A mechanical arm and a transmission device thereof

Abstract

The present invention relates to the technical field of manipulators, and specifically discloses a manipulator and a transmission device thereof, comprising: a connecting seat, a clamping mechanism, a locking mechanism and an adjusting mechanism. The clamping mechanism can be set with a corresponding number of groups according to the shape of a cargo box. The clamping mechanism comprises a limit shell, a limit assembly and a flexible belt. Multiple groups of limit assemblies can adapt to the shape of the side wall of the cargo box. When clamping, the adjusting mechanism is used to drive the locking mechanism to lock the limit assembly to achieve stable clamping of the cargo box. A manipulator and a transmission device thereof of the present invention, by setting multiple limit assemblies and flexible belts, adjust the shape of the flexible belt to adapt to the shape of the side wall of the cargo box through multiple limit assemblies when clamping the cargo box, so as to achieve stable clamping of the cargo box.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator and a transmission device thereof. Background Art

[0002] The manipulator can imitate certain movements of the human arm to grab or carry objects, replacing the heavy labor of people, realizing the mechanization and automation of production, and is widely used in mechanical manufacturing, metallurgy, electronics, light industry and other fields. There are many types of existing handling manipulator structures, and handling manipulators with corresponding functions are equipped according to different working environment requirements. In industrial automated production, the application of manipulators is extremely extensive. Whether it is an independent machine or a combined machine tool, as well as an automated production line, it depends on the manipulator to perform the work of picking and placing workpieces. In the field of assembly, the robot manipulator can cooperate with the industrial robot according to the preset program to perform a series of complex assembly actions and complete various high-precision assembly tasks. In the field of handling, the robot manipulator can quickly and accurately grab and move workpieces, thereby realizing automated handling.

[0003] A Chinese patent application document with application publication number CN113370175A discloses a handling manipulator, including a frame, a walking mechanism, a balancing counterweight mechanism, a mechanical arm and a clamping mechanism, wherein the walking mechanism is mounted on the frame, one end of the mechanical arm is connected to the frame, and the other end of the mechanical arm is connected to the clamping mechanism, and there are two balancing counterweight mechanisms, which are symmetrically mounted at the front and rear ends of the frame, and the other end of the mechanical arm is located between the balancing counterweight mechanisms. This invention patent realizes walking through the walking mechanism, adjusts the spatial orientation of the clamping mechanism through the mechanical arm, so that the clamping mechanism can effectively clamp objects, and adjusts the center of gravity of the entire manipulator through the balancing counterweight mechanism to balance the center of gravity when carrying objects, so that the center of gravity is on the walking mechanism, so that the entire manipulator can walk freely.

[0004] However, the robot arm of this invention may cause the packaging box to deform when carrying goods. Since most goods are packed in packaging boxes, the robot arm moves the goods by clamping the outer wall of the packaging box. Usually, a buffer layer is set between the goods in the packaging box and the box wall, and the side walls of some special goods are not flat. These factors cause the packaging box to deform when clamping the goods, making it impossible for conventional robot arms to accurately clamp the goods. Summary of the invention

[0005] The present invention provides a robot and a transmission device thereof, aiming to solve the technical problem that when the robot in the prior art clamps the goods, the packaging box is deformed when clamping the goods, resulting in the inability to accurately clamp the goods because a buffer layer is arranged between the goods in the packaging box and the box wall, and the side walls of some special goods are not flat.

[0006] The present invention provides a manipulator, comprising a connecting seat, and also comprising a clamping mechanism circumferentially arranged around the vertical axis of the connecting seat, for clamping a cargo box, wherein at least two groups of the clamping mechanisms are provided, and are arranged at equal intervals around the vertical axis, and the clamping mechanisms are close to or away from the vertical axis of the connecting seat in the horizontal direction, and the clamping mechanisms comprise a limit shell, a limit assembly and a flexible belt, the limit shell is vertically arranged below the connecting seat, and a slot for accommodating the limit assembly is provided on one side of the limit shell close to the cargo box, and a plurality of limit assemblies are arranged in the slots along the vertical direction, and the limit assemblies slide horizontally along the slots, and each limit assembly is evenly spaced from the slots. An elastic part is provided, and a flexible belt is provided on the side of the limit component close to the cargo box. The limit component is tightly attached to the side wall of the cargo box through the flexible belt. A locking mechanism and an adjusting mechanism are provided in the groove. The adjusting mechanism is used to drive the locking mechanism to lock the limit component when the cargo box is clamped. By providing the limit component, the flexible belt, the locking mechanism and the adjusting mechanism, when clamping the cargo box, the shape of the flexible belt is adjusted through multiple limit components to adapt to the shape of the side wall of the cargo box. After the cargo box is clamped, the locking mechanism is driven by the adjusting mechanism to lock the limit component to maintain stable clamping of the cargo box.

[0007] Preferably, the limiting assembly includes two telescopic arms, a pressure block and a connecting column. The left and right side walls of the slot are each provided with a horizontally arranged slide groove. The two telescopic arms are respectively arranged in the slide groove. One end of the telescopic arm is fixedly connected to the limiting shell. The connecting column is arranged between the two telescopic arms at one end close to the cargo box. The elastic member is arranged in the telescopic arm so that the length of the telescopic arm can be adapted with the movement of the pressure block. The pressure block is movably mounted on the connecting column, and spring sheets are arranged between the upper and lower sides of the connecting column and the pressure block.

[0008] Preferably, the locking mechanism includes a base plate and a column, the base plate is horizontally arranged at the bottom of the slot and slides with the limit shell in the vertical direction, the upper surface of the base plate abuts against the lowermost top pressure block, and columns are arranged on the left and right sides of the upper end of the base plate, the two columns are vertically arranged, and a plurality of protrusions are arranged on the side away from each other of the two columns, the protrusions limit the extension and retraction of the telescopic arm, and a plurality of notches for the protrusions to slide are provided on the left and right sides of the slot.

[0009] Preferably, the adjusting mechanism comprises a straight plate, a bent plate, a top block and a torsion spring, the left and right ends of the straight plate are respectively hinged to the limit shell by the torsion spring, the top block is arranged on the side of the straight plate close to the cargo box, and in the initial state, the torsion spring resets to make the straight plate rotate, and the top block drives the bottom plate to squeeze the multiple top pressure blocks so that the top pressure blocks are close to each other, and the bent plate is connected to the other end of the straight plate. When the straight plate is against the lower end of the cargo box, the end of the bent plate away from the straight plate is located on the outside of the cargo box in the top view, and when the cargo boxes are stacked, the multiple bent plates are used to align the cargo boxes, thereby solving the problem that the cargo boxes cannot be quickly aligned when stacking.

[0010] Preferably, a telescopic plate is provided on the side of the bottom plate close to the cargo box, the telescopic end of the telescopic plate is against the cargo box, the telescopic plate is close to the lower end surface of the flexible belt, and when the bottom plate moves upward to make the top pressure blocks approach each other, the telescopic plate moves upward with the bottom plate, and the telescopic plate squeezes the lower end surface of the upper flexible belt to make the flexible belt move upward, and the telescopic plate makes the flexible belt move upward with the top pressure block. By arranging the telescopic plate, the flexible belt can be squeezed when the bottom plate moves upward, so that the squeezing force between the flexible belt and the cargo box is increased, thereby providing a more stable clamping.

[0011] Preferably, the shape of the side of the flexible belt facing the top pressure block is adapted to the top pressure block, the flexible belt is formed by an elastic material, and the side of the flexible belt in contact with the cargo box is provided with a rough structure. By setting the side of the flexible belt facing the top pressure block to a shape adapted to the top pressure block, the extrusion force of the top pressure block on the flexible belt can be increased.

[0012] Preferably, the surfaces of the protrusions in contact with the telescopic arm are provided with rough structures, and the rough structures are provided to increase the friction between the protrusions and the telescopic arm, thereby providing a greater limiting force for the telescopic arm.

[0013] Preferably, the bent plate is formed from a flexible material, and a receiving groove for receiving the bent plate is provided on a side of the notch away from the cargo box.

[0014] A transmission device is applied to the above-mentioned manipulator, and the transmission device includes a sliding rod, a driving source and a support arm. The sliding rod is arranged at the lower end of the connecting seat, and the driving source is used to drive the sliding rod to move closer to or away from the connecting seat. The support arm is fixed to the lower end of the sliding rod, and the limit shell is fixed to the end of the support arm away from the connecting seat. By setting up the transmission device, different clamping devices can be adjusted to adapt to the shape of the cargo box according to the shape of the cargo box, thereby achieving the effect of stable clamping of different cargo boxes.

[0015] The beneficial effects of the present invention are:

[0016] 1. The manipulator provided by the present invention, by providing a plurality of limit assemblies and flexible belts, can adjust the shape of the flexible belt through the plurality of limit assemblies when clamping the cargo box to adapt to the shape of the side wall of the cargo box, thereby achieving stable clamping of the cargo box.

[0017] 2. The present invention can adjust the motion range of multiple clamping mechanisms according to the shape of the cargo box by setting a transmission device to adapt to the shapes of cargo boxes of different specifications, thereby achieving the purpose of stably clamping different cargo boxes.

[0018] 3. The present invention sets the side of the flexible belt facing the top pressure block into a shape that matches the top pressure block, and sets a telescopic plate, so that when the bottom plate moves upward, the squeezing force between the flexible belt and the cargo box can be increased, thereby providing a more stable clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a structural diagram of the robot.

[0020] Figure 2 It is a schematic diagram of the manipulator's clamping state.

[0021] Figure 3 It is a structural schematic diagram of the clamping mechanism.

[0022] Figure 4 It is a cross-sectional view of the clamping mechanism.

[0023] Figure 5 It is a structural diagram of the limit assembly.

[0024] Figure 6 It is a structural schematic diagram of the clamping mechanism.

[0025] Figure 7 yes Figure 6 A magnified schematic diagram of center A.

[0026] Reference numerals:

[0027] 1. Connecting seat; 11. Transmission device; 111. Sliding rod; 112. Driving source; 113. Support arm; 12. Cargo box; 2. Clamping mechanism; 21. Limiting shell; 212. Notch; 213. Slide slot 1; 214. Notch; 215. Accommodating slot; 22. Limiting assembly; 221. Telescopic arm; 222. Pressing block; 223. Connecting column; 23. Flexible belt; 3. Locking mechanism; 31. Bottom plate; 32. Vertical column; 321. Protrusion; 34. Telescopic plate; 4. Adjusting mechanism; 41. Straight plate; 42. Bent plate; 43. Top block; 44. Torsion spring. DETAILED DESCRIPTION

[0028] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0029] like Figure 1-Figure 3 As shown, a robot arm of the present invention includes a connecting seat 1, a clamping mechanism 2, a locking mechanism 3 and an adjusting mechanism 4.

[0030] At least two groups of clamping mechanisms 2 are provided, and the multiple groups of clamping mechanisms 2 are arranged at equal intervals around the vertical axis of the connecting seat 1. Specifically, the corresponding number of clamping mechanisms 2 can be set according to the shape of the cargo box 12. In this embodiment, four groups of clamping mechanisms 2 are described as an example. The clamping mechanism 2 can approach or move away from the vertical axis of the connecting seat 1 in the horizontal direction. A transmission device 11 is provided between the clamping mechanism 2 and the connecting seat 1 to control the horizontal movement of the clamping mechanism 2. The clamping mechanism 2 includes a limit shell 21, a limit component 22 and a flexible belt 23. The limit shell 21 is vertically arranged below the connecting seat 1. A slot 212 for accommodating the limit component 22 is opened on one side of the limit shell 21 close to the cargo box 12. The multiple limit components 22 is arranged in the slot 212 along the vertical direction, and the limit component 22 can slide horizontally along the slot 212. An elastic member is arranged between each limit component 22 and the slot 212. The flexible belt 23 is arranged on the side of the limit component 22 close to the cargo box 12. The limit component 22 can squeeze the flexible belt 23 to fit tightly against the side wall of the cargo box 12. When the limit shell 21 moves toward the cargo box 12, the flexible belt 23 will abut against the side wall of the cargo box 12. At this time, the elastic member will shrink due to the squeezing force, so that the flexible belt 23 can adapt to the shape of the side wall of the cargo box 12. When the cargo box 12 is clamped and lifted, the adjustment mechanism 4 will drive the locking mechanism 3 to lock the limit component 22 to complete the stable clamping of the cargo box 12.

[0031] like Figure 4-Figure 6 As shown, each limiting assembly 22 includes two telescopic arms 221, a top pressure block 222 and a connecting column 223. A group of horizontally arranged sliding grooves 213 are opened on the left and right side walls of the slot 212. The two telescopic arms 221 are respectively slidably arranged in a group of horizontal sliding grooves 213. One end of the telescopic arm 221 is fixedly connected to the limiting shell 21, and the two ends of the connecting column 223 are fixedly connected to the side surfaces close to the other ends of the two telescopic arms 221. When the telescopic arm 221 is extended and retracted, the connecting column 223 will move closer to or away from the cargo box 12 in the slot 212. The elastic member is arranged in the telescopic arm 221, and the elastic member is preferably a compression spring. The top pressure block 222 is movably sleeved on the connecting column 223, and spring sheets are arranged between the upper and lower sides of the connecting column 223 and the top pressure block 222.

[0032] like Figure 4-Figure 6As shown, the locking mechanism 3 includes a bottom plate 31 and a column 32. The bottom plate 31 is horizontally arranged at the bottom of the slot 212. The bottom plate 31 slides with the slot 212 in the vertical direction. By arranging sliding blocks on the left and right side walls of the bottom plate 31 and arranging sliding grooves adapted to the sliding blocks in the corresponding slots 212, the bottom plate 31 can be restricted from sliding along the slot 212 in the vertical direction. The two columns 32 are respectively arranged on the left and right sides of the upper end surface of the bottom plate 31. The two columns 32 are both arranged vertically. A plurality of protrusions 321 are arranged on the sides of the two columns 32 away from each other. When the protrusion 321 contacts the telescopic arm 221, the protrusion 321 can limit the telescopic arm 221 from extending and retracting in the slide groove 1 213. A rough structure 2 is provided on the side where the protrusion 321 contacts the telescopic arm 221. The rough structure 2 includes a concave pit and a convex strip. The convex strip is provided on the protrusion 321, and the concave pit is provided on the telescopic arm 221. When the protrusion 321 and the telescopic arm 221 are squeezed, the concave pit and the convex strip are matched, thereby increasing the friction between the protrusion 321 and the telescopic arm 221, thereby effectively limiting the relative movement between the two. A plurality of notches 214 for the protrusion 321 to slide are provided on the left and right side walls of the slot 212.

[0033] like Figure 4 , Figure 6 and Figure 7 As shown, the adjustment mechanism 4 is arranged in the slot 212 and is located at the lower side of the bottom plate 31 near one end of the cargo box 12. The adjustment mechanism 4 includes a straight plate 41, a bent plate 42, a top block 43 and a torsion spring 44. The left and right ends of the straight plate 41 are respectively hinged to the limit shell 21 through the torsion spring 44. The left and right side walls of one end of the straight plate 41 are provided with a rotating shaft, and the torsion spring 44 is sleeved on the rotating shaft. The left and right sides of the slot 212 are provided with an axial hole, and the rotating shaft is coaxially rotatably arranged in the axial hole. The two ends of the torsion spring 44 are respectively fixedly connected to the rotating shaft and the axial hole. The straight plate 41 can rotate relative to the limit shell 21. A top block 43 is provided on the side of the straight plate 41 close to the cargo box 12. The side of the top block 43 away from the straight plate 41 is arc-shaped. The bent plate 42 is connected to the other end of the straight plate 41. The plate 42 is made of a flexible material, preferably rubber, and a receiving groove 215 for accommodating the bent plate 42 is provided on the side wall away from the cargo box 12 at the bottom end of the notch 212. When the bent plate 42 is against the ground, the bent plate 42 will rotate to the side away from the cargo box 12 and adjust its shape so that it can be accommodated in the receiving groove 215. In the initial state, the torsion spring 44 makes the straight plate 41 in the initial position. At this time, the straight plate 41 is against the lower side of the cargo box 12, and the top block 43 on the straight plate 41 drives the bottom plate 31 to move upward and squeezes the multiple top pressure blocks 222 located on the upper side of the bottom plate 31, so that the multiple top pressure blocks 222 are close to each other. At this time, the end of the bent plate 42 away from the straight plate 41 is located on the outside of the cargo box 12 in the vertical direction.

[0034] like Figure 3 , Figure 4 and Figure 7 As shown, the side of the flexible belt 23 facing the top pressure block 222 is adapted to the shape of the top pressure block 222, the flexible belt 23 is made of flexible material, preferably rubber, and the side of the flexible belt 23 in contact with the cargo box 12 is provided with a rough structure 1, and the rough structure 1 is a flexible convex point to increase the friction between the flexible belt 23 and the cargo box 12, and a horizontal telescopic plate 34 is provided on the side of the bottom plate 31 close to the flexible belt 23, the telescopic end of the telescopic plate 34 is against the side wall of the cargo box 12, and the telescopic plate 34 is close to the lower end surface of the flexible belt 23. When the bottom plate 31 moves upward, the telescopic plate 34 moves upward with the bottom plate 31, and the telescopic plate 34 squeezes the upper flexible belt 23 to move the flexible belt 23 upward, and then the flexible belt 23 contracts in the length direction, so that a greater squeezing force is formed between the multiple connecting columns 223 and the cargo box 12, further improving the clamping stability of the cargo box 12.

[0035] The implementation principle of a manipulator of the present invention is as follows: when clamping the cargo box 12, the clamping mechanism 2 is located on a side away from the vertical axis, the manipulator moves downward, the bent plate 42 abuts against the ground, and the straight plate 41 rotates around the limiting shell 21 to the side away from the cargo box 12 until the lower end of the limiting shell 21 abuts against the ground. At this time, the bent plate 42 is received in the accommodating groove 215, and the rotation of the straight plate 41 will drive the top block 43 to rotate. At this time, the bottom plate 31 will lose the force of the top block 43 and move downward under the action of gravity, so that the multiple top pressure blocks 222 are not subjected to the extrusion force in the up and down directions. At this time, the connecting column 223 Under the action of the spring sheet between the top pressure block 222, the connecting column 223 will be located in the middle position of the top pressure block 222, and the protrusion 321 will separate from the telescopic arm 221. The telescopic arm 221 will extend to the maximum length under the action of the elastic member. At this time, multiple top pressure blocks 222 are aligned up and down, so that the side of the flexible belt 23 close to the cargo box 12 is in a vertical state; multiple clamping mechanisms 2 move toward the vertical axis at the same time to clamp the cargo box 12. After the flexible belt 23 contacts the side wall of the cargo box 12, the elastic member in the telescopic arm 221 can be compressed to make the flexible belt 23 adapt to the shape of the cargo box 12. After the cargo box 12 is clamped, The manipulator moves upward to clamp the cargo box 12. At this time, the straight plate 41 rotates to the side close to the cargo box 12 under the action of the torsion spring 44, and the top block 43 on the straight plate 41 will abut the bottom plate 31, causing the bottom plate 31 to move upward. At this time, the protrusion 321 on the column 32 can abut the telescopic end of the telescopic arm 221, so that the telescopic arm 221 no longer retracts in the horizontal direction. At the same time, the telescopic plate 34 moves upward with the bottom plate 31 and squeezes the flexible belt 23 located above the telescopic plate 34, increasing the clamping force between the flexible belt 23 and the cargo box 12, until the straight plate 41 returns to its initial state under the action of the torsion spring 44. At this time, the straight plate 41 is in The lower side of the cargo box 12 can provide a certain supporting force for the cargo box 12 during the transfer process of the cargo box 12, further ensuring the stability of the clamping. When the cargo box 12 is transferred to the designated position for stacking, the manipulator moves downward, and the bent plate 42 can adapt to the position of the target cargo box 12, so that the cargo box 12 to be stacked is aligned with the target cargo box 12. As the manipulator continues to move downward, the target cargo box 12 can push the bent plate 42 to rotate toward the side away from the cargo box 12. After the cargo boxes 12 are aligned and stacked, the clamping mechanism 2 moves to the side away from the vertical axis, so that the clamping mechanism 2 returns to its initial state, completing a clamping and transportation.

[0036] like Figure 1-Figure 7As shown, a transmission device of the present invention is applied to the above-mentioned manipulator, the transmission device 11 includes a sliding rod 111, a driving source 112 and a support arm 113, the sliding rod 111 is arranged at the lower end of the connecting seat 1, the driving source 112 is used to drive the sliding rod 111 to move close to or away from the vertical axis of the connecting seat 1, the support arm 113 is fixedly connected to the lower end of the sliding rod 111, and the limiting shell 21 is fixedly connected to the end of the support arm 113 away from the connecting seat 1. By setting the transmission device 11, the distance between the clamping mechanism 2 and the vertical axis can be adjusted according to the shape of the cargo box 12, so that the clamping mechanism 2 can adapt to the shape of cargo boxes 12 of different specifications, thereby achieving the effect of stable clamping of different cargo boxes 12.

[0037] In the description of the present invention, 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 invention 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 limiting the present invention.

[0038] 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0039] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot, comprising a connecting seat (1), characterized in that: The invention also comprises a clamping mechanism (2) arranged circumferentially around the vertical axis of the connecting seat (1) for clamping the cargo box (12). The clamping mechanism (2) is provided with at least two groups and is arranged at equal intervals around the vertical axis. The clamping mechanism (2) approaches or moves away from the vertical axis of the connecting seat (1) in the horizontal direction. The clamping mechanism (2) comprises a limit shell (21), a limit assembly (22) and a flexible belt (23). The limit shell (21) is arranged vertically below the connecting seat (1). A slot (212) for accommodating the limit assembly (22) is provided on a side of the limit shell (21) close to the cargo box (12). A plurality of limit assemblies (22) are arranged in the slot (212) in the vertical direction. The limit assembly (22) slides horizontally along the slot (212), and each limit assembly An elastic member is arranged between the position limiting component (22) and the slot (212); a flexible belt (23) is arranged on a side of the position limiting component (22) close to the cargo box (12); the position limiting component (22) is closely attached to the side wall of the cargo box (12) through the flexible belt (23); a locking mechanism (3) and an adjusting mechanism (4) are arranged in the slot (212); the adjusting mechanism (4) is used to drive the locking mechanism (3) to lock the position limiting component (22) when the cargo box (12) is clamped; the position limiting component (22) comprises two telescopic arms (221), a top pressure block (222) and a connecting column (223); the left and right side walls of the slot (212) are both provided with a horizontally arranged slide groove (213); the two telescopic arms (221) are respectively arranged in the slide groove (213); the telescopic arms (221) and the connecting column (223) are respectively arranged in the slide groove (213); One end of the arm (221) is fixedly connected to the limit shell (21), the connecting column (223) is arranged between the two telescopic arms (221) and close to one end of the cargo box (12), the elastic member is arranged in the telescopic arm (221), so that the length of the telescopic arm (221) is adapted with the movement of the top pressure block (222), the top pressure block (222) is movably sleeved on the connecting column (223), and elastic sheets are arranged between the upper and lower sides of the connecting column (223) and the top pressure block (222), the locking mechanism (3) comprises a bottom plate (31) and a column (32), the bottom plate (31) is horizontally arranged at the bottom of the slot (212), and is slidably matched with the limit shell (21) in the vertical direction, and the upper surface of the bottom plate (31) abuts against the bottommost top pressure block (222) Then, columns (32) are arranged on both sides of the upper end of the bottom plate (31), the two columns (32) are arranged vertically, and a plurality of protrusions (321) are arranged on the sides of the two columns (32) that are away from each other, the protrusions (321) limit the telescopic arm (221) from being telescopic, and a plurality of notches (214) for the protrusions (321) to slide are arranged on both sides of the notch (212), a telescopic plate (34) is arranged on the side of the bottom plate (31) close to the cargo box (12), the telescopic end of the telescopic plate (34) is against the cargo box (12), and the telescopic plate (34) is in close contact with the lower end surface of the flexible belt (23), and when the bottom plate (31) moves upward to make the top pressure blocks (222) approach each other, the telescopic plate (34) moves upward along with the bottom plate (31),The telescopic plate (34) squeezes the lower end surface of the upper flexible belt (23) to move the flexible belt (23) upward, and the telescopic plate (34) causes the flexible belt (23) to move upward along with the top pressure block (222).

2. A robot according to claim 1, characterized in that: The adjustment mechanism (4) comprises a straight plate (41), a bent plate (42), a top block (43) and a torsion spring (44). The left and right ends of the straight plate (41) are respectively hinged to the limit shell (21) through the torsion spring (44). The top block (43) is arranged on a side of the straight plate (41) close to the cargo box (12). In an initial state, the torsion spring (44) is reset to rotate the straight plate (41). The top block (43) drives the bottom plate (31) to press the plurality of top pressing blocks (222) so that the top pressing blocks (222) are closely attached to each other. The bent plate (42) is connected to the other end of the straight plate (41). When the straight plate (41) abuts against the lower end of the cargo box (12), the end of the bent plate (42) away from the straight plate (41) is located outside the cargo box (12) in the vertical direction.

3. A robot according to claim 1, characterized in that: The shape of the side of the flexible belt (23) facing the top pressure block (222) is adapted to the top pressure block (222); the flexible belt (23) is formed from an elastic material; and a rough structure 1 is provided on the side of the flexible belt (23) in contact with the cargo box (12).

4. A robot according to claim 1, characterized in that: A second rough structure is provided on the surface where the protrusion (321) contacts the telescopic arm (221).

5. A robot according to claim 2, characterized in that: The bent plate (42) is formed from a flexible material, and a receiving groove (215) for receiving the bent plate (42) is provided on a side of the notch (212) away from the cargo box (12).

6. A transmission device, comprising the manipulator according to any one of claims 1 to 5, characterized in that: The transmission device (11) further comprises a sliding rod (111), a driving source (112) and a support arm (113); the sliding rod (111) is arranged at the lower end of the connecting seat (1); the driving source (112) is used to drive the sliding rod (111) to move towards or away from the connecting seat (1); the support arm (113) is fixedly connected to the lower end of the sliding rod (111); and the limiting shell (21) is fixedly connected to an end of the support arm (113) away from the connecting seat (1).

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