, so that the vertical height can be changed into the horizontal length, the integral thickness of the structure is greatly reduced, and the compactness is improved. 4. The screw rod is driven by the synchronous belt in the screw rod sliding table group, so that the restriction of the motor on the whole thickness is greatly reduced, and the compactness is greatly improved because 4 polished rods in the two screw rod sliding table groups are arranged on the same horizontal plane.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention when it is empty;

FIG. 2 is a schematic view of the overall structure of the present invention in operation with a load;

FIG. 3 is a schematic view of the structure of the clamping mechanism (L-shaped plate) of the present invention clamping the box;

FIG. 4 is an isometric view of the canting mechanism (curved arm) of the present invention during the canting action;

FIG. 5 is a right side view of the flipping mechanism (curved arm) of the present invention during the flipping action;

FIG. 6 is a schematic structural view of the clasping mechanism (chain) clasping action of the present invention;

FIG. 7 is a schematic view of the structure of the clasping mechanism (chain) of the present invention when it slides down;

FIG. 8 is a schematic diagram of a vertical arrangement structure of two key screw sliding table sets in the clasping mechanism of the present invention;

FIG. 9 is a schematic view of the overall chain construction of the present invention;

FIG. 10 is a schematic view of the structure of two adjacent links of the chain of the present invention;

FIG. 11 is a schematic view of the adjacent links of the chain of the present invention rotated relative to each other to a parallel position;

FIG. 12 is a schematic view of the chain of the present invention with two adjacent links rotated relative to each other to a vertical position;

FIG. 13 is a schematic structural view of the locking mechanism of the present invention;

figure 14 is a top plan view of the overall structure of the clasping mechanism of the present invention.

Detailed Description

In daily life, when the box is carried, the opposite surfaces of the box are clamped at least, but the box is on a cargo pile, the rear surface of the box is hidden and cannot directly act on the surface, so that the box needs to be turned over to expose the surface, the rear surface of the current box is separated from the front surface of the rear box, and at the moment, the opposite surfaces of the box can be clamped by using common knowledge in life, and the box is carried. The portable clamping type tail end travelling device can realize three steps of clamping, overturning and holding by using three fingers, wherein two fingers realize the actions of clamping and overturning, and the other finger realizes the action of holding. The invention is described in detail below with reference to the figures and examples.

As shown in fig. 1 and 2, the present invention provides an end effector of a storage and picking robot, which is used for disassembling and transporting box-type goods stacked orderly, tightly and without gaps from a goods tray in a vertical elevated warehouse. The end effector is arranged on a mechanical arm 1 and is connected with a robot body through the mechanical arm 1; the invention comprises a turnover mechanism 2, a clamping mechanism 3, a clasping mechanism 4 and a locking mechanism 5. The mechanical arm 1 is provided with a turnover mechanism 2 and a clamping mechanism 3, a holding mechanism 4 is connected with the turnover mechanism 2 and the clamping mechanism 3, and a locking mechanism 5 is arranged at the tail end of the holding mechanism 4.

In a preferred embodiment, the robot arm 1 is an important mechanism for connecting the end effector and the robot body, and can be designed independently; because the invention only aims at the end effector, the mechanical arm 1 adopts a screw rod sliding table group structure, and aims to simulate the lifting of the mechanical arm to control the height of the end effector. When the device is used, the mechanical arm 1 is lifted to drive the end effector to align the general position of a box in a cargo pile.

In a preferred embodiment, as shown in fig. 3, the chucking mechanism 3 includes a chucking frame 31, a first driving motor 32, a lead screw slider group 33, and an L-shaped plate 34; wherein, the L-shaped plate 34 is formed by connecting a vertical clamping finger 341 and a horizontal clamping finger 342; the screw slider group 33 is constituted by a first slider 331 and a screw. The clamping frame 31 is connected with a slide block of the mechanical arm 1, a first driving motor 32 is arranged at the top of the clamping frame 31, and the output end of the first driving motor 32 is connected with a lead screw in the clamping frame 31. The lead screw is provided with a first sliding block 331, and the first sliding block 331 is fixedly connected with the vertical clamping finger 341 and is used for driving the vertical clamping finger 341 to move up and down.

When the box is used, the vertical clamping fingers 341 and the horizontal clamping fingers 342 of the L-shaped plate 34 tightly fit the upper surface of the box 6 and the front surface adjacent to the upper surface, and the vertical clamping fingers 341 and the horizontal clamping fingers 342 of the L-shaped plate 34 form an angle of 90 degrees to clamp two vertical surfaces of the box 6, so that the two adjacent surfaces of the box 6 are clamped. Meanwhile, the L-shaped plate 34 is also connected to the first slide block 331 of the screw slide block set, so that the L-shaped plate 34 can move up and down in order to adjust the height of the L-shaped plate 34 to correspond to the height of the box 6.

In a preferred embodiment, as shown in fig. 4 and 5, the turnover mechanism 2 comprises an L-shaped connecting plate 21, a worm gear reducer 22, a second driving motor 23 and a bent arm 24; the bent arm 24 is of an L-shaped configuration. The vertical plate of the L-shaped connecting plate 21 is connected with the slide block of the mechanical arm 1, the tail end of the horizontal plate of the L-shaped connecting plate 21 is provided with a worm gear reducer 22, and the upper part of the worm gear reducer 22 is provided with a second driving motor 23. The central shaft of the worm gear reducer 22 is connected with one end of the bent arm 24, and the central shaft of the worm gear reducer 22 is arranged corresponding to the center of the box 6, so that the box 6 can be turned over conveniently; the other end of the bent arm 24 is connected to a side wall of a chucking frame 31 in the chucking mechanism 3.

When the box turning mechanism is used, the turning motion is that the worm and gear reducer 22 drives the bent arm 24 to perform rotary motion by taking the central shaft of the worm and gear reducer 22 as the center of a circle, and then the clamping mechanism 3 is indirectly driven to clamp the box 6 to perform turning motion, so that a certain distance is reserved between the vertical surface at the left side and the horizontal surface at the lower side of the box 6, as shown in fig. 5.

In the above embodiment, the reinforcing plate 25 is further disposed on the L-shaped connecting plate 21 for reinforcing the rigidity of the horizontal plate below the worm gear reducer 22, and since the horizontal plate is subjected to a large force, the reinforcing plate 25 can prevent the horizontal plate from being deformed greatly.

In a preferred embodiment, as shown in fig. 6 to 8, the clasping mechanism 4 comprises a connecting plate 41, a first stepping motor 42, a second stepping motor 43, a first lead screw, a second lead screw, a first synchronous belt 44, a second slide block 45, a second synchronous belt 46, a third slide block 47 and a chain 48; the chain 48 is composed of a plurality of links 481 for holding the fingers tightly; the second stepping motor, the second lead screw and the third slide block form a second lead screw slide table group, and the first stepping motor, the first lead screw and the second slide block form a first lead screw slide table group.

The bottom of the connecting plate 41 is slidably connected with the top of the horizontal clamping finger 342 of the clamping mechanism 3, and the end of the connecting plate 41 near the mechanical arm 1 is provided with a corresponding mounting plate on which a first stepping motor 42 and a second stepping motor 43 are arranged. An output shaft of the first stepping motor 42 is connected with one end of a first lead screw through a first synchronous belt 44, and further drives a second sliding block 45 arranged on the first lead screw to horizontally move along the first lead screw, the upper portion of the connecting plate 41 is connected with the second sliding block 45, and the second sliding block 45 drives the connecting plate to horizontally move. An output shaft of the second stepping motor 43 is connected with one end of a second screw rod through a second synchronous belt 46, and further drives a third sliding block 47 arranged on the second screw rod to move along the second screw rod; the chain 48 is closely attached to the rear surface of the box 6 through self gravity, two ends of the third sliding block 47 are respectively provided with the chain 48, the third sliding block 47 drives the chain 48 to slide on the connecting plate 41, and then the length of the chain 48 closely attached to the rear surface of the box 6 is changed.

When in use, the holding action is completed by the coordination of the two lead screw sliding table groups, the chain 48 and the locking mechanism 5. The first stepping motor 42 drives the connecting plate 41 to move forward, so that the falling point of the chain 48 is matched with the rear surface of the box 6, and the front and rear opposite surfaces and the upper surface of the box 6 are tightly attached with three fingers, so that the box 6 is easy to pick up and carry; the function of the first stepping motor 42 and the second slide 45 is to arrange the lower sliding point of the chain 48 at the rear surface of the box 6 in order to adapt to different box sizes, while at the same time achieving a hugging of the box 6 when being pulled back. The chain 48 lies on the upper surface of the connecting plate 41 in a non-extended state, the rear end of the chain 48 is connected to the third sliding block 47, the second stepping motor 43 rotates to drive the third sliding block 47 to move forward, so that the third sliding block 47 drives the chain 48 to slowly move forward and slide out of the connecting plate 41, the chain 48 is extended, and the sliding-out chain link 481 slides downwards along the surface of the box 6 under the action of gravity until sliding down to a proper position; as shown in fig. 7, in the state when the chain slides out, the chain sliding out is just performed between the gap left by the vertical surface 11 after turning, and 12 is a horizontal plane in the figure.

The first lead screw sliding table group and the second lead screw sliding table group are vertically arranged in parallel along the length direction of the connecting plate 41; the first lead screw sliding table group and the second lead screw sliding table group both adopt stepping motors to drive synchronous belts so as to drive lead screws. By the aid of the motor mounting structure, redundant space can be fully utilized for mounting the motors, and if the two motors are directly mounted on the lead screw, the minimum thickness also needs the thickness of the two motors which are vertically arranged, so that the compactness of the whole structure is limited. The synchronous belt is used for transmission, so that the defect is overcome, and the two motors are horizontally arranged, so that the integral thickness is not limited by the motors. The compactness and the aesthetic property of the whole structure are greatly improved. The first lead screw sliding table group positioned below can drive the second lead screw sliding table group positioned above to move back and forth, so as to find the falling position of the chain 48, and the second lead screw sliding table group positioned above is used for extending and retracting the chain. The thickness of the two lead screw sliding table groups is based on the thickness of the two sliding blocks, so that the limit state that the whole thickness is the thinnest is realized. Therefore, the appearance of the two lead screw sliding table groups is greatly different from that of the common lead screw sliding table group.

In the above embodiment, as shown in fig. 9 to 12, the chain 48 is composed of a plurality of links 481. Two adjacent chain links 481 penetrate each other through a through shaft 482, and the shaft end of the through shaft 482 is fixed by a shaft end retaining ring 483. As shown in fig. 11, when two adjacent links 481 rotate relatively to be in a parallel state, two adjacent rear contact surfaces 4811 and front surfaces 4812 of the two links 481 abut, two adjacent front contact surfaces 4813 and front surfaces 4814 abut, and the rotation of the two links 481 is limited after the abutment. As shown in fig. 12, when two adjacent links 481 rotate relatively to be in a vertical state, the adjacent front end surfaces 4815 and faces 4816 of the two links 481 abut, the adjacent front side end surfaces 4817 and faces 4818 abut, and the relative rotation of the two links 481 is also limited after the abutment, so that the relative rotation angle of the two adjacent links 481 is between 0 and 90 degrees.

In a preferred embodiment, as shown in fig. 13, the locking mechanism 5 acts to lock the extended chain 48 from being sprung open by the reaction force of the case 6 during tightening. The two locking mechanisms 5 are respectively arranged at two ends of the third sliding block 47 of the clasping mechanism 4 and are arranged corresponding to the chain 48. Each locking mechanism 5 comprises a fourth slide 52, two slides 51, four electromagnet supports 54, four electromagnets 55 and a steel plate 53. The two slide ways 51 are fixed at the end part of the third slide block 47 in parallel, the fourth slide block 52 slides up and down along the slide ways 51, the steel sheet 53 is connected at the top of the fourth slide block 52, and a through hole matched with the slide ways 51 is arranged on the steel sheet 53; an electromagnet bracket 54 is fixed on the outer side surfaces of the upper end and the lower end of the slide way 51, and 4 electromagnets 55 are fixed on the electromagnet bracket 54 and used for adsorbing the steel sheet 53 fixed on the fourth slide block 52. When the device is used, the two electromagnets 55 positioned at the lower part are electrified to suck the steel sheet 53 down, and the fourth sliding block 52 moves downwards to the lowest end along with the steel sheet 53. It is noted that there is a gap between the fourth slide 52 and the chain 48. When the fourth slider 52 is at the upper end, the uppermost link 481 is released, and the chain 48 is retracted.

In the above embodiment, as shown in fig. 13, the purpose of the fourth slider 52 moving downward to the lowest end is to block the rear link 481 of the chain 48 and make it unable to rotate, and if the uppermost link 481 is locked according to the above-mentioned operation principle of the chain, the rear link 481 will be parallel to the front link 481 when the reaction force of the box 6 is applied, and the gap 10 (i.e. the gap between the fourth slider 52 and the chain 48) shown in fig. 14 needs to be compensated by the following actions: the second stepping motor 43 drives the second timing belt 46 to drive the third slide block 47 to move forward until the end surface 30 of the chain 48 moves to the end surface 20 of the fourth slide block 52, so that the two closely fit with each other, and a gap exists between the chain 48 and the surface of the box 6. So that the first stepping motor 42 drives the first timing belt 44 to move the second slider 45 backward, thereby making the gap eliminated. Eventually, the chain 48 is clamped between the surface of the box 6 and the fourth slide block 52 and cannot move.

In summary, the end effector has gripped the box 6 and then transported by the robot carrying the box 6 to the designated location for unloading. And the unloading step is carried out by reverse action according to the action of tightly holding the box.

The chain 48 is used as a third finger (holding the finger), and if the chain is used for acting as the finger, the chain does not need to be designed into a complex chain structure, and the function of acting as the finger can be realized by inserting a flat plate by using the screw rod sliding table group. However, the height of the end effector is greatly increased due to the long stroke of the screw rod sliding table group, so that the end effector is not compact, the ornamental value is reduced, and the increase of the height limits the real working conditions. Therefore, the chain 48 of the present invention changes the excess height generated by the screw slide set into the horizontal length, and because of the unique structure of the chain 48, each link of the chain 48 can rotate 90 degrees relative to the adjacent link, so that each link of the chain 48 that extends out will droop due to the gravity, and the overall structure of the chain 48 will assume an L-shape. However, if the chain 48 is pulled back to hang down to a proper position, the chain will be bounced off by the reaction force of the box 6, and the locking mechanism 5 is needed to deal with this situation, and due to the structural design of the chain 48, when the uppermost chain link 481 is locked so that it cannot rotate, the rear chain link 481 will self-lock, so that the chain 48 cannot be pulled back to hang off by the reaction force of the box 6.

The above embodiments are only for illustrating the present invention, and the structure, size, arrangement position and shape of each component can be changed, and on the basis of the technical scheme of the present invention, the improvement and equivalent transformation of the individual components according to the principle of the present invention should not be excluded from the protection scope of the present invention.

Claims (9)

1. An end effector of a warehouse picking robot is arranged on a mechanical arm and is connected with a robot body through the mechanical arm; the method is characterized in that: comprises a turnover mechanism, a clamping mechanism, a clasping mechanism and a locking mechanism; the mechanical arm is provided with the turnover mechanism and the clamping mechanism, the clasping mechanism is connected with the turnover mechanism and the clamping mechanism, and the tail end of the clasping mechanism is provided with the locking mechanism;

the clamping mechanism comprises a clamping frame, a first driving motor, a lead screw sliding table group and an L-shaped plate; the L-shaped plate is formed by connecting a vertical clamping finger and a horizontal clamping finger, and the lead screw sliding table group is formed by a first sliding block and a lead screw; the clamping frame is connected with a sliding block of the mechanical arm, the first driving motor is arranged at the top of the clamping frame, and the output end of the first driving motor is connected with the lead screw in the clamping frame; the first sliding block is arranged on the lead screw and fixedly connected with the vertical clamping finger;

the clasping mechanism comprises a connecting plate, a first stepping motor, a second stepping motor, a first screw rod, a second screw rod, a first synchronous belt, a second sliding block, a second synchronous belt, a third sliding block and a chain;

the bottom of the connecting plate is slidably connected with the top of a horizontal clamping finger of the clamping mechanism, the end part of the connecting plate, which is positioned at one side close to the mechanical arm, is provided with a mounting plate corresponding to the connecting plate, and the mounting plate is provided with the first stepping motor and the second stepping motor; an output shaft of the first stepping motor is connected with one end of the first lead screw through the first synchronous belt, so as to drive the second sliding block arranged on the first lead screw to move along the first lead screw, the upper part of the connecting plate is connected with the second sliding block, and the second sliding block drives the connecting plate to move; an output shaft of the second stepping motor is connected with one end of the second screw rod through the second synchronous belt to drive the third sliding block arranged on the second screw rod to move along the second screw rod; the two ends of the third sliding block are respectively provided with the chain, and the third sliding block drives the chains to slide on the connecting plate.

2. The end effector as set forth in claim 1 wherein: the turnover mechanism comprises an L-shaped connecting plate, a worm and gear reducer, a second driving motor and a bent arm; the bent arm is of an L-shaped structure; the vertical plate of the L-shaped connecting plate is connected with the sliding block of the mechanical arm, the tail end of the horizontal plate of the L-shaped connecting plate is provided with the worm gear reducer, and the second driving motor is arranged at the upper part of the worm gear reducer; the central shaft of the worm gear and worm reducer is connected with one end of the bent arm, and the other end of the bent arm is connected with the side wall of the clamping frame in the clamping mechanism.

3. The end effector as set forth in claim 2 wherein: and a reinforcing plate is arranged on the L-shaped connecting plate.

4. The end effector as set forth in claim 1 wherein: the second stepping motor, the second lead screw and the third slide block form a second lead screw slide table group, and the first stepping motor, the first lead screw and the second slide block form a first lead screw slide table group; the first lead screw sliding table group and the second lead screw sliding table group are vertically arranged in parallel along the length direction of the connecting plate.

5. The end effector as set forth in claim 1 or 4 wherein: the chain is composed of a plurality of chain links and is used for holding fingers tightly.

6. The end effector as set forth in claim 5 wherein: two adjacent chain links penetrate through each other through a shaft, and the shaft end of the shaft penetrates through the shaft, and is fixed by a shaft end retainer ring.

7. The end effector as set forth in claim 5 wherein: the relative rotation angle of two adjacent chain links is between 0 and 90 degrees.

8. The end effector as set forth in claim 1 wherein: the two locking mechanisms are respectively arranged at two ends of the third sliding block of the clasping mechanism.

9. The end effector as set forth in claim 8 wherein: each locking mechanism comprises a fourth sliding block, two sliding ways, four electromagnet supports, four electromagnets and a steel sheet; the two slide ways are fixed at the end part of the third slide block in parallel, the fourth slide block slides up and down along the slide ways, the steel sheet is connected to the top of the fourth slide block, and a through hole matched with the slide ways is formed in the steel sheet; the electromagnet support is fixed on the outer side faces of the upper end and the lower end of the slide way, and 4 electromagnets are fixed on the electromagnet support and used for adsorbing and fixing the steel sheets on the fourth sliding block.

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