CN220274304U

CN220274304U - Picking robot end actuating mechanism with rotatory flexible function

Info

Publication number: CN220274304U
Application number: CN202321781598.3U
Authority: CN
Inventors: 豆飞飞; 董霄剑; 杨杰; 钱超超
Original assignee: Shaanxi Vihero Technology Co ltd
Current assignee: Shaanxi Vihero Technology Co ltd
Priority date: 2023-07-07
Filing date: 2023-07-07
Publication date: 2024-01-02
Anticipated expiration: 2033-07-07

Abstract

The utility model belongs to the technical field of picking robots, and relates to a picking robot tail end executing mechanism with a rotary telescopic function. The actuating mechanism can realize small-range angle adjustment of the clamping part at the part to be picked, and avoid accidental injury to nearby immature fruits and vegetables. When a picking instruction is received, the second driving mechanism drives the first driving mechanism to pitch up and down and/or swing left and right; when the clamping part reaches the position to be picked for picking, the picking is carried out: firstly, driving a ball screw nut to rotate through a first driven wheel (at the moment, a second driven wheel is not moved) or driving a spline nut to rotate through the second driven wheel (at the moment, the first driven wheel is not moved), so that a screw spline shaft extends along the axial direction; and the ball screw nut is driven to rotate by the first driven wheel and the spline nut is driven to rotate by the second driven wheel, so that the screw spline shaft rotates, the clamping part further drives the fruits and vegetables to be picked to rotate, the fruits and vegetables to be picked are separated from the fruit stalks, and picking is completed.

Description

Picking robot end actuating mechanism with rotatory flexible function

Technical Field

The utility model belongs to the technical field of picking robots, and relates to a picking robot tail end executing mechanism with a rotary telescopic function.

Background

With the maturation of robot technology, cost reduction and popularization and application, robots gradually enter the agricultural field, and the development of modern agriculture towards industrial production, unmanned and intelligent is promoted. The picking of fruits and vegetables has the characteristics of strong seasonality, high labor intensity, high environmental and operation requirements and the like, and robotically operation is urgently needed in agricultural production.

At present, the picking of fruits and vegetables still mainly depends on a large amount of manpower, so that the labor cost is high and the picking efficiency is low; for some higher fruit trees, manual picking is difficult, and the risk of careless falling and falling injury caused by complex operation environment exists in manual picking. Therefore, the fruit and vegetable picking mechanical device is needed to liberate labor force, improve labor production efficiency, reduce labor cost, ensure the quality of fresh fruits and vegetables and meet the real-time performance of crop growth. Although some simple picking manipulators are in research at home and abroad, most of the products are only aimed at picking certain fruits, and have single functions and poor universality.

In this regard, the existing Chinese patent (publication No. CN102090210A, publication No. 2011.06.15) discloses an end effector of a multi-fruit type fruit and vegetable picking robot and the robot, wherein an eccentric blade is used as a shearing mechanism, and the eccentric mechanism drives the eccentric blade to shear under the drive of a motor, so that the picking efficiency can be improved to a certain extent. Because the actuator needs to use an eccentric blade, when the movement distance of the actuator is small, immature fruits and vegetables nearby are easy to be accidentally injured, especially fruits and vegetables growing in clusters like Chinese dates, oranges and the like, but other fruits and vegetables growing in clusters cannot be picked. Therefore, there is a need to design an end effector suitable for a multi-type fruit and vegetable picking robot, which can improve picking efficiency and mechanization rate and reduce cost.

Disclosure of Invention

The utility model aims to overcome the defects of the prior art, and provides the end actuating mechanism of the picking robot with the rotary telescopic function, which can improve the picking efficiency and is suitable for picking various fruits and vegetables.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

in one aspect, the utility model provides a picking robot end actuating mechanism with a rotary telescopic function, which is arranged at the end of a picking robot mechanical arm and comprises a clamping part, a first driving mechanism and a second driving mechanism; the first driving mechanism is connected with the clamping part and used for driving the clamping part to rotate and/or stretch; the second driving mechanism is connected with the first driving mechanism and is used for driving the first driving mechanism to pitch up and down and/or swing left and right.

Further, the second driving mechanism comprises a fixing frame, a third driving motor, a transmission assembly and a fourth driving motor;

the third driving motor is fixedly connected with the fixing frame and used for driving the fourth driving motor to pitch up and down through the transmission assembly;

the fourth driving motor is movably connected with the fixing frame, and an output shaft of the fourth driving motor is fixedly connected with the first driving mechanism and used for driving the first driving mechanism to swing left and right.

Further, the transmission assembly comprises a first rotating wheel, a second rotating wheel and a transmission belt;

the first rotating wheel is fixedly connected with an output shaft of the third driving motor, and the second rotating wheel is fixedly connected with the fourth driving motor;

when the third driving motor starts to work, the fourth driving motor realizes up-down pitching through the cooperation of the first rotating wheel, the second rotating wheel and the transmission belt.

Further, the fixing frame is a U-shaped frame; the third driving motor is fixedly arranged on the side wall or the bottom of the U-shaped frame, the fourth driving motor is hinged to the two side walls of the U-shaped frame, and an output shaft of the fourth driving motor can pitch up and down in a space region where an opening of the U-shaped frame is located.

Further, the first driving mechanism comprises a first mounting frame and a ball screw spline mechanism arranged in the first mounting frame;

the ball screw spline mechanism comprises a screw spline shaft, a first driven wheel, a second driven wheel, a first driving motor and a second driving motor, wherein the first driven wheel and the second driven wheel are symmetrically distributed on the screw spline shaft, and the first driving motor and the second driving motor are symmetrically distributed on one side of the first mounting frame;

the first driving motor drives the first driving wheel to rotate, and the first driving wheel drives the first driven wheel to rotate; the second driving motor drives the second driving wheel to rotate, and the second driving wheel drives the second driven wheel to rotate; the first driven wheel and the second driven wheel are positioned on the other side of the first mounting frame;

the screw spline shaft is provided with a plurality of groups of parallel grooves along the axial direction and a spiral groove along the spiral direction; the spline shaft of the screw rod is also provided with a ball screw nut and a spline nut respectively, the ball screw nut is connected with the first driven wheel through a flange plate, and the spline nut is connected with the second driven wheel through a flange plate;

when any one of the first driven wheel and the second driven wheel rotates and the other driven wheel is not moved, the screw spline shaft extends/retracts axially under the rotation of the ball screw nut or the spline nut;

when the first driven wheel and the second driven wheel rotate in the same direction and at the same speed, the screw spline shaft rotates under the combined action of the ball screw nut and the spline nut.

Further, when the second driven wheel stops rotating, the ball screw nut is driven to rotate only by the first driven wheel, and the screw spline shaft moves linearly along the axial direction; and when the first driven wheel stops rotating, the spline nut is driven to rotate only by the second driven wheel, and the screw spline shaft performs spiral motion.

Further, the first driving mechanism comprises an encoder for measuring the rotary displacement of the first driving motor and the second driving motor; optionally, the encoder has a power-off memory function.

Further, the clamping part is a clamping jaw or a sucking disc fixedly arranged at the end part of the screw spline shaft.

Further, the first mounting frame comprises a shell arranged outside the ball screw nut and the spline nut, and further comprises a second mounting frame used for placing the first driving motor and the second driving motor; the section of the second mounting frame is U-shaped, and the second mounting frame is formed by integrally forming a rectangular plate and trapezoid plates positioned on two sides of the rectangular plate; the first driving motor and the second driving motor are respectively arranged on corresponding motor supports, and the motor supports are fixedly arranged on the rectangular plate through bolts.

Further, mark recognition points are arranged on the outer surface of the rectangular plate and the outer surface of the shell, so that the positioning accuracy of a vision system of the picking robot is improved, and the running speed of the system is improved.

Compared with the prior art, the technical scheme provided by the utility model has the following beneficial effects: after receiving a picking instruction sent by the picking robot, the executing mechanism drives the first driving mechanism to pitch up and down and/or swing left and right so as to ensure that the clamping part reaches a position to be picked for picking fruits and vegetables. When the clamping part reaches the position to be picked for picking, the ball screw nut is driven to rotate through the first driven wheel (at the moment, the second driven wheel is not moved) or the spline nut is driven to rotate through the second driven wheel (at the moment, the first driven wheel is not moved), so that the screw spline shaft extends along the axial direction; the first driven wheel drives the ball screw nut to rotate and the second driven wheel drives the spline nut to rotate in the same direction and at the same speed, so that the screw spline shaft rotates, the clamping part further drives the fruits and vegetables to be picked to rotate, and the fruits and vegetables to be picked are separated from the fruit stalks; finally, the first driven wheel drives the ball screw nut to rotate (at the moment, the second driven wheel is not moved) or the second driven wheel drives the spline nut to rotate (at the moment, the first driven wheel is not moved), so that the screw spline shaft retracts along the axial direction, and picking is completed.

The executing mechanism can pick fruits and vegetables only through the cooperation of the first driving mechanism, the second driving mechanism and the clamping part on the premise of discarding the eccentric blade, and particularly can pick fruits and vegetables which grow in clusters like jujubes, oranges and the like; and the first driving mechanism adopts the ball screw spline mechanism, so that the clamping part can complete linear motion, spiral motion and rotary motion, and the first driving mechanism is matched with the second driving mechanism to realize pitching and/or swinging left and right, thereby being beneficial to realizing small-range angle adjustment of the clamping part at the part to be picked and avoiding accidental injury to nearby immature fruits and vegetables.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate principles of the utility model and together with the description, serve to explain the principles of the utility model.

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, and it will be obvious to a person skilled in the art that other drawings can be obtained from these drawings without inventive effort.

Fig. 1 is a schematic structural diagram of an end effector of a picking robot with a rotary telescopic function provided by the utility model;

fig. 2 is a schematic structural diagram of a first driving mechanism in an end actuating mechanism of a picking robot with a rotary telescopic function provided by the utility model;

fig. 3 is a schematic structural view of a second driving mechanism in the end effector of the picking robot with the rotary telescopic function.

Wherein: 1. a clamping part; 2. a first driving mechanism; 21. a screw spline shaft; 22. a first driven wheel; 23. a second driven wheel; 24. a first drive wheel; 25. a second driving wheel; 26. a housing; 27. a second mounting frame; 271. a rectangular plate; 272. a trapezoidal plate; 28. mark identification points; 3. a second driving mechanism; 31. a third driving motor; 32. a fourth driving motor; 33. a first rotating wheel; 34. and a second rotating wheel.

Detailed Description

Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the utility model. Rather, they are merely examples of mechanisms consistent with aspects of the utility model that are recited in the following claims.

The present utility model will be described in further detail below with reference to the drawings and examples for better understanding of the technical solutions of the present utility model to those skilled in the art.

Example 1

Referring to fig. 1-3, the utility model provides a picking robot end actuating mechanism with a rotary telescopic function, which is arranged at the end of a picking robot arm and comprises a clamping part 1, a first driving mechanism 2 and a second driving mechanism 3; the first driving mechanism 2 is connected with the clamping part 1 and is used for driving the clamping part 1 to rotate and/or stretch; the second driving mechanism 3 is connected with the first driving mechanism 2 and is used for driving the first driving mechanism 2 to pitch up and down and/or swing left and right.

Wherein the second driving mechanism 3 comprises a fixed frame, a third driving motor 31, a transmission assembly and a fourth driving motor 32;

the third driving motor 31 is fixedly connected with the fixing frame, and is used for driving the fourth driving motor 32 to pitch up and down through the transmission assembly, so as to drive the first driving mechanism 2 fixedly connected with the output shaft of the fourth driving motor 32 to pitch up and down;

the fourth driving motor 32 is movably connected with the fixing frame, and an output shaft of the fourth driving motor 32 is fixedly connected with the first driving mechanism 2, so as to drive the first driving mechanism 2 to swing left and right.

Further, the transmission assembly comprises a first rotating wheel 33, a second rotating wheel 34 and a transmission belt; optionally, the driving belt is a synchronous belt or a belt;

the first rotating wheel 33 is fixedly connected with the output shaft of the third driving motor 31, and the second rotating wheel 34 is fixedly connected with the fourth driving motor 32; as will be appreciated in conjunction with fig. 1 and 3, the second rotating wheel 34 is fixedly connected to the housing of the fourth drive motor 32;

after the third driving motor 31 starts to work, the fourth driving motor 32 is enabled to pitch up and down by the cooperation of the first rotating wheel 33, the second rotating wheel 34 and the transmission belt, so as to drive the first driving mechanism 2 fixedly connected with the output shaft of the fourth driving motor 32 to pitch up and down. Preferably, the pitch angle of the fourth driving motor 32 is ±30°.

Further, the fixing frame is a U-shaped frame; the third driving motor 31 is fixedly installed on the side wall or the bottom of the U-shaped frame, the fourth driving motor 32 is hinged to the two side walls of the U-shaped frame, and the output shaft of the fourth driving motor 32 can pitch up and down in the space region where the opening of the U-shaped frame is located. It should be understood in connection with fig. 3 that when the fixing frame is a U-shaped frame, the optimal layout of the positions of the third driving motor 31, the fourth driving motor 32 and the first rotating wheel 33, the second rotating wheel 34 and the driving belt included in the driving assembly in the second driving mechanism 3 is as follows:

the third driving motor 31 is horizontally arranged in the bottom area of the U-shaped frame, and the fourth driving motor 32 is vertically arranged in the top area of the U-shaped frame; the output shaft of the third driving motor 31 is fixed with the first rotating wheel 33, the stand of the fourth driving motor 32 is fixed with the second rotating wheel 34, and the driving belt is wound on the first rotating wheel 33 and the second rotating wheel 34.

Wherein the first driving mechanism 2 comprises a first mounting frame and a ball screw spline mechanism arranged in the first mounting frame;

the ball screw spline mechanism comprises a screw spline shaft 21, a first driven wheel 22 and a second driven wheel 23 which are symmetrically distributed on the screw spline shaft 21, and a first driving motor and a second driving motor which are symmetrically distributed on one side of a first mounting frame;

the first driving motor drives the first driving wheel 24 to rotate, and the first driving wheel 24 drives the first driven wheel 22 to rotate; the second driving motor drives the second driving wheel 25 to rotate, and the second driving wheel 25 drives the second driven wheel 23 to rotate; the first driven wheel 22 and the second driven wheel 23 are positioned on the other side of the first mounting frame;

the screw spline shaft 21 is provided with a plurality of groups of parallel grooves along the axial direction and a spiral groove along the spiral direction; the screw spline shaft 21 is also provided with a ball screw nut and a spline nut respectively, the ball screw nut is connected with a first driven wheel 22 through a flange plate, and the spline nut is connected with a second driven wheel 23 through a flange plate;

when either one of the first driven wheel 22 and the second driven wheel 23 rotates while the other driven wheel is stationary, the lead screw spline shaft 21 is axially extended/retracted by the rotation of a ball screw nut or spline nut;

when the first driven wheel 22 and the second driven wheel 23 rotate in the same direction and at the same speed, the screw spline shaft 21 rotates under the combined action of the ball screw nut and the spline nut.

In addition, when the first driven wheel 22 and the second driven wheel 23 rotate in the same direction and there is a certain speed difference between them, the screw spline shaft 21 performs a screw motion under the combined action of the ball screw nut and the spline nut. In the technical scheme of the end actuating mechanism of the picking robot, the first driving mechanism 2 innovatively uses the ball screw spline mechanism as a driving device, so that the picking robot can be small in size and light in weight, and is convenient to stretch into fruit trees for picking.

In some embodiments, the first driving wheel 24 drives the first driven wheel 22 to rotate in a belt transmission manner, and the second driving wheel 25 drives the second driven wheel 23 to rotate in a belt transmission manner. Besides the belt transmission mode, transmission modes such as synchronous belt or magnetic transmission can be adopted.

In some embodiments, the lead screw spline shaft 21 extends/retracts in the axial direction, specifically: when the second driven wheel 23 stops rotating and the ball screw nut is driven to rotate only by the first driven wheel 22, the screw spline shaft 21 moves linearly along the axial direction; when the first driven wheel 22 stops rotating, the spline nut is driven to rotate only by the second driven wheel 23, and the screw spline shaft 21 performs spiral motion.

In some embodiments, the first drive mechanism includes an encoder to measure rotational displacement of the first drive motor, the second drive motor; optionally, the encoder has a power-off memory function.

In some embodiments, the clamping part 1 is a clamping jaw or a suction cup fixedly mounted at the end of the screw spline shaft 21. In some exemplary embodiments, the clamping jaw can be an electric clamping jaw or an air clamping jaw; the electric jaws are preferably servo-actuated jaws. In some exemplary embodiments, the suction cup may employ a vacuum suction cup device.

Preferably, a channel may be formed in the center of the screw spline shaft 21 along the axial direction, so as to avoid the influence of the extension/retraction/rotation of the screw spline shaft 21 on the connecting pipe/line in the clamping jaw or the suction cup, and prolong the service life of the pipe/line.

In some exemplary embodiments, the first mounting frame includes a housing mounted outside the ball screw nut and the spline nut, and further includes a second mounting frame 27 for fixing the first driving motor and the second driving motor, where the section of the second mounting frame 27 is U-shaped and is integrally formed by a rectangular plate 271 and trapezoidal plates 272 located at two sides of the rectangular plate 271; the first driving motor and the second driving motor are respectively installed on corresponding motor brackets, and the motor brackets are fixedly installed on the rectangular plate 271 through bolts.

To improve the positioning accuracy of the vision system of the picking robot, mark recognition points are arranged on the outer surface of the rectangular plate 271 and the outer surface of the shell 26; meanwhile, the mark recognition point can be recognized and read to a space coordinate point through a camera, and the operation speed of the whole mechanical arm system is further improved through the space coordinate point.

In addition, this embodiment still include with actuating mechanism matched with fruit vegetables collection mechanism, fruit vegetables collection mechanism includes fruit vegetables turnover frame, fruit vegetables turnover frame passes through transmission pipeline and collects the frame with fruit vegetables and links to each other. In order to reduce the collision and the falling injury of fruits and vegetables in the collection process, the fruits and vegetables turnover frame, the transmission pipeline and the fruits and vegetables collection frame are made of soft buffer materials, so that the fruits and vegetables are prevented from being damaged by collision in the picking process.

The following description defines the execution process of the executing mechanism by adopting a space coordinate system, and as the execution process has 3 'rotations' and 1 'retractions', a certain working range can be realized in space, so that the picking robot can conveniently carry out picking operation. The picking robot end actuating mechanism with the rotary telescopic function uses the center of the fourth driving motor 32 as a coordinate origin, establishes a three-dimensional coordinate system, defines the rotating shaft direction of the fourth driving motor 32 as a Z axis, defines the length direction of the U-shaped frame as a Y axis, and defines the straight line direction determined by the hinge point of the fourth driving motor 32 and the U-shaped frame as an X axis. When the picking robot end actuating mechanism receives a picking instruction to perform picking action, the specific implementation process is as follows:

1) The picking robot end actuating mechanism moves to a position to be picked: the third driving motor 31 in the second driving mechanism 3 rotates to drive the fourth driving motor 32 to further drive the first driving mechanism 2 to pitch up and down (i.e. adjust the pitch angle in a small range along the Z-axis direction in fig. 1, the pitch angle is about 30 °, which is the 1 st "rotation"); under the action of the fourth driving motor 32, the first driving mechanism 2 is driven to swing left and right (i.e. swing along the Y-axis direction in fig. 1, this is the 2 nd "rotation");

2) The clamping part 1 of the end actuating mechanism of the picking robot extends out to clamp fruits and vegetables to be picked: the ball screw nut is driven to rotate by a first driven wheel 22 in the first driving mechanism 2, so that the screw spline shaft 21 extends along the axial direction, and the clamping part 1 is driven to extend; or, the second driven wheel 23 in the first driving mechanism 2 drives the spline nut to rotate, so that the screw spline shaft 21 spirally extends along the axial direction, and further drives the clamping part 1 to extend;

3) The clamping part 1 of the tail end executing mechanism of the picking robot drives the fruit and vegetable to be picked to rotate, so that the fruit and vegetable to be picked is separated from the fruit stalks: the first driven wheel 22 drives the ball screw nut to rotate and the second driven wheel 23 drives the spline nut to rotate in the same direction and at the same speed, so that the screw spline shaft 21 rotates (3 rd rotation), and the clamping part 1 further drives the fruits and vegetables to be picked to rotate, so that the fruits and vegetables to be picked are separated from the fruit stalks;

4) The clamping part 1 of the end actuating mechanism of the picking robot is retracted: the first driven wheel 23 drives the ball screw nut to rotate, so that the screw spline shaft 21 retracts along the axial direction, and the clamping part 1 is driven to retract; or the second driven wheel 23 drives the spline nut to rotate, so that the screw spline shaft 21 is spirally retracted along the axial direction, and the clamping part 1 is further driven to retract.

The executing mechanism can pick fruits and vegetables, especially fruits and vegetables growing in clusters like Chinese dates, oranges and the like, only by matching the first driving mechanism 2, the second driving mechanism 3 and the clamping part 1 on the premise of discarding the eccentric blades; and the first driving mechanism 2 adopts a ball screw spline mechanism, so that the clamping part 1 can complete linear motion, spiral motion and rotary motion, and the first driving mechanism 2 is matched with the second driving mechanism 3 to realize vertical pitching and/or horizontal swinging, thereby being beneficial to realizing small-range angle adjustment of the clamping part 1 at the part to be picked and avoiding accidental injury to nearby immature fruits and vegetables.

The foregoing is only a specific embodiment of the utility model to enable those skilled in the art to understand or practice the utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model.

It will be understood that the utility model is not limited to what has been described above and that various modifications and changes may be made without departing from the scope thereof. The scope of the utility model is limited only by the appended claims.

Claims

1. The end actuating mechanism of the picking robot with the rotary telescopic function is arranged at the end of the mechanical arm of the picking robot and is characterized by comprising a clamping part (1), a first driving mechanism (2) and a second driving mechanism (3); the first driving mechanism (2) is connected with the clamping part (1) and used for driving the clamping part (1) to rotate and/or stretch; the second driving mechanism (3) is connected with the first driving mechanism (2) and is used for driving the first driving mechanism (2) to pitch up and down and/or swing left and right.

2. The picking robot end effector according to claim 1, wherein the second drive mechanism (3) comprises a mount, a third drive motor (31), a transmission assembly and a fourth drive motor (32);

the third driving motor (31) is fixedly connected with the fixed frame and is used for driving the fourth driving motor (32) to pitch up and down through the transmission assembly;

the fourth driving motor (32) is movably connected with the fixing frame, and an output shaft of the fourth driving motor (32) is fixedly connected with the first driving mechanism (2) and used for driving the first driving mechanism (2) to swing left and right.

3. The picking robot end effector of claim 2, wherein the drive assembly comprises a first rotating wheel (33), a second rotating wheel (34), and a drive belt;

the first rotating wheel (33) is fixedly connected with an output shaft of the third driving motor (31), and the second rotating wheel (34) is fixedly connected with the fourth driving motor (32);

when the third driving motor (31) starts to work, the fourth driving motor (32) is enabled to pitch up and down through the cooperation of the first rotating wheel (33), the second rotating wheel (34) and the transmission belt.

4. The picking robot end effector of claim 3, wherein the mount is a U-shaped mount; the third driving motor (31) is fixedly arranged on the side wall or the bottom of the U-shaped frame, the fourth driving motor (32) is hinged to the two side walls of the U-shaped frame, and an output shaft of the fourth driving motor (32) can pitch up and down in a space region where an opening of the U-shaped frame is located.

5. The picking robot end effector according to claim 1, wherein the first drive mechanism (2) comprises a first mounting frame and a ball screw spline mechanism mounted within the first mounting frame;

the ball screw spline mechanism comprises a screw spline shaft (21), a first driven wheel (22) and a second driven wheel (23) which are symmetrically distributed on the screw spline shaft (21), and a first driving motor and a second driving motor which are symmetrically distributed on one side of a first mounting frame;

the first driving motor drives the first driving wheel (24) to rotate, and the first driving wheel (24) drives the first driven wheel (22) to rotate; the second driving motor drives the second driving wheel (25) to rotate, and the second driving wheel (25) drives the second driven wheel (23) to rotate; the first driven wheel (22) and the second driven wheel (23) are positioned on the other side of the first mounting frame;

the screw spline shaft (21) is provided with a plurality of groups of parallel grooves along the axial direction and a spiral groove along the spiral direction; the screw spline shaft (21) is also provided with a ball screw nut and a spline nut respectively, the ball screw nut is connected with a first driven wheel (22) through a flange plate, and the spline nut is connected with a second driven wheel (23) through a flange plate;

when either one of the first driven wheel (22) and the second driven wheel (23) rotates while the other driven wheel is stationary, the lead screw spline shaft (21) is axially extended/retracted by the rotation of a ball screw nut or spline nut;

when the first driven wheel (22) and the second driven wheel (23) rotate in the same direction and at the same speed, the screw spline shaft (21) rotates under the combined action of the ball screw nut and the spline nut.

6. The picking robot end effector as claimed in claim 5, wherein the screw spline shaft (21) moves linearly in the axial direction when the second driven wheel (23) stops rotating and the ball screw nut is rotated only by the first driven wheel (22); when the first driven wheel (22) stops rotating, the spline nut is driven to rotate only by the second driven wheel (23), and the screw spline shaft (21) performs spiral movement.

7. The picking robot end effector of claim 5, wherein the first drive mechanism comprises an encoder to measure rotational displacement of the first drive motor and the second drive motor.

8. The picking robot end effector as claimed in claim 5, wherein the clamping part (1) is a clamping jaw or suction cup fixedly mounted at the end of a screw spline shaft (21).

9. The picking robot end effector of claim 5, wherein the first mount comprises a housing (26) mounted externally of a ball screw nut and a spline nut, and further comprising a second mount (27) for positioning a first drive motor and a second drive motor; the section of the second mounting frame (27) is U-shaped and is formed by integrally forming a rectangular plate (271) and trapezoid plates (272) positioned on two sides of the rectangular plate (271); the first driving motor and the second driving motor are respectively arranged on corresponding motor supports, and the motor supports are fixedly arranged on a rectangular plate (271) through bolts.

10. The picking robot end effector as claimed in claim 9, wherein an outer surface of the rectangular plate (271), an outer surface of the housing (26) are provided with mark recognition points.