Robots and production equipment

Abstract

The present application is applicable to the field of industrial production technology, and provides a manipulator and production equipment, the manipulator comprising: a clamping mechanism; a first guide member; a moving member capable of moving relative to the first guide member along a moving direction; a connecting mechanism connected to the clamping mechanism and movably connected to the first guide member; a stopping mechanism connected to the connecting mechanism and having a first telescopic end, the first telescopic end being able to extend to stop the moving member so that the connecting mechanism can follow the moving member in moving direction, thereby enabling the clamping mechanism to follow the moving member in moving direction. The manipulator provided by the embodiment of the present application can meet the loading and unloading processes of large-sized batteries.

Description

Technical Field

[0001] The present application belongs to the field of industrial production technology, and more specifically, relates to a robot and production equipment. Background Art

[0002] With the rapid development of the new energy industry, batteries of various shapes and sizes are now available on the market. However, if the battery is too large, it will be in a soft state during formation and cannot be directly erected. To facilitate loading and unloading, a robot is required to grip the battery air bag, lift the battery, and move it according to process requirements. Current robots on the market use fixed-position grippers to hold the battery air bag, which is not suitable for loading and unloading large batteries. Summary of the Invention

[0003] The embodiments of the present application provide a robot and production equipment that can meet the loading and unloading processes of large-size batteries.

[0004] In a first aspect, an embodiment of the present application provides a manipulator, comprising:

[0005] Gripping mechanism;

[0006] a first guide member;

[0007] a moving component capable of moving relative to the first guide component along a moving direction;

[0008] a connecting mechanism connected to the clamping mechanism and movably connected to the first guide member;

[0009] A stopping mechanism is connected to the connecting mechanism and has a first telescopic end. The first telescopic end can extend to stop the moving part so that the connecting mechanism can follow the moving part to move along the moving direction, thereby allowing the clamping mechanism to follow the moving part to move along the moving direction.

[0010] In some possible implementations of the first aspect, the number of the clamping mechanisms, the number of the connecting mechanisms, and the number of the stopping mechanisms are multiple and the number is the same;

[0011] Each of the clamping mechanisms, each of the connecting mechanisms and each of the stopping mechanisms are distributed along the moving direction, so that the moving component can move relative to the first guide component along the moving direction to the position of any one of the clamping mechanisms, and can drive any one of the clamping mechanisms to move relative to the first guide component along the moving direction, thereby changing the distance between at least two of the clamping mechanisms.

[0012] In some possible implementations of the first aspect, the manipulator further includes:

[0013] The flexible strip is connected to each of the connecting mechanisms along the moving direction.

[0014] In some possible implementations of the first aspect, the stopping mechanism further includes:

[0015] Position fixing components;

[0016] The second telescopic end can extend to abut against the position fixing component, thereby fixing the position of the clamping mechanism in the moving direction.

[0017] In some possible implementations of the first aspect, the position fixing component is a rod-shaped structure and is arranged above the second telescopic end along the height direction of the manipulator.

[0018] In some possible implementations of the first aspect, the second telescopic end is connected to the first telescopic end so that: when the first telescopic end is extended, the second telescopic end is away from the position fixing component; or, when the first telescopic end is retracted, the second telescopic end is close to the position fixing component.

[0019] In some possible implementations of the first aspect, the stopping mechanism further includes:

[0020] The cylinder body is connected to the first telescopic end and the second telescopic end to drive the first telescopic end and the second telescopic end to extend or retract.

[0021] In some possible implementations of the first aspect, the manipulator further includes:

[0022] The driving mechanism is connected to the moving component to drive the moving component to move along the moving direction relative to the first guide component.

[0023] In some possible implementations of the first aspect, the moving component is provided with a stop hole, so that the first telescopic end can extend into the stop hole to stop the moving component.

[0024] In some possible implementations of the first aspect, the manipulator further includes:

[0025] The follower latch is connected to the connecting mechanism.

[0026] In some possible implementations of the first aspect, the manipulator further includes:

[0027] A floating joint is connected to the follower latch and the connecting mechanism.

[0028] In some possible implementations of the first aspect, the manipulator further includes:

[0029] An elastic component, through which the follower latch is elastically connected to the connecting mechanism.

[0030] In a second aspect, an embodiment of the present application provides a production device comprising the robot described in any one of the above items.

[0031] The beneficial effects of the embodiments of the present application are:

[0032] The stopping mechanism is connected to the connecting mechanism, and the connecting mechanism connects the clamping mechanism and the first guide component. The first telescopic end of the stopping mechanism extends to block the moving component. The moving component drives the stopping mechanism to move relative to the first guide component along the moving direction. The connecting mechanism moves along the moving direction with the moving component, so that the clamping mechanism can move along the moving direction with the moving component. The clamping mechanism clamps or releases the battery air bag to realize loading or unloading, which can meet the loading and unloading processes of large-size batteries. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A three-dimensional diagram of a manipulator provided in one embodiment of the present application;

[0035] Figure 2 A three-dimensional diagram of a portion of the structure of a manipulator provided in one embodiment of the present application;

[0036] Figure 3 A three-dimensional diagram of another portion of the structure of the robot provided in one embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application clearer, the following Figures 1 to 3 It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application.

[0038] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0039] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0040] It should be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0041] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0042] An embodiment of the present application provides a manipulator that can be used to clamp a battery air bag.

[0043] Figure 1 A three-dimensional diagram of a robot provided in accordance with an embodiment of the present application. Figure 2 A three-dimensional diagram of a portion of the structure of a manipulator provided in one embodiment of the present application. Figure 1 and Figure 2 The robot arm provided in the embodiment of the present application includes a clamping mechanism 1, a first guide component 2, a moving component 3, a connecting mechanism 4 and a stopping mechanism 5.

[0044] The clamping mechanism 1 is used to clamp or release the battery air bag.

[0045] The first guide component 2 is used to guide the connecting mechanism 4 so that the connecting mechanism 4 moves along a defined path.

[0046] The first guide component 2 may specifically be a guide rod.

[0047] refer to Figure 2 The moving component 3 can move relative to the first guide component 2 along a moving direction S. The moving direction S can be an X-axis direction.

[0048] The connecting mechanism 4 is used to connect the clamping mechanism 1 and the first guide member 2. Specifically, the connecting mechanism 4 is connected to the clamping mechanism 1 and is movably connected to the first guide member 2; that is, the clamping mechanism 1 is connected to the first guide member 2 via the connecting mechanism 4 and can move relative to the first guide member 2 along the moving direction S.

[0049] Figure 3 A perspective view of another part of the structure of the robot provided in one embodiment of the present application. Figure 3 The stopping mechanism 5 is used to stop the moving component 3. The stopping mechanism 5 is connected to the connecting mechanism 4 and has a first telescopic end 51.

[0050] refer to Figures 1 to 3 The first telescopic end 51 can extend to stop the moving part 3, so that the connecting mechanism 4 can follow the moving part 3 to move along the moving direction S, thereby allowing the clamping mechanism 1 to follow the moving part 3 to move along the moving direction S, thereby changing the position of the clamping mechanism 1 in the moving direction S.

[0051] According to the above content, it can be seen that the stopping mechanism 5 is connected to the connecting mechanism 4, and the connecting mechanism 4 is connected to the clamping mechanism 1 and the first guide component 2. The first telescopic end 51 of the stopping mechanism 5 extends to block the moving component 3. The moving component 3 drives the stopping mechanism 5 to move along the moving direction S relative to the first guide component 2. The connecting mechanism 4 follows the moving component 3 to move along the moving direction S, so that the clamping mechanism 1 can follow the moving component 3 to move along the moving direction S. The clamping mechanism 1 clamps or releases the battery air bag to realize loading or unloading, which can meet the loading and unloading processes of large-size batteries.

[0052] In some embodiments, the moving part 3 is provided with a stop hole (not shown in the figure), so that the first telescopic end 51 can extend into the stop hole to stop the moving part 3. In this way, the first telescopic end 51 can reliably block the moving part 3, so that the moving part 3 can stably drive the clamping mechanism 1 to move along the moving direction S.

[0053] refer to Figure 1 and Figure 2 In some embodiments, the number of the clamping mechanisms 1 , the number of the connecting mechanisms 4 , and the number of the stopping mechanisms 5 are multiple and the same.

[0054] refer to Figure 1 and Figure 2 Each clamping mechanism 1, each connecting mechanism 4 and each stopping mechanism 5 is distributed along the moving direction S, so that the moving part 3 can move along the moving direction S relative to the first guide part 2 to the position of any clamping mechanism 1, and can drive any clamping mechanism 1 to move along the moving direction S relative to the first guide part 2, thereby changing the distance between at least two clamping mechanisms 1, so that the position of each clamping mechanism 1 of the manipulator is adjustable.

[0055] refer to Figure 1 and Figure 2 , the above-mentioned robot arm may further include a flexible strip 100 .

[0056] The flexible strip 100 may be a chain or a rope.

[0057] refer to Figure 2 The flexible strip 100 is connected to each connecting mechanism 4 along the moving direction S. The flexible strip 100 can be connected to each connecting mechanism 4 at the location of each connecting mechanism 4 through a fastener (such as a screw).

[0058] refer to Figure 2 , the moving part 3 moves along the moving direction S to the position of the first stopping mechanism 5, the first telescopic end 51 of the first stopping mechanism 5 extends to block the moving part 3, and the moving part 3 moves in the opposite direction along the moving direction S, driving the first stopping mechanism 5 and the first connecting mechanism 4 to move, thereby driving the first clamping mechanism 1 to move. Since the flexible strip 100 (such as a chain) is connected to each connecting mechanism 4 along the moving direction S, the first clamping mechanism 1 will drive each clamping mechanism 1 to move along the moving direction S through the flexible strip 100 until the flexible strip 100 is in a straightened state. At this time, along the moving direction S, the distance between each clamping mechanism 1 is the largest, so that the distance between each clamping mechanism 1 can be quickly adjusted to the maximum, which can improve efficiency.

[0059] refer to Figure 2 The above-mentioned robot arm may further include a position fixing component 50.

[0060] refer to Figure 3 The above-mentioned stopping mechanism 5 may further include a second telescopic end 52.

[0061] The second telescopic end 52 can extend to abut against the position fixing component 50 , thereby fixing the position of the clamping mechanism 1 in the moving direction S.

[0062] refer to Figure 2 and Figure 3 The position fixing component 50 may be a rod-shaped structure and is disposed above the second telescopic end 52 along the height direction H of the manipulator.

[0063] refer to Figure 2 and Figure 3, the moving part 3 moves forward along the moving direction S to the position of the first stopping mechanism 5, the first telescopic end 51 of the first stopping mechanism 5 extends to block the moving part 3, and the moving part 3 drives the first stopping mechanism 5 and the first connecting mechanism 4 to move along the moving direction S, thereby driving the first clamping mechanism 1 to move. After the first clamping mechanism 1 moves to the first designated position, the first telescopic end 51 of the first stopping mechanism 5 retracts, and the second telescopic end 52 extends to abut against the position fixing member 50, thereby fixing the first clamping mechanism 1 at the first designated position; the moving part 3 moves along The moving direction S continues to move forward to the position of the second stopping mechanism 5, and the first telescopic end 51 of the second stopping mechanism 5 extends to block the moving part 3. The moving part 3 drives the second clamping mechanism 1 to move along the moving direction S. After the second clamping mechanism 1 moves to the second designated position, the first telescopic end 51 of the second stopping mechanism 5 retracts, and the second telescopic end 52 of the second stopping mechanism 5 extends to press against the position fixing part 50, thereby fixing the second clamping mechanism 1 at the second designated position; and so on, until the Nth clamping mechanism 1 is fixed at the Nth designated position.

[0064] refer to Figure 2 and Figure 3 The above-mentioned stopping mechanism 5 may further include a cylinder body 53.

[0065] The cylinder body 53 is connected to the first telescopic end 51 and the second telescopic end 52 to drive the first telescopic end 51 and the second telescopic end 52 to extend or retract.

[0066] refer to Figure 2 and Figure 3 In some embodiments, the second telescopic end 52 is connected to the first telescopic end 51 so that when the first telescopic end 51 is extended, the second telescopic end 52 moves away from the position fixing member 50; or when the first telescopic end 51 is retracted, the second telescopic end 52 moves closer to the position fixing member 50. This allows for synchronous control of the first telescopic end 51 and the second telescopic end 52, facilitating control.

[0067] The first telescopic end 51 and the second telescopic end 52 can be two ends of the same piston rod; in this way, when the first telescopic end 51 extends, the second telescopic end 52 retracts; when the first telescopic end 51 retracts, the second telescopic end 52 extends, which can simplify the structure of the stopping mechanism 5.

[0068] In some other embodiments, the first telescopic end 51 may be one axis of a double-axis double-acting cylinder, and the second telescopic end 52 may be the other axis of the double-axis double-acting cylinder. The two axes of the double-axis double-acting cylinder move independently without affecting each other.

[0069] refer to Figure 2 The above-mentioned manipulator may further include a driving mechanism 6.

[0070] The driving mechanism 6 is connected to the moving component 3 to drive the moving component 3 to move along the moving direction S relative to the first guide component 2 .

[0071] refer to Figure 1 The driving mechanism 6 may include a rotational power source 61 and a transmission assembly 62 .

[0072] The rotational power source 61 is used to provide rotational power and can be a motor (such as a servo motor).

[0073] The transmission assembly 62 is connected to the rotational power source 61 and the moving component 3 to convert the rotation of the rotational power source 61 into a linear movement of the moving component 3 along the moving direction S.

[0074] refer to Figure 1 The transmission assembly 62 may include a screw rod 621 , a driving wheel 622 , a driven wheel 623 and a transmission belt 624 .

[0075] refer to Figure 1 and Figure 2 , the screw rod 621 is connected to the moving part 3.

[0076] The driving wheel 622 is connected to the rotating shaft of the rotating power source 61 .

[0077] The driven wheel 623 is connected to one end of the screw rod 621 .

[0078] The transmission belt 624 is connected to the driving wheel 622 and the driven wheel 623 , thereby converting the rotation of the rotation power source 61 into a linear movement of the moving component 3 along the moving direction S.

[0079] refer to Figure 2 The above-mentioned manipulator may further include a follower latch 7.

[0080] The follower latch 7 is connected to the connecting mechanism 4 .

[0081] The follower latch 7 is used to position the entire manipulator so that the manipulator is located at a specified position.

[0082] refer to Figure 2 , the above-mentioned manipulator may further include a floating joint 8.

[0083] The floating joint 8 is connected to the follower pin 7 and the connecting mechanism 4 .

[0084] The follower latch 7 is connected to the connection mechanism 4 via a floating joint 8 and can swing in the circumferential direction of the height direction H.

[0085] refer to Figure 2 The above-mentioned manipulator may further include an elastic component 9.

[0086] The follower latch 7 is elastically connected to the connecting mechanism 4 via an elastic component 9 and can be extended and retracted in the height direction H.

[0087] After the clamping mechanism 1 clamps the battery air bag, it needs to descend in the height direction H to place the battery air bag on the hot and cold pressing fixture; when the clamping mechanism 1 descends in the height direction H, the follower pin 7 will be inserted into the positioning pin hole of the layer of the hot and cold pressing fixture to realize the positioning of the manipulator; if the follower pin 7 is not completely aligned with the positioning pin hole and there is a positioning error, the floating joint 8 will swing a certain angle to enable the follower pin 7 to be smoothly inserted into the positioning pin hole; if the aforementioned positioning error is too large, the follower pin 7 will retract in the height direction H through the elastic component 9 to prevent the equipment parts from being forcibly inserted and damaged due to the large positioning error during the descent process, thereby protecting the equipment.

[0088] refer to Figure 2 , the above-mentioned robot may further include a second guide component 200.

[0089] The second guide component 200 is located around the clamping mechanism 1 to guide the battery air bag that has position deviation, so that the clamping mechanism 1 can smoothly clamp the battery air bag.

[0090] For example, when the robot unloads, the clamping mechanism 1 descends along the height direction H, and the second guide component 200 guides the battery air bag with position deviation, so that the clamping mechanism 1 can smoothly clamp the battery air bag.

[0091] The second guide component 200 can be specifically connected to the connecting mechanism 4 , or connected to the clamping mechanism 1 .

[0092] There can be more than one second guide member 200. Each second guide member 200 is arranged along the moving direction S, so that each clamping mechanism 1 is located between two second guide members 200, which can reliably guide the battery air bag with position deviation and improve the reliability of the manipulator.

[0093] refer to Figure 2 , the above-mentioned manipulator may further include a position determination sensor 10 .

[0094] The position determination sensor 10 is provided on the connecting mechanism 4 and is used to determine the position of the clamping mechanism 1 .

[0095] The position determination sensor 10 may be a diffuse reflection photoelectric sensor or a through-beam photoelectric sensor.

[0096] There can be multiple position determination sensors 10 . For example, each gripper mechanism 1 corresponds to a pair of position determination sensors 10 , one position determination sensor 10 is located on the left side of the gripper mechanism 1 , and the other position determination sensor 10 is located on the right side of the gripper mechanism 1 .

[0097] After the moving part 3 drives the clamping mechanism 1 to move to the specified position, the position determination sensor 10 corresponding to the clamping mechanism 1 triggers the induction, causing the moving part 3 to stop moving, and the second telescopic end 52 of the stop mechanism 5 extends to abut against the position fixing part 50, completing the position locking of the clamping mechanism 1.

[0098] refer to Figure 2 The above-mentioned robot arm may further include a main frame 300.

[0099] The first guide member 2 and the driving mechanism 6 are disposed on the main frame 300 .

[0100] The working principle of the manipulator provided in the embodiment of the present application is as follows:

[0101] When the manipulator is loading, the second telescopic ends 52 of all the stop mechanisms 5 retract, and the second telescopic ends 52 are separated from the position fixing components 50, so that each clamping mechanism 1 is in a freely movable state; in the process of the clamping mechanism 1 descending along the height direction H, the follower pin 7 will be inserted into the positioning pin hole of the layer of the hot and cold pressing fixture; if the follower pin 7 is not completely aligned with the positioning pin hole, there is a positioning error, and the floating joint 8 will swing a certain angle to enable the follower pin 7 to be smoothly inserted into the positioning pin hole; if the aforementioned positioning error is too large, the follower pin 7 will retreat upward along the height direction H through the elastic component 9; after the clamping mechanism 1 is lowered into place, the hot and cold pressing fixture begins to apply pressure, and the layer begins to retreat, and each clamping mechanism 1 in a freely movable state moves synchronously with the layer, and after the pressurization is completed, the battery air bag is in a clamped state; the clamps are all opened, and each The clamping mechanism 1 starts to rise, at which time the first telescopic end 51 of the first stop mechanism 5 retracts; the driving mechanism 6 drives the movable part 3 to move to the position where the first stop mechanism 5 is located, and the first telescopic end 51 of the first stop mechanism 5 extends to block the movable part 3. The driving mechanism 6 drives the movable part 3 to start moving back, and the movable part 3 drives the first stop mechanism 5 to move, pulling the first clamping mechanism 1, and pulling the remaining clamping mechanisms 1 in a freely movable state through the flexible strip 100, so that the distance between each clamping mechanism 1 is maximized; the second telescopic ends 52 of all the stop mechanisms 5 extend, and the second telescopic ends 52 abut against the position fixing component 50. The second telescopic ends 52 and the position fixing component 50 are completely embraced, locking the positions of all the clamping mechanisms 1 to prevent the clamping mechanisms 1 from changing position during the operation of the manipulator, thereby completing the loading;

[0102] When the manipulator is unloading, the battery air bag is in a compressed state, so the distance between the clamping mechanisms 1 needs to be adjusted from the initial maximum distance to the compressed spacing of the battery air bag; before unloading, the second telescopic ends 52 of all the stop mechanisms 5 are retracted, and the second telescopic ends 52 are separated from the position fixing component 50, so that each clamping mechanism 1 is in a free moving state; the first telescopic end 51 of the first stop mechanism 5 is extended to block the moving component 3, and the driving mechanism 6 drives the moving component 3 to move along the moving direction S, and the moving component 3 drives the first clamping mechanism 1 to move along the moving direction S. When the first When the position determination sensor 10 (such as a diffuse reflection photoelectric sensor) is irradiated onto the first layer of the cold pressing and heating clamp, the induction is triggered, and the positioning of the first clamping mechanism 1 is completed. The second telescopic end 52 of the first stop mechanism 5 is extended to abut against the position fixing component 50, completing the position locking of the first clamping mechanism 1; the moving component 3 continues to move along the moving direction S, and drives the second clamping mechanism 1 to move through the second stop mechanism 5. When the second pair of position determination sensors 10 (such as a diffuse reflection photoelectric sensor) is irradiated onto the second layer of the cold pressing and heating clamp, the induction is triggered, and the second clamping mechanism 1 is completed. After the clamping mechanism 1 is positioned, the second telescopic end 52 of the second stop mechanism 5 extends to abut against the position fixing component 50, completing the position locking of the second clamping mechanism 1; and so on until the position locking of the last clamping mechanism 1; the manipulator descends to a suitable position, and each battery air bag is inserted into each clamping mechanism 1. If there is a position deviation, the battery air bag can be introduced into the clamping mechanism 1 through the second guide component 200. At this time, all the follow-up pins 7 are inserted into the corresponding layer plates; after all the clamping mechanisms 1 clamp the battery air bags, the hot and cold pressing fixtures begin to release pressure, and the clamping mechanism 1 follows the movement of the layer plates After following for a certain distance, the manipulator starts to rise in the height direction H carrying the battery air bag, and the moving part 3 moves to the position of the first stop mechanism 5. The second telescopic ends 52 of all the stop mechanisms 5 retract, and the second telescopic ends 52 are separated from the position fixing part 50, so that each clamping mechanism 1 is in a free moving state. The moving part 3 continues to run and drives the first clamping mechanism 1 to move along the moving direction S through the stop mechanism 5, and pulls the remaining clamping mechanisms 1 in a free moving state through the flexible strip 100, so that the distance between the clamping mechanisms 1 is maximized, and the unloading is completed.

[0103] The manipulator provided in the embodiment of the present application can be used as a variable-distance soft-pack lithium battery overhead crane manipulator. Each clamping mechanism can freely change the distance to adapt to the production process requirements of soft-pack lithium batteries, and can realize loading and unloading of batteries that cannot be erected.

[0104] An embodiment of the present application further provides a production device, which includes the robot provided by any of the above embodiments. The above production device may be a battery production device.

[0105] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A robot, characterized in that: include: Gripping mechanism; a first guide member; a moving component capable of moving relative to the first guide component along a moving direction; a connecting mechanism connected to the clamping mechanism and movably connected to the first guide member; A stopping mechanism is connected to the connecting mechanism and has a first telescopic end. The first telescopic end can extend to stop the moving part so that the connecting mechanism can follow the moving part to move along the moving direction, thereby allowing the clamping mechanism to follow the moving part to move along the moving direction.

2. The robot according to claim 1, wherein: The number of the clamping mechanisms, the number of the connecting mechanisms, and the number of the stopping mechanisms are multiple and the number is the same; Each of the clamping mechanisms, each of the connecting mechanisms and each of the stopping mechanisms are distributed along the moving direction, so that the moving component can move relative to the first guide component along the moving direction to the position of any one of the clamping mechanisms, and can drive any one of the clamping mechanisms to move relative to the first guide component along the moving direction, thereby changing the distance between at least two of the clamping mechanisms.

3. The robot according to claim 2, wherein: The manipulator further comprises: The flexible strip is connected to each of the connecting mechanisms along the moving direction.

4. The robot according to claim 1, wherein: The manipulator further includes a position fixing component; The stopping mechanism further comprises: The second telescopic end can extend to abut against the position fixing component, thereby fixing the position of the clamping mechanism in the moving direction.

5. The robot according to claim 4, characterized in that: The position fixing component is a rod-shaped structure and is arranged above the second telescopic end along the height direction of the manipulator.

6. The robot according to claim 4, characterized in that: The second telescopic end is connected to the first telescopic end, so that: when the first telescopic end is extended, the second telescopic end is away from the position fixing component; or when the first telescopic end is retracted, the second telescopic end is close to the position fixing component.

7. The robot according to claim 4, wherein: The stopping mechanism further comprises: The cylinder body is connected to the first telescopic end and the second telescopic end to drive the first telescopic end and the second telescopic end to extend or retract.

8. The robot according to claim 1, wherein: The manipulator further comprises: The driving mechanism is connected to the moving component to drive the moving component to move along the moving direction relative to the first guide component.

9. The robot according to claim 1, wherein: The moving component is provided with a stop hole, so that the first telescopic end can extend into the stop hole to stop the moving component.

10. The robot according to any one of claims 1 to 9, characterized in that: The manipulator further comprises: The follower latch is connected to the connecting mechanism.

11. The robot according to claim 10, wherein: The manipulator further comprises: A floating joint is connected to the follower latch and the connecting mechanism.

12. The robot according to claim 10, wherein: The manipulator further comprises: An elastic component, through which the follower latch is elastically connected to the connecting mechanism.

13. A production equipment, characterized in that, Comprising the robot arm according to any one of claims 1 to 12.

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