Mechanical arm and traction robot

Abstract

The utility model discloses a mechanical arm and a traction robot, and relates to the technical field of traction robots. The mechanical arm comprises a moving mechanism, a damping mechanism and a clamping mechanism; the damping mechanism comprises a limiting assembly and a first movable assembly, the first movable assembly is movably connected with the moving mechanism so that the first movable assembly can move relative to the moving mechanism in the first direction, and the first movable assembly is further connected with the limiting assembly. The limiting assembly is used for applying a reverse acting force to the movable assembly so as to reduce the movement amplitude of the first movable assembly in the first direction; and the clamping mechanism is connected with the first movable assembly. According to the mechanical arm, material unhooking can be reduced or even avoided, and the conveying efficiency is improved.

Description

Technical Field

[0001] The present application relates to the technical field of traction robots, and in particular to a mechanical arm and a traction robot. Background Art

[0002] With the continuous development of robotics technology, the pace of industrial intelligence in my country has accelerated. Intelligent traction robots have been widely used in smart warehousing, automobiles, food, chemicals, printing, 3C electronics, medicine and other fields.

[0003] When the traction robot of the prior art travels on an uneven road section, the vibration of the mechanical arm causes the cargo to be easily unhooked, thereby reducing the efficiency of transportation. Utility Model Content

[0004] In view of this, the present application provides a mechanical arm and a traction robot, aiming to solve one of the technical problems in the prior art.

[0005] To achieve the above objectives, the technical solutions adopted in this application are as follows:

[0006] In a first aspect, an embodiment of the present application provides a robotic arm, comprising:

[0007] Mobile mechanism;

[0008] A shock absorbing mechanism, comprising a limiting assembly and a first movable assembly, wherein the first movable assembly is movably connected to the moving mechanism, the first movable assembly can move relative to the moving mechanism along a first direction, the first movable assembly is also connected to the limiting assembly, and the limiting assembly is used to apply a reverse force to the movable assembly to reduce the movement amplitude of the first movable assembly in the first direction;

[0009] A clamping mechanism is connected to the first movable component.

[0010] In one embodiment of the first aspect, the first activity component comprises:

[0011] a first fixing member;

[0012] a first movable member, wherein the first movable member and the first fixed member are separated from each other;

[0013] A first cantilever, one end of the first cantilever is connected to the first fixed member, and the other end of the first cantilever is rotatably connected to the first movable member;

[0014] The second cantilever, the first cantilever and the second cantilever are arranged at an interval, one end of the second cantilever is connected to the first fixing member, and the other end is rotatably connected to the first movable member.

[0015] In one embodiment of the first aspect, a line connecting two points of a connection position between the first cantilever and the first movable member and a connection position between the second cantilever and the first movable member is parallel to the first direction.

[0016] In one embodiment of the first aspect, the limiting assembly includes:

[0017] a baffle, the baffle being connected to the first fixing member, the baffle being spaced apart from the first movable member along the first direction;

[0018] A reset member is connected to the baffle and the first movable member.

[0019] In one embodiment of the first aspect, the reset element is an elastic element.

[0020] In one embodiment of the first aspect, the moving mechanism includes a second movable component, and the second movable component includes:

[0021] a second fixing member;

[0022] a second movable member, wherein the second movable member and the second fixed member are spaced apart from each other, and the first fixed member is connected to a side of the second movable member away from the second fixed member;

[0023] a third cantilever, one end of the third cantilever being rotatably connected to the second fixed member, and the other end of the third cantilever being rotatably connected to the second movable member;

[0024] A fourth cantilever, wherein the fourth cantilever is arranged in parallel with the third cantilever, one end of the fourth cantilever is rotatably connected to the second fixing member, and the other end of the fourth cantilever is rotatably connected to the second movable member.

[0025] In one embodiment of the first aspect, the moving mechanism further includes a first driving assembly, the first driving assembly comprising:

[0026] a first driving member, the first driving member being connected to the second fixing member;

[0027] A first telescopic rod, wherein the first telescopic rod is connected to an output end of the first driving member, and an end of the first telescopic rod away from the first driving member is connected to the second movable member. Under the action of the first driving member, the end of the first telescopic rod away from the first driving member moves toward or away from the second fixed member, so that the second movable member moves along the first direction.

[0028] In one embodiment of the first aspect, the clamping mechanism includes a third movable component, and the third movable component includes:

[0029] a third fixing member, the third fixing member being connected to the first movable member;

[0030] a third movable member, the third movable member being spaced apart from the third fixed member, and the third movable member being spaced apart from the first movable member;

[0031] a fifth cantilever, one end of the fifth cantilever being rotatably connected to a side of the first movable member away from the first fixed member, and the other end of the fifth cantilever being rotatably connected to the third movable member;

[0032] A sixth cantilever is spaced apart from the fifth cantilever, one end of the sixth cantilever is rotatably connected to a side of the first movable member away from the first fixed member, and the other end of the sixth cantilever is rotatably connected to the third movable member.

[0033] In one embodiment of the first aspect, the clamping mechanism further includes a second drive assembly, wherein the second drive assembly includes:

[0034] a second driving member connected to the first movable member;

[0035] A second telescopic rod, the second telescopic rod is connected to the output end of the second driving member, the end of the second telescopic rod away from the second driving member is connected to the third movable member, and the second driving member drives the end of the second telescopic rod away from the second driving member to move toward or away from the first movable member, so that the third movable member moves toward or away from the third fixed member.

[0036] In a second aspect, an embodiment of the present application further provides a traction robot, comprising the robotic arm in any of the above embodiments.

[0037] Compared with the prior art, the beneficial effects of the present application are as follows: the present application proposes a robotic arm, comprising a moving mechanism, a shock absorbing mechanism and a clamping mechanism connected in sequence, wherein the shock absorbing mechanism comprises a limit assembly and a first movable assembly, and the first movable assembly is movably connected to the moving mechanism so that the first movable assembly moves relative to the moving mechanism along a first direction. In this way, when the robot's robotic arm drives the goods through an uneven road section, the clamping mechanism can move synchronously with the material in the vertical direction to prevent the connection between the goods and the clamping mechanism from being directly shaken open and causing uncoupling; in addition, the first movable assembly is also connected to the limit assembly, and the limit assembly is used to apply a reverse force to the movable assembly to reduce the movement amplitude of the first movable assembly in the first direction. In this way, the activity amplitude of the connection between the goods and the clamping mechanism is reduced, further reducing the occurrence of uncoupling. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0039] Figure 1 A schematic diagram of the structure of a robotic arm in some embodiments of the present application is shown;

[0040] Figure 2 A schematic diagram of the structure of a shock absorbing mechanism and a clamping mechanism in some embodiments of the present application is shown;

[0041] Figure 3 The schematic structure diagram of the moving mechanism in some embodiments of the present application is shown;

[0042] Figure 4 The schematic structure diagram of the shock absorbing mechanism in some embodiments of the present application is shown;

[0043] Figure 5 The schematic diagram of the clamping mechanism in some embodiments of the present application is shown.

[0044] Description of main component symbols: 100 - mechanical arm; 110 - moving mechanism; 120 - shock absorbing mechanism; 130 - clamping mechanism;

[0045] 111-first driving component; 112-second movable component; 1121-second fixing member; 1122-second movable member; 1123-third cantilever; 1124-fourth cantilever; 11211-fixing plate; 11212-connecting plate; 1111-first driving member; 1112-first telescopic rod;

[0046] 121-limiting assembly; 122-first movable assembly; 1221-first fixing member; 1222-first movable member; 1223-first cantilever; 1224-second cantilever; 1211-baffle; 1212-reset member; 123-visual assembly;

[0047] 131 - second driving component; 132 - third movable component; 1321 - third fixing member; 1322 - third movable member; 1323 - fifth cantilever; 1324 - sixth cantilever; 1311 - second driving member; 1312 - second telescopic rod; 1313 - clamping claw. DETAILED DESCRIPTION

[0048] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be understood as limiting the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0052] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0053] like Figure 1As shown, an embodiment of the present application provides a robotic arm 100, including the robotic arm 100, including a moving mechanism 110, a shock absorbing mechanism 120 and a clamping mechanism 130. The moving mechanism 110, the shock absorbing mechanism 120 and the clamping mechanism 130 are connected in sequence to form an independent robotic arm 100, which can be connected to any robot and cooperate with different robots to achieve different operation purposes.

[0054] When the traction robot in the related art travels on an uneven road section, the mechanical arm 100 vibrates, causing the cargo to easily come off the hook, thereby reducing the efficiency of transportation.

[0055] In view of the above problems, a shock absorbing mechanism 120 is provided, which includes a limit component 121 and a first movable component 122. The first movable component 122 is movably connected to the moving mechanism 110 so that the first movable component 122 moves relative to the moving mechanism 110 in a first direction. In this way, when the robot arm 100 drives the goods through an uneven road section, the clamping mechanism 130 can move synchronously with the material in the vertical direction to prevent the connection between the goods and the clamping mechanism 130 from being directly shaken apart and causing decoupling. In addition, the first movable component 122 is also connected to the limit component 121, and the limit component 121 is used to apply a reverse force to the movable component to reduce the movement range of the first movable component 122 in the first direction. The clamping mechanism 130 is connected to the first movable component 122. In this way, the range of movement of the connection between the goods and the clamping mechanism 130 is reduced, further reducing the occurrence of decoupling.

[0056] In one embodiment, the first movable assembly 122 includes a first fixing member 1221 , a first movable member 1222 , a first cantilever 1223 , and a second cantilever 1224 .

[0057] Please refer to Figure 1 and Figure 2 The first movable part 1222 and the first fixed part 1221 are separated from each other; one end of the first cantilever 1223 is rotatably connected to the first fixed part 1221, and the other end is rotatably connected to the first movable part 1222; the first cantilever 1223 and the second cantilever 1224 are arranged at intervals, and one end of the second cantilever 1224 is rotatably connected to the first fixed part 1221, and the other end is rotatably connected to the first movable part 1222.

[0058] It should be noted that the first direction is along the length direction of the first fixing member 1221. Generally, when the robot arm 100 is used to pull goods, the first fixing member 1221 is vertically arranged on the ground to achieve a shock absorption effect. In other embodiments, the first direction may be changed accordingly if the robot arm 100 is used for different purposes.

[0059] It should be noted that "movable parts" and "fixed parts" do not specifically refer to the parts being in a fixed state or a movable state. There is a relative motion relationship between the fixed parts and the movable parts. For example, Figure 1 The first fixed member 1221 can move along with the moving mechanism 110 , but the first fixed member 1221 is fixed relative to the first movable member 1222 , and the first movable member 1222 is movable relative to the first fixed member 1221 .

[0060] like Figure 1 As shown, the first fixing member 1221 is in a groove shape, and the first movable member 1222 is also in a groove shape. The first movable member 1222 is embedded in the first fixing member 1221 , thereby reducing the volume of the first movable component 122 .

[0061] The first movable member 1222 and the first fixed member 1221 are separated from each other, so that a structure capable of relative movement is formed between the first fixed member 1221 and the first movable member 1222 .

[0062] The first cantilever 1223 and the first fixed part 1221 are hinged via a pin, and the first cantilever 1223 and the first movable part 1222 are hinged via a pin; the second cantilever 1224 and the second fixed part 1121 are hinged via a pin, and the second cantilever 1224 and the second movable part 1122 are hinged via a pin.

[0063] like Figure 4 As shown, in this embodiment, the number of the first cantilever 1223 is two, and the two first cantilever 1223 are respectively arranged on two opposite sides of the first fixed member 1221. Correspondingly, the number of the second cantilever 1224 is two, and the two second cantilever 1224 are respectively arranged on two opposite sides of the first fixed member 1221. The first cantilever 1223 and the second cantilever 1224 are arranged at intervals along the first direction. In this way, one side of the first fixed member 1221 and the first movable member 1222 forms four active points through one first cantilever 1223 and one second cantilever 1224, and the four active points form a parallelogram.

[0064] The first cantilever 1223 and the second cantilever 1224 are of equal length, and the line between the connection point between the first cantilever 1223 and the first movable member 1222 and the connection point between the second cantilever 1224 and the first movable member 1222 is parallel to the first direction. In this way, when the first fixed member 1221 is fixed relative to the first movable member 1222, the first movable member 1222 can move back and forth along the first direction relative to the first fixed member 1221 in the event of vibration, so that the clamping mechanism 130 can move up and down synchronously with the material in the vertical direction, thereby preventing the connection point between the goods and the clamping mechanism 130 from being directly shaken apart and causing decoupling.

[0065] In other embodiments, the number of the first cantilever 1223 and the second cantilever 1224 is the same, and the number of the first cantilever 1223 can be three or more. In the actual production process, it can be increased as needed. For example, when the consigned goods are heavy, or the first fixed part 1221 and the first movable part 1222 are large in volume, the weight of the first cantilever 1223 and the second cantilever 1224 can be appropriately increased to make the connection between the first fixed part 1221 and the first movable part 1222 more stable.

[0066] In one embodiment, the limiting assembly 121 includes a baffle 1211 and a restoring member 1212 .

[0067] like Figure 2 As shown, the baffle 1211 is connected to the first fixing member 1221, and the baffle 1211 and the first movable member 1222 are spaced apart along the first direction. In this embodiment, the baffle 1211 is disposed at the bottom end of the first fixing plate 11211 to limit the lowest position of the first movable member 1222.

[0068] The reset member 1212 is an elastic member, such as a spring, an elastic sleeve, a spring sheet, or the like having an elastic structure.

[0069] The reset member 1212 connects the baffle 1211 and the first movable member 1222. Thus, when the traction robot vibrates, the reset member 1212 provides a force opposite to the moving direction of the first movable member 1222, thereby reducing the vibration amplitude of the first movable member 1222, making the traction robot's travel process smoother and further preventing the material from being decoupled from the clamping mechanism 130.

[0070] In other embodiments, the baffle 1211 can also be set at the top of the first fixed plate 11211, or the baffle 1211 can also be set at the bottom and top of the first fixed plate 11211 to limit the highest position of the activity of the first movable part 1222, or to limit the lowest position and the highest position of the activity of the first movable part 1222 at the same time, thereby reducing the vibration amplitude of the first movable part 1222, making the moving process of the traction robot smoother, and further preventing the material from being decoupled from the clamping mechanism 130.

[0071] In one embodiment, the moving mechanism 110 includes a second movable assembly 112 , and the second movable assembly 112 includes a second fixed member 1121 , a second movable member 1122 , a third cantilever 1123 , and a fourth cantilever 1124 .

[0072] like Figure 1 As shown, the second movable member 1122 and the second fixed member 1121 are spaced apart, and the first fixed member 1221 is connected to a side of the second movable member 1122 away from the second fixed member 1121 .

[0073] Specifically, the second fixing member 1121 includes a fixing plate 11211 and a connecting plate 11212 , wherein the fixing plate 11211 and the second movable member 1122 are spaced apart, and the connecting plate 11212 is connected to the fixing plate 11211 at one side of the second movable member 1122 .

[0074] It should be noted that the robot arm 100 as a whole is a mechanism that can operate independently and can be adapted to mechanisms for multiple purposes. The robot arm 100 can be connected to other mechanisms through the connecting plate 11212 to play different roles.

[0075] It should be noted that in the present application, the robot arm 100 is connected to the traction robot, so that the robot arm 100 of the present application is used to drag materials. In other embodiments, for example, the robot arm 100 can also be connected to the three-way moving mechanism 110 to achieve material transfer and feeding on the production line; for example, the robot arm 100 can also cooperate with the laser welding head, and the robot arm 100 can be used as a fixture for clamping the workpiece to be welded, etc. The robot arm 100 cooperates with mechanisms with different functions to play different roles, thereby improving the scope of application of the robot arm 100.

[0076] One end of the third cantilever 1123 is rotatably connected to the second fixed member 1121 , and the other end is rotatably connected to the second movable member 1122 . The fourth cantilever 1124 is arranged parallel to the third cantilever 1123 , and one end of the fourth cantilever 1124 is rotatably connected to the second fixed member 1121 , and the other end is rotatably connected to the second movable member 1122 .

[0077] Exemplarily, the third cantilever 1123 and the fixed plate 11211 are hinged by a pin, and the third cantilever 1123 and the second movable part 1122 are hinged by a pin; the third cantilever 1123 and the fourth cantilever 1124 are spaced apart along the first direction, the fourth cantilever 1124 and the fixed plate 11211 are hinged by a pin, and the fourth cantilever 1124 and the second movable part 1122 are hinged by a pin.

[0078] like Figure 3 As shown, in this embodiment, the connection between the third cantilever 1123, the fourth cantilever 1124, the fixed plate 11211 and the second movable member 1122 forms a parallelogram. The moving mechanism 110 also includes a first driving component 111, which is arranged in the parallelogram, making the structure of the moving mechanism 110 more compact.

[0079] The first driving assembly 111 includes a first driving member 1111 and a first telescopic rod 1112. The first driving member 1111 is connected to the second fixing member 1121; the first telescopic rod 1112 is connected to the output end of the first driving member 1111, and one end of the first telescopic rod 1112 away from the first driving member 1111 is connected to the second movable member 1122, and the first driving member 1111 drives one end of the first telescopic rod 1112 away from the first driving member 1111 to move toward or away from the second fixing member 1121, so that the second movable member 1122 moves along the first direction, and the shock absorbing mechanism 120 and the clamping mechanism 130 move along the first direction with the second movable member 1122.

[0080] Specifically, Figure 1 and Figure 3 As shown, when the end of the first telescopic rod 1112 away from the first driving member 1111 moves toward the direction close to the second fixed member 1121, the length of the first telescopic rod 1112 becomes longer, and the first movable member 1222 and the second fixed member 1121 move upward; when the end of the first telescopic rod 1112 away from the first driving member 1111 moves toward the direction away from the second fixed member 1121, the length of the first telescopic rod 1112 becomes shorter, and the first movable member 1222 and the second fixed member 1121 move downward.

[0081] It should be noted that when the first driving member 1111 is stationary, the above-mentioned parallelogram is divided into two trapezoids, and six supporting points are provided to share the weight of the goods carried on the clamping mechanism 130, so that the overall structure of the robot arm 100 is more stable and not easy to move.

[0082] It should be noted that the number of the moving mechanisms 110 can be increased.

[0083] For example, there are two moving mechanisms 110, one moving mechanism 110 is connected to the shock absorbing mechanism 120, driving the shock absorbing mechanism 120 to move along the first direction, and the movable part of the other moving mechanism 110 is connected to the fixed plate 11211, so that the moving mechanism 110 drives the other moving mechanism 110 and the shock absorbing mechanism 120 to move in a direction perpendicular to the first direction.

[0084] For example, there are three moving mechanisms 110, and the three moving mechanisms 110 and the shock absorbing mechanisms 120 are connected in sequence. The moving directions of the movable parts of the three moving mechanisms 110 are perpendicular to each other. In this way, the three moving mechanisms 110 can drive the shock absorbing mechanisms 120 to move in three directions.

[0085] In one embodiment, the clamping mechanism 130 includes a third movable component 132 and a second driving component 131 that drives the third movable component 132 to move.

[0086] The third movable assembly 132 includes a third fixing member 1321 , a third movable member 1322 , a fifth cantilever 1323 and a sixth cantilever 1324 .

[0087] like Figure 1 As shown, the third fixing member 1321 is connected to the first movable member 1222. Specifically, the third fixing member 1321 is connected to the bottom end of the first movable member 1222. The third fixing member 1321 and the first movable member 1222 are connected to form an L-shaped structure.

[0088] The third movable member 1322 is spaced apart from the third fixing member 1321 and the first movable member 1222 , respectively. The third movable member 1322 is disposed close to the bending portion of the L-shaped structure.

[0089] In one embodiment, the third movable member 1322 and the first movable member 1222 are integrally formed to improve structural strength.

[0090] The third movable member 1322 is in a groove-shaped structure, and the third movable member 1322 is opposite to the opening of the first movable member 1222 .

[0091] One end of the fifth cantilever 1323 is rotationally connected to a side of the first movable part 1222 away from the first fixed part 1221, and the other end is rotationally connected to the third movable part 1322; the sixth cantilever 1324 is spaced apart from the fifth cantilever 1323, and one end of the sixth cantilever 1324 is rotationally connected to a side of the first movable part 1222 away from the first fixed part 1221, and the other end is rotationally connected to the third movable part 1322.

[0092] The fifth cantilever 1323 and the sixth cantilever 1324 are both plate-shaped, one end of the fifth cantilever 1323 is hinged to the third movable plate through a pin, and the other end is hinged to the second movable plate through a pin, and the fifth cantilever 1323 and the sixth cantilever 1324 are spaced apart along the first direction; one end of the fifth cantilever 1323 is hinged to the third movable plate through a pin, and the other end is hinged to the second movable plate through a pin. In this way, the connection between the fifth cantilever 1323 and the first movable member 1222 and the third movable member 1322, respectively, and the connection between the sixth cantilever 1324 and the first movable member 1222 and the third movable member 1322, respectively, form a parallelogram.

[0093] The second driving assembly 131 includes a second driving member 1311 and a second telescopic rod 1312. The second driving member 1311 is hinged to the first movable member 1222; the second telescopic rod 1312 is connected to the output end of the second driving member 1311, and one end of the second telescopic rod 1312 away from the second driving member 1311 is connected to the third movable member 1322. The second driving member 1311 drives one end of the second telescopic rod 1312 away from the second driving member 1311 to move toward or away from the second movable member 1122, so that the third movable member 1322 moves toward or away from the third fixed member 1321.

[0094] In one embodiment, the clamping mechanism 130 further includes a clamping claw 1313, which is connected to a side of the third movable member 1322 away from the first movable member 1222, and moves with the third movable member 1322 toward or away from the third fixed member 1321 to clamp or release the material.

[0095] Specifically, Figure 1 and Figure 5 As shown, when the end of the second telescopic rod 1312 away from the second driving member 1311 moves toward the direction close to the first movable member 1222, the length of the second telescopic rod 1312 becomes shorter, and the clamping claw 1313 and the third fixed member 1321 are separated, thereby releasing the activity; when the end of the second telescopic rod 1312 away from the second driving member 1311 moves toward the direction away from the first movable member 1222, the length of the second telescopic rod 1312 becomes longer, and the clamping claw 1313 approaches the third fixed member 1321, thereby clamping the cargo.

[0096] Through the linkage of the above three parallelograms, the functions of lifting and lowering, clamping and releasing of materials as well as preventing unhooking can be realized.

[0097] In one embodiment, the shock absorbing mechanism 120 further includes a visual component 123. Figure 1 As shown, it is fixed above the first fixing member 1221 and is used to determine the relative position of the clamping jaw 1313 and the material so that the clamping jaw 1313 and the material can be quickly and accurately docked.

[0098] The embodiment of the present application also provides a traction robot, including the robotic arm 100 in any of the above embodiments, and therefore has all the beneficial effects of the robotic arm 100 in any of the above embodiments, which will not be described one by one here.

[0099] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0100] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A robotic arm, characterized in that: include: Mobile mechanism; A shock absorbing mechanism, comprising a limiting assembly and a first movable assembly, wherein the first movable assembly is movably connected to the moving mechanism, the first movable assembly can move relative to the moving mechanism along a first direction, the first movable assembly is also connected to the limiting assembly, and the limiting assembly is used to apply a reverse force to the movable assembly to reduce the movement amplitude of the first movable assembly in the first direction; A clamping mechanism is connected to the first movable component.

2. The robotic arm according to claim 1, characterized in that: The first activity component comprises: a first fixing member; a first movable member, wherein the first movable member and the first fixed member are separated from each other; A first cantilever, one end of the first cantilever is connected to the first fixed member, and the other end of the first cantilever is rotatably connected to the first movable member; The second cantilever, the first cantilever and the second cantilever are arranged at an interval, one end of the second cantilever is connected to the first fixing member, and the other end is rotatably connected to the first movable member.

3. The robotic arm according to claim 2, characterized in that: A line between two points of a connection position between the first cantilever and the first movable member and a connection position between the second cantilever and the first movable member is parallel to the first direction.

4. The robotic arm according to claim 2, characterized in that: The limiting component comprises: a baffle, the baffle being connected to the first fixing member, the baffle being spaced apart from the first movable member along the first direction; A reset member is connected to the baffle and the first movable member.

5. The robotic arm according to claim 4, characterized in that: The reset element is an elastic element.

6. The robotic arm according to any one of claims 2 to 5, characterized in that: The moving mechanism includes a second movable component, and the second movable component includes: a second fixing member; a second movable member, wherein the second movable member and the second fixed member are spaced apart from each other, and the first fixed member is connected to a side of the second movable member away from the second fixed member; a third cantilever, one end of the third cantilever being rotatably connected to the second fixed member, and the other end of the third cantilever being rotatably connected to the second movable member; A fourth cantilever, wherein the fourth cantilever is arranged in parallel with the third cantilever, one end of the fourth cantilever is rotatably connected to the second fixing member, and the other end of the fourth cantilever is rotatably connected to the second movable member.

7. The robotic arm according to claim 6, characterized in that: The moving mechanism further includes a first driving assembly, wherein the first driving assembly includes: a first driving member, the first driving member being connected to the second fixing member; A first telescopic rod, wherein the first telescopic rod is connected to an output end of the first driving member, and an end of the first telescopic rod away from the first driving member is connected to the second movable member. Under the action of the first driving member, the end of the first telescopic rod away from the first driving member moves toward or away from the second fixed member, so that the second movable member moves along the first direction.

8. The robotic arm according to claim 6, characterized in that: The clamping mechanism includes a third movable component, and the third movable component includes: a third fixing member, the third fixing member being connected to the first movable member; a third movable member, the third movable member being spaced apart from the third fixed member, and the third movable member being spaced apart from the first movable member; a fifth cantilever, one end of the fifth cantilever being rotatably connected to a side of the first movable member away from the first fixed member, and the other end of the fifth cantilever being rotatably connected to the third movable member; A sixth cantilever is spaced apart from the fifth cantilever, one end of the sixth cantilever is rotatably connected to a side of the first movable member away from the first fixed member, and the other end of the sixth cantilever is rotatably connected to the third movable member.

9. The robotic arm according to claim 8, characterized in that: The clamping mechanism further includes a second drive assembly, wherein the second drive assembly includes: a second driving member connected to the first movable member; A second telescopic rod, the second telescopic rod is connected to the output end of the second driving member, the end of the second telescopic rod away from the second driving member is connected to the third movable member, and the second driving member drives the end of the second telescopic rod away from the second driving member to move toward or away from the first movable member, so that the third movable member moves toward or away from the third fixed member.

10. A traction robot, characterized in that: A robotic arm comprising any one of claims 1 to 9.

Images