Clamping carrying mechanism, clamping carrying method and robot

Abstract

The invention provides a clamping and carrying mechanism, a clamping and carrying method and a robot, the clamping and carrying mechanism comprises a fixing piece, a pressing piece, a bearing piece, an elastic piece and a driving assembly, the two ends of the elastic piece are connected with the fixing piece and the pressing piece correspondingly, so that the pressing piece can move in the telescopic direction of the elastic piece, and the driving assembly drives the bearing piece to move in the telescopic direction of the elastic piece. The pressing piece is used for pressing the first pressing face, the bearing piece is rotationally connected with the fixing piece, the driving assembly is used for driving the bearing piece to rotate, and the bearing piece is used for abutting against the second pressing face. According to the clamping carrying mechanism, the clamping carrying method and the robot, the box body can be more stable in the carrying process, the position of the pressing piece can be adjusted through stretching and retracting of the elastic piece, and the clamping carrying mechanism is suitable for carrying box bodies of different sizes.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent equipment, and more specifically, relates to a clamping and conveying mechanism, a clamping and conveying method and a robot. Background Art

[0002] As the country vigorously promotes the development of humanoid robots, humanoid robots have entered a period of rapid development. Some humanoid robots have begun to enter industrial fields such as automobile manufacturing to replace humans in high-intensity, high-risk, and high-repetitive labor. Compared with traditional industrial robotic arms or traditional composite robots, the application of humanoid robots is more suitable for unstructured scenes in industrial scenes. Among them, material box handling in workshops has become one of the scenarios for the industrial application of humanoid robots.

[0003] Because bipedal humanoid robots cannot maintain stable movement like humans when walking, especially when the center of gravity of the box is offset, the box will swing violently during the humanoid robot's moving process, affecting the humanoid robot's walking gait and causing the risk of the material in the box to scatter. At the same time, the size of the box varies, and the end handling mechanism of the humanoid robot is generally only suitable for boxes of a specific size, with poor compatibility. Summary of the invention

[0004] The purpose of the embodiments of the present invention is to provide a clamping and carrying mechanism, a clamping and carrying method and a robot to solve the technical problems in the prior art that the robot can only carry boxes of a specific size and the boxes are prone to violent swinging.

[0005] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: to provide a clamping and transporting mechanism for clamping a box body, the box body having a first pressing surface and a second pressing surface arranged at intervals from each other in the vertical direction, the clamping and transporting mechanism comprising a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly, the two ends of the elastic part are respectively connected to the fixing part and the pressing part, so that the pressing part can move along the extension and contraction direction of the elastic part, the pressing part is used to press on the first pressing surface, the supporting part is rotatably connected to the fixing part, the driving assembly is used to drive the supporting part to rotate, and the supporting part is used to abut against the second pressing surface.

[0006] In the above scheme, the clamping and carrying mechanism includes a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly. The pressing part can move along the expansion and contraction direction of the elastic part, and the supporting part can rotate to abut against the first compression surface of the box body under the drive of the driving assembly. In this way, when carrying the box, the pressing part first contacts the first compression surface of the box body, and then the fixing part and other parts move down, the pressing part remains stationary, the elastic part stretches, and then the driving assembly drives the supporting part to rotate to abut against the second compression surface. The box body can be supported by at least two clamping and carrying mechanisms. When supporting the box body, the pressing part and the supporting part abut against the first compression surface and the second compression surface of the box body respectively, which can make the box body more stable during the transportation process, and the position of the pressing part can be adjusted by the expansion and contraction of the elastic part, which is suitable for the transportation of boxes of different sizes.

[0007] Optionally, the driving assembly includes a motor, a swinging member and a connecting rod, the motor is fixed to the fixed member, the swinging member is driven to swing by the motor, one end of the connecting rod is rotatably connected to the swinging member, and the other end of the connecting rod is rotatably connected to the supporting member.

[0008] In the above scheme, the rotation of the supporting member is achieved through the setting of the swinging member and the connecting rod, so that the movement path of the supporting member can be from the first position to the second position. There is no need to set an encoder or the like to control the rotation angle of the motor, and the supporting member will not rotate to interfere with other structures of the box.

[0009] Optionally, the supporting member includes a supporting plate and a first hinge portion, wherein the first hinge portion is connected to the bottom of the supporting plate, the first hinge portion is rotatably connected to the connecting rod, and the supporting plate is rotatably connected to the fixing member.

[0010] In the above scheme, by arranging the first hinge part at the bottom of the supporting plate, a certain distance is maintained between the end of the connecting rod close to the first hinge part and the supporting plate, so as to avoid interference between the supporting plate and the connecting rod during the flipping process.

[0011] Optionally, a guide column is provided on the fixing member, and the pressing member is provided with a guide hole for the guide column to pass through.

[0012] In the above solution, the movement of the pressing member can be guided by the cooperation between the guide column and the guide hole of the pressing member, so that the pressing member can move stably along the extension and retraction direction of the elastic member.

[0013] Optionally, the bottom end of the guide column is fixedly connected to the fixing member, and a limiting plate is fixed to the top end of the guide column, and the limiting plate is used to prevent the pressing member from being separated from the guide column.

[0014] In the above solution, the movement stroke of the pressing member can be limited by setting the limiting piece, thereby preventing the pressing member from falling off the guide column.

[0015] Optionally, the fixing member includes a fixing plate, a guide block, a mounting block and a mounting column, the fixing plate has a side facing the box body, the guide block, the mounting block and the mounting column are all connected to the side of the fixing plate facing away from the box body, the guide block is provided with a mounting hole for the guide column to extend into, the motor of the drive assembly is fixed to the mounting block, and one end of the elastic member is connected to the mounting column.

[0016] In the above scheme, by arranging the guide block, the mounting block and the mounting column on the fixed plate, the guide column, the motor and the elastic member can all be mounted on the fixed member, making the structure of the clamping and transporting mechanism more compact and the layout more reasonable.

[0017] Optionally, the guide block and the mounting block are spaced apart to form a space for accommodating the elastic member, and the mounting column is disposed between the guide block and the mounting block.

[0018] In the above scheme, the guide block and the mounting block are spaced apart to form a space for accommodating the elastic member. In this way, the structure of the fixing member can be made more compact. The two sides of the elastic member are respectively shielded by the guide block and the mounting block to protect and shield the elastic member.

[0019] Optionally, a second hinged portion is provided on the bottom side of the fixing plate and protrudes downward, and the second hinged portion is rotatably connected to the supporting member.

[0020] In the above solution, by arranging the second hinge part on the bottom side of the fixing plate, a certain distance is provided between the fixing plate and the supporting member, so as to prevent the supporting member from interfering with the fixing plate when rotating.

[0021] The present invention also provides a clamping and carrying method, which is applied to the above-mentioned clamping and carrying mechanism, and comprises the following steps:

[0022] The clamping and transporting mechanism moves until the pressing member is pressed against the first pressing surface of the box body, and the supporting member is located at the first position;

[0023] The clamping and carrying mechanism moves downward, and the elastic member stretches, so that the rotation axis of the supporting member is lower than the second pressing surface of the box body;

[0024] The driving assembly works to rotate the supporting member to a second position, and the supporting member abuts against the second pressing surface.

[0025] In the above scheme, when supporting the box body, the clamping member and the supporting member respectively abut against the first clamping surface and the second clamping surface of the box body, which can make the box body more stable during transportation, and the position of the clamping member can be adjusted by the expansion and contraction of the elastic member, which is suitable for carrying boxes of different sizes.

[0026] The present invention also provides a robot, comprising a robot body, two mechanical arms connected to the robot body, and two of the above-mentioned clamping and conveying mechanisms, wherein the two clamping and conveying mechanisms are respectively connected to the ends of the two mechanical arms.

[0027] In the above scheme, the clamping and carrying mechanism includes a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly. The pressing part can move along the expansion and contraction direction of the elastic part, and the supporting part can rotate to abut against the first compression surface of the box body under the drive of the driving assembly. In this way, when carrying the box, the pressing part first contacts the first compression surface of the box body, and then the fixing part and other parts move down, the pressing part remains stationary, the elastic part stretches, and then the driving assembly drives the supporting part to rotate to abut against the second compression surface. The box body can be supported by at least two clamping and carrying mechanisms. When supporting the box body, the pressing part and the supporting part abut against the first compression surface and the second compression surface of the box body respectively, which can make the box body more stable during the transportation process, and the position of the pressing part can be adjusted by the expansion and contraction of the elastic part, which is suitable for the transportation of boxes of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0029] Figure 1 A schematic diagram of the structure of the clamping and carrying mechanism provided in an embodiment of the present invention when carrying a box;

[0030] Figure 2 A three-dimensional structural diagram of the clamping and transporting mechanism provided by an embodiment of the present invention in an open state;

[0031] Figure 3 A three-dimensional structural diagram of the clamping and carrying mechanism provided by an embodiment of the present invention in a clamping state;

[0032] Figure 4 A diagram showing the coordination structure between the clamping and transporting mechanism provided by an embodiment of the present invention and the box body in an open state;

[0033] Figure 5 A diagram showing the coordination structure between the clamping and carrying mechanism provided by an embodiment of the present invention and the box body in the clamping state;

[0034] Figure 6 A three-dimensional structural diagram of a fixing member provided in an embodiment of the present invention;

[0035] Figure 7A three-dimensional structural diagram of a clamping and transporting mechanism and a mechanical arm provided in an embodiment of the present invention;

[0036] Figure 8 A three-dimensional structural diagram of a robot provided in an embodiment of the present invention.

[0037] Among them, the reference numerals in the figure are:

[0038] 100-clamping and carrying mechanism; 10-fixing member; 11-fixing plate; 12-guide block; 120-mounting hole; 13-mounting block; 14-mounting column; 141-mounting groove; 15-second hinge part; 151-third hinge hole; 20-pressing member; 21-guide hole; 30-elastic member; 40-guide column; 41-limiting plate; 50-supporting member; 51-supporting plate; 52-first hinge part; 60-driving assembly; 61-motor; 62-swinging member; 63-connecting rod; 70-mounting plate; 200-box; 201-first pressing surface; 202-second pressing surface; 203-hand buckle position; 300-six-dimensional force sensor; 400-mechanical arm; 500-robot body. DETAILED DESCRIPTION

[0039] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0040] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can 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 can be directly connected to the other element or indirectly connected to the other element.

[0041] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention 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 operate in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0042] 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 one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] As the country vigorously promotes the development of humanoid robots, humanoid robots have entered a period of rapid development. Some humanoid robots have begun to enter industrial fields such as automobile manufacturing to replace humans in high-intensity, high-risk, and high-repetitive labor. Compared with traditional industrial robotic arms or traditional composite robots, the application of humanoid robots is more suitable for unstructured scenes in industrial scenes. Among them, material box handling in workshops has become one of the scenarios for the industrial application of humanoid robots.

[0044] Because bipedal humanoid robots cannot maintain stable movement like humans when walking, especially when the center of gravity of the box is offset, the box will swing violently during the humanoid robot's moving process, affecting the humanoid robot's walking gait and causing the risk of the material in the box to scatter. At the same time, the size of the box varies, and the end handling mechanism of the humanoid robot is generally only suitable for boxes of a specific size, with poor compatibility.

[0045] In order to solve the above technical problems, the present invention proposes a clamping and carrying mechanism 100, a clamping and carrying method and a robot. The clamping and carrying mechanism 100 includes a first pressing surface 201 and a second pressing surface 202 of a box body 200 respectively abutted by a pressing member 20 and a supporting member 50, and the pressing member 20 can move in the extension direction of the elastic member 30. When carrying a box, the pressing member 20 first contacts the first pressing surface 201 of the box body 200, and then the fixing member 10 and other components move downward, the pressing member 20 remains stationary, the elastic member 30 stretches, and then the driving assembly 60 drives the supporting member 50 to rotate to abut against the second pressing surface 202, and the box body 200 can be supported by at least two clamping and carrying mechanisms 100. In this way, the box body 200 is more stable during the transportation process, and the distance between the pressing member 20 and the supporting member 50 can be adjusted by the extension length of the elastic member 30, which can be applicable to boxes 200 of various sizes.

[0046] The clamping and conveying mechanism 100 provided in the embodiment of the present invention is now described. The clamping and conveying mechanism 100 is used for clamping and conveying a box body 200. The box body 200 has a first pressing surface 201 and a second pressing surface 202. The first pressing surface 201 and the second pressing surface 202 are arranged at intervals in the vertical direction. The first pressing surface 201 can be arranged to be higher than the second pressing surface 202. The pressing member 20 of the clamping and conveying mechanism 100 is used to abut against the first pressing surface 201, and the supporting member 50 is used to abut against (support) the second pressing surface 202. By at least two clamping and conveying mechanisms 100 acting on the pressing surfaces at different positions of the box body 200 respectively, the box body 200 can be stably clamped. The first pressing surface 201 and the second pressing surface 202 are both located at the edge of the box body 200. In some boxes 200, the first pressing surface 201 may be the upper surface of the box 200, and the second pressing surface 202 may be the lower surface of the buckle position 203 of the box 200. In some boxes 200, the edge of the box 200 is protruding outward and is provided with a skirt, and the first pressing surface 201 and the second pressing surface 202 are the upper and lower surfaces of the skirt respectively. The first pressing surface 201 and the second pressing surface 202 are the surfaces of the edge of the box 200, and the specific structure on which they are provided is not limited here.

[0047] Please also read Figures 1 to 3 The clamping and carrying mechanism 100 includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30 and a driving assembly 60. The clamping and carrying mechanism 100 can be moved as a whole to be close to the box body 200 and pressed against the box body 200 to achieve the purpose of carrying the box body 200.

[0048] The fixing member 10 is the main mounting structure of the clamping and transporting mechanism 100, and the pressing member 20 and the supporting member 50 can both move relative to the fixing member 10. The fixing member 10 can be a single-piece structure or a multi-piece structure.

[0049] The pressing member 20 is used to press the first pressing surface 201 of the box body 200. The pressing member 20 and the fixing member 10 are connected to each other through the elastic member 30, so that the pressing member 20 can move along the expansion and contraction direction of the elastic member 30, thereby changing the distance between the pressing member 20 and the supporting member 50, so that the clamping and transporting mechanism 100 can be suitable for transporting boxes 200 of various sizes.

[0050] The two ends of the elastic member 30 are respectively connected to the pressing member 20 and the fixing member 10, and the connection between the elastic member 30 and the pressing member 20 and the fixing member 10 can be fixed connection, hook connection, etc. The elastic member 30 is a deformable structural member, such as a spring.

[0051] The supporting member 50 is rotatably connected to the fixing member 10, and the supporting member 50 has a first position and a second position. Figure 2As shown, the supporting member 50 is in the first position, the supporting member 50 is in a non-working state, and does not contact the second pressing surface 202. Figure 3 As shown, the supporting member 50 is in the second position, and the supporting member 50 is in a working state and can contact with the second pressing surface 202. The supporting member 50 can be switched between the first position and the second position.

[0052] The driving assembly 60 is a power component, which is used to drive the supporting member 50 to rotate relative to the fixing member 10. The motion output end of the driving assembly 60 is connected to the supporting member 50, so that the supporting member 50 can be switched between the first position and the second position.

[0053] See also Figure 4 and Figure 5 When clamping the box body 200, the clamping and transporting mechanism 100 moves to the first pressing surface 201 close to the box body 200, and then the pressing member 20 is pressed against the first pressing surface 201, the clamping and transporting mechanism 100 moves downward, the elastic member 30 is stretched, and the supporting member 50 moves to below the second pressing surface 202 (the supporting member 50 is lower than the second pressing surface 202 in the height direction, and in the horizontal direction, the supporting member 50 and the second pressing surface 202 can be staggered or partially opposite to each other), and the driving assembly 60 drives the supporting member 50 to rotate relative to the fixing member 10, so that the supporting member 50 rotates to the second position, and the supporting member 50 abuts against the second pressing surface 202. In this way, the supporting member 50 of the clamping and carrying mechanism 100 is located below the second pressing surface 202 to support the second pressing surface 202, and the pressing member 20 is located above the first pressing surface 201 to press the first pressing surface 201 to support the box 200. The two clamping and carrying mechanisms 100 clamp and support the two opposite sides of the box 200 together to lift the box 200.

[0054] The clamping and transporting mechanism 100 in the above embodiment includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30 and a driving assembly 60. The pressing member 20 can move along the extension direction of the elastic member 30, and the supporting member 50 can rotate to abut against the first pressing surface 201 of the box body 200 under the drive of the driving assembly 60. In this way, when transporting a box, the pressing member 20 first contacts the first pressing surface 201 of the box body 200, and then the fixing member 10 and other components move downward, the pressing member 20 remains stationary, the elastic member 30 stretches, and then the driving assembly 60 drives the supporting member 50 to rotate to abut against the second pressing surface 202, and the box body 200 can be supported by at least two clamping and transporting mechanisms 100. When supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, which can make the box body 200 more stable during transportation. The position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for transportation of boxes 200 of different sizes.

[0055] In some embodiments of the present invention, the pressing member 20 has a first mating surface that abuts against the first pressing surface 201, and the supporting member 50 has a second mating surface that abuts against the second pressing surface 202. The first pressing surface 201 and the second pressing surface 202 are parallel to each other and are both parallel to the horizontal direction, which can make the holding and matching between the clamping and transporting mechanism 100 and the box body 200 more stable. Correspondingly, the first mating surface and the second mating surface in the second position are also parallel to each other and are arranged horizontally.

[0056] In some embodiments of the present invention, see Figure 2 and Figure 3 The driving assembly 60 includes a motor 61, a swinging member 62 and a connecting rod 63. The motor 61 is fixed to the fixed member 10. The swinging member 62 is driven to swing by the motor 61. One end of the connecting rod 63 is rotatably connected to the swinging member 62, and the other end of the connecting rod 63 is rotatably connected to the supporting member 50. The motor 61, the swinging member 62 and the connecting rod 63 are sequentially connected in transmission. The motor 61 drives the swinging member 62 to swing, and the connecting rod 63 also swings accordingly. The swinging of the connecting rod 63 drives the supporting member 50 to rotate. Among them, the line connecting the output end of the motor 61 and the rotating shaft of the supporting member 50, the line connecting the two ends of the swinging member 62, the line connecting the two ends of the connecting rod 63, and the line connecting one end of the connecting rod 63 and the rotating shaft of the supporting member 50 form a four-bar mechanism to realize the rotation of the supporting member 50 relative to the fixed member 10.

[0057] By setting the swing member 62 and the connecting rod 63, the support member 50 can be rotated, and the movement path of the support member 50 can be made from the first position to the second position. There is no need to set an encoder or the like to control the rotation angle of the motor 61, and the support member 50 will not rotate to interfere with other structures of the box body 200.

[0058] In some embodiments, the driving assembly 60 includes a motor 61, the output end of the motor 61 is fixed to the supporting member 50, and the supporting member 50 is directly driven to rotate by the motor 61. In this way, the driving assembly 60 has a simple structure and low cost.

[0059] In some embodiments, see Figure 2 The swing member 62 is in the shape of a water drop, and the larger end of the swing member 62 is fixedly connected to the motion output end of the motor 61. In this way, the connection position between the swing member 62 and the motor 61 can be made larger, and the swing member 62 and the motion output end of the motor 61 are connected by a plurality of circumferentially arranged screws. The smaller end of the swing member 62 is rotatably connected to the connecting rod 63.

[0060] In some embodiments of the present invention, see Figure 2The supporting member 50 includes a supporting plate 51 and a first hinged portion 52. The first hinged portion 52 is connected to the bottom of the supporting plate 51. The first hinged portion 52 is rotatably connected to the connecting rod 63. The supporting plate 51 is rotatably connected to the fixing member 10. When the connecting rod 63 rotates, the first hinged portion 52 rotates under the drive of the connecting rod 63, and the supporting plate 51 also rotates accordingly. The supporting plate 51 has a second mating surface for abutting against the second pressing surface 202. The bottom of the supporting plate 51 is a position away from the second mating surface.

[0061] By providing the first hinge portion 52 at the bottom of the supporting plate 51 , a certain distance is maintained between the end of the connecting rod 63 close to the first hinge portion 52 and the supporting plate 51 , thereby avoiding interference between the supporting plate 51 and the connecting rod 63 during the flipping process.

[0062] In some embodiments, the supporting plate 51 and the first hinge portion 52 are integrally formed and do not need to be installed with each other. They can be easily processed by injection molding.

[0063] In some embodiments, the connection between the first hinge portion 52 and the support plate 51 is set away from the rotation axis of the support plate 51. In this way, when the first hinge portion 52 rotates, it can effectively drive the support plate 51 to rotate, reducing the driving force required for the support plate 51 to rotate.

[0064] In some embodiments, the first hinged portion 52 is provided with a first hinged hole, and the connecting rod 63 is provided with a second hinged hole. The first hinged portion 52 and the connecting rod 63 are rotatably connected by passing the hinge shaft through the first hinged hole and the second hinged hole.

[0065] In some embodiments of the present invention, see Figure 2 and Figure 6 The fixing member 10 is provided with a guide post 40, and the pressing member 20 is provided with a guide hole 21 for the guide post 40 to pass through. The pressing member 20 moves along the length direction of the guide post 40 under the guidance of the guide post 40, and accordingly, the expansion and contraction direction of the elastic member 30 is the same as the length direction of the guide post 40.

[0066] By the cooperation between the guide column 40 and the guide hole 21 of the pressing member 20 , the movement of the pressing member 20 can be guided, and the pressing member 20 can be stably moved along the extension and retraction direction of the elastic member 30 .

[0067] In some embodiments, there are multiple guide posts 40 and correspondingly, there are multiple guide holes 21. Each guide post 40 passes through each guide hole 21 in a one-to-one correspondence, so that the pressing member 20 can move more smoothly.

[0068] In some embodiments of the present invention, see Figure 2 and Figure 6The bottom end of the guide column 40 is fixedly connected to the fixing member 10, and a limit plate 41 is fixed to the top end of the guide column 40. The limit plate 41 is used to prevent the pressing member 20 from being separated from the guide column 40. The guide column 40 is fixedly connected to the fixing member 10, and the guide column 40 is a guide structure of the pressing member 20. The end of the guide column 40 close to the fixing member 10 is the bottom end of the guide column 40, and the end of the guide column 40 away from the fixing member 10 is the top end of the guide column 40. The pressing member 20 has two extreme positions in the vertical direction. The extreme position of the top of the pressing member 20 is determined by the limit plate 41, and the position of the limit plate 41 is the extreme position of the top of the pressing member 20.

[0069] By disposing the limiting piece 41 , the movement stroke of the pressing member 20 can be limited to prevent the pressing member 20 from falling off the guide column 40 .

[0070] In some embodiments, the cross-section of the guide post 40 is circular, square, or the like, and the guide hole 21 is adapted to the cross-sectional shape of the guide post 40 .

[0071] In some embodiments, the limiting plate 41 is in the shape of a disc, and the outer diameter of the limiting plate 41 is larger than the inner diameter of the guide hole 21 , so that the limiting plate 41 can cover the clamping member 20 to prevent the clamping member 20 from falling off the guide column 40 .

[0072] In some embodiments of the present invention, see Figure 6 The fixing member 10 includes a fixing plate 11, a guide block 12, a mounting block 13 and a mounting column 14. The fixing plate 11 has a side facing the box body 200. The guide block 12, the mounting block 13 and the mounting column 14 are all connected to the side of the fixing plate 11 facing away from the box body 200. The guide block 12 is provided with a mounting hole 120 for the guide column 40 to extend into. The motor 61 of the drive assembly 60 is fixed to the mounting block 13, and one end of the elastic member 30 is connected to the mounting column 14. The side of the fixing plate 11 facing the box body 200 is spaced from the side wall of the box body 200. The side of the fixing plate 11 facing away from the box body 200 has the guide block 12, the mounting block 13 and the mounting column 14. The guide block 12 is used to fix the guide column 40. Specifically, the guide column 40 extends into the mounting hole 120. The mounting block 13 is used to fix the motor 61 of the drive assembly 60. The mounting column 14 is used to fix the elastic member 30.

[0073] By arranging the guide block 12, the mounting block 13 and the mounting column 14 on the fixing plate 11, the guide column 40, the motor 61 and the elastic member 30 can all be installed on the fixing member 10, so that the structure of the clamping and transporting mechanism 100 is more compact and the layout is more reasonable.

[0074] In some embodiments, a connecting hole is opened at the bottom of the guide block 12, and the connecting hole is connected to the mounting hole 120. The threaded member passes through the connecting hole and is connected to the guide column 40 in the mounting hole 120, thereby achieving a fixed connection between the guide block 12 and the guide column 40.

[0075] In some embodiments, when the supporting member 50 is in the first position, the side of the fixing member 10 facing the box body 200 and the side of the supporting member 50 facing the box body 200 are parallel to or overlap each other. When the supporting member 50 is in the second position, the fixing member 10 faces the same side and the second mating surface of the supporting member 50 is perpendicular to each other.

[0076] In some embodiments of the present invention, see Figure 6 The guide block 12 and the mounting block 13 are spaced apart to form a space for accommodating the elastic member 30, and the mounting column 14 is disposed between the guide block 12 and the mounting block 13. The elastic member 30 is disposed between the guide block 12 and the mounting block 13 and is connected to the mounting column 14.

[0077] By spacing the guide block 12 and the mounting block 13 apart, a space is formed to accommodate the elastic member 30. In this way, the structure of the fixing member 10 can be made more compact. The two sides of the elastic member 30 are respectively shielded by the guide block 12 and the mounting block 13 to protect and shield the elastic member 30.

[0078] In some embodiments, there are two guide blocks 12 , the mounting block 13 is disposed between the two guide blocks 12 , and mounting columns 14 are disposed between the mounting block 13 and the adjacent guide blocks 12 , and the number of elastic members 30 is also two accordingly.

[0079] In some embodiments, the mounting post 14 is provided with a mounting groove 141, and one end of the elastic member 30 is hooked in the mounting groove 141. The pressing member 20 is provided with a hooking portion, and the other end of the elastic member 30 is hooked on the hooking portion.

[0080] In some embodiments of the present invention, see Figure 2 and Figure 6 The bottom side of the fixed plate 11 is protruded downward and is provided with a second hinged portion 15, and the second hinged portion 15 is rotatably connected to the supporting member 50. The second hinged portion 15 is connected to the bottom side of the fixed plate 11, and the rotatable connection between the fixed plate 11 and the supporting member 50 is realized by the arrangement of the second hinged portion 15.

[0081] By arranging the second hinge part 15 on the bottom side of the fixing plate 11 , a certain distance is provided between the fixing plate 11 and the supporting member 50 , so as to prevent the supporting member 50 from interfering with the fixing plate 11 when rotating.

[0082] In some embodiments, the number of the second hinged parts 15 is two, and the supporting member 50 can be mounted between the two second hinged parts 15 .

[0083] In some embodiments, the second hinge portion 15 is provided with a third hinge hole 151 , the supporting member 50 is provided with a fourth hinge hole, and the hinge shaft passes through the third hinge hole 151 and the fourth hinge hole to achieve a rotational connection between the supporting member 50 and the fixing member 10 .

[0084] In some embodiments of the present invention, see Figure 2 and Figure 3 The clamping and transporting mechanism 100 also includes a mounting plate 70, which is fixedly connected to the fixing member 10. The mounting plate 70 can be used to connect to the end of the robot arm 400, and the entire clamping and transporting mechanism 100 is moved by the robot arm 400.

[0085] In some embodiments, the mounting plate 70 is fixed to the side wall of the fixing plate 11 without affecting the internal layout of the clamping and transporting mechanism 100 .

[0086] The present invention further provides a clamping and carrying method, which is applied to the clamping and carrying mechanism 100 in any of the above embodiments. The clamping and carrying method comprises the following steps:

[0087] S10: the clamping and transporting mechanism 100 moves to the point where the pressing member 20 is pressed against the first pressing surface 201 of the box body 200, and the supporting member 50 is located at the first position;

[0088] S20: The clamping and transporting mechanism 100 moves downward, and the elastic member 30 stretches, so that the rotation axis of the supporting member 50 is lower than the second pressing surface 202 of the box body 200;

[0089] S30 : the driving assembly 60 works to rotate the supporting member 50 to the second position, and the supporting member 50 abuts against the second pressing surface 202 .

[0090] In the vertical direction, the first pressing surface 201 is higher than the second pressing surface 202, the lower side of the pressing member 20 is pressed against the first pressing surface 201, and the upper side of the supporting member 50 is supported on the second pressing surface 202, so that the box body 200 can be supported. In step S20, the clamping and transporting mechanism 100 moves downward, the position of the pressing member 20 remains unchanged, and the distance between the pressing member 20 and the supporting member 50 is changed by stretching the elastic member 30. The rotation axis of the supporting member 50 is lower than the second pressing surface 202 of the box body 200, so that the supporting member 50 is always located below the second pressing surface 202 during the rotation process. In step S30, when the supporting member 50 rotates to the second position, there may be a distance between the upper surface (second mating surface) of the supporting member 50 and the second pressing surface 202. At this time, the clamping and transporting mechanism 100 moves upward as a whole, the supporting member 50 and the second pressing surface 202 abut against each other, the elastic member 30 contracts, and the pressing member 20 abuts against the first pressing surface 201, thereby clamping the box body 200.

[0091] In the clamping and carrying method provided by the present invention, when supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, so that the box body 200 can be more stable during the carrying process, and the position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for carrying boxes 200 of different sizes.

[0092] The present invention provides a robot, see Figure 7 and Figure 8 The robot includes a robot body 500, two mechanical arms 400 connected to the robot body 500, and two clamping and carrying mechanisms 100 in any of the above embodiments, and the two clamping and carrying mechanisms 100 are respectively connected to the ends of the two mechanical arms 400. When the robot carries the box 200, the two mechanical arms 400 of the robot move to the opposite sides of the box 200 respectively, and then the two clamping and carrying mechanisms 100 clamp the opposite sides of the box 200 respectively to stably lift the box 200.

[0093] The robot provided by the present invention adopts the above-mentioned clamping and carrying mechanism 100, which includes a fixing member 10, a pressing member 20, a supporting member 50, an elastic member 30 and a driving assembly 60. The pressing member 20 can move along the extension direction of the elastic member 30, and the supporting member 50 can rotate to abut against the first pressing surface 201 of the box body 200 under the drive of the driving assembly 60. In this way, when carrying a box, the pressing member 20 first contacts the first pressing surface 201 of the box body 200, and then the fixing member 10 and other components move downward, the pressing member 20 remains stationary, the elastic member 30 stretches, and then the driving assembly 60 drives the supporting member 50 to rotate to abut against the second pressing surface 202, and the box body 200 can be supported by at least two clamping and carrying mechanisms 100. When supporting the box body 200, the clamping member 20 and the supporting member 50 respectively abut against the first clamping surface 201 and the second clamping surface 202 of the box body 200, which can make the box body 200 more stable during transportation. The position of the clamping member 20 can be adjusted by the expansion and contraction of the elastic member 30, which is suitable for transportation of boxes 200 of different sizes.

[0094] In some embodiments, the end of the robotic arm 400 has a six-dimensional force sensor 300 that can detect the position and force conditions of the end of the robotic arm 400.

[0095] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A clamping and transporting mechanism for clamping a box, wherein the box has a first pressing surface and a second pressing surface spaced apart from each other in a vertical direction, characterized in that: The clamping and transporting mechanism includes a fixing part, a pressing part, a supporting part, an elastic part and a driving assembly. The two ends of the elastic part are respectively connected to the fixing part and the pressing part, so that the pressing part can move along the extension and contraction direction of the elastic part. The pressing part is used to press on the first pressing surface. The supporting part is rotatably connected to the fixing part. The driving assembly is used to drive the supporting part to rotate, and the supporting part is used to abut against the second pressing surface.

2. The clamping and transporting mechanism according to claim 1, characterized in that: The driving assembly includes a motor, a swinging member and a connecting rod. The motor is fixed to the fixing member. The swinging member is driven to swing by the motor. One end of the connecting rod is rotatably connected to the swinging member, and the other end of the connecting rod is rotatably connected to the supporting member.

3. The clamping and transporting mechanism according to claim 2, characterized in that: The supporting member includes a supporting plate and a first hinge portion, wherein the first hinge portion is connected to the bottom of the supporting plate, the first hinge portion is rotatably connected to the connecting rod, and the supporting plate is rotatably connected to the fixing member.

4. The clamping and transporting mechanism according to claim 1, characterized in that: The fixing member is provided with a guide column, and the pressing member is provided with a guide hole for the guide column to pass through.

5. The clamping and transporting mechanism according to claim 4, characterized in that: The bottom end of the guide column is fixedly connected to the fixing member, and the top end of the guide column is fixedly provided with a limiting plate, and the limiting plate is used to prevent the pressing member from being separated from the guide column.

6. The clamping and transporting mechanism according to claim 4, characterized in that: The fixing member includes a fixing plate, a guide block, a mounting block and a mounting column, the fixing plate has a side facing the box body, the guide block, the mounting block and the mounting column are all connected to the side of the fixing plate facing away from the box body, the guide block is provided with a mounting hole for the guide column to extend into, the motor of the drive assembly is fixed to the mounting block, and one end of the elastic member is connected to the mounting column.

7. The clamping and transporting mechanism according to claim 6, characterized in that: The guide block and the mounting block are spaced apart to form a space for accommodating the elastic member, and the mounting column is disposed between the guide block and the mounting block.

8. The clamping and transporting mechanism according to claim 6, characterized in that: A second hinged portion is provided on the bottom side of the fixing plate and protrudes downwards, and the second hinged portion is rotatably connected to the supporting member.

9. A clamping and carrying method, applied to the clamping and carrying mechanism according to any one of claims 1 to 8, characterized in that: The following steps are involved: The clamping and transporting mechanism moves until the pressing member is pressed against the first pressing surface of the box body, and the supporting member is located at the first position; The clamping and carrying mechanism moves downward, and the elastic member stretches, so that the rotation axis of the supporting member is lower than the second pressing surface of the box body; The driving assembly works to rotate the supporting member to a second position, and the supporting member abuts against the second pressing surface.

10. A robot, characterized in that: It comprises a robot body, two mechanical arms connected to the robot body, and two clamping and conveying mechanisms as described in any one of claims 1 to 8, wherein the two clamping and conveying mechanisms are respectively connected to the ends of the two mechanical arms.

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