Robot and robot control method

Abstract

The invention discloses a robot and a control method of the robot, relates to the technical field of robots, and solves the technical problem that the size of a robot clamping a to-be-carried object is limited in the related technology. The robot comprises a trunk, a leg rod assembly, a first supporting arm, a second supporting arm and a first adjusting structure, the first end of the leg rod assembly is connected to the trunk, a rolling part is arranged at the second end of the leg rod assembly and used for making contact with the ground, a first clamping part is arranged on the first supporting arm, and a second clamping part is arranged on the second supporting arm and used for making contact with the ground. The first clamping part and the second clamping part are oppositely arranged in the first direction, the first clamping part and the second clamping part are used for clamping a to-be-carried object, the first adjusting structure comprises first adjusting sets, and the first adjusting sets are arranged between the first supporting part and the trunk and between the second supporting arm and the trunk correspondingly; the distance between the first clamping part and the second clamping part in the first direction is adjusted.

Description

Technical Field

[0001] The present application relates to but is not limited to the field of robotics, and in particular to a robot and a robot control method. Background Art

[0002] With the improvement of intelligence, people use robots to clamp objects to be transported, but the size of objects to be transported that can be clamped by robots in related technologies is relatively limited, and they cannot clamp objects of different sizes. Summary of the invention

[0003] The present application provides a robot and a control method for the robot, which can expand the size range of objects to be transported that the robot can clamp, and thus clamp objects to be transported of different sizes.

[0004] In the first aspect, the present application provides a robot, comprising a torso, a leg assembly, a first arm, a second arm and a first adjustment structure, wherein the first end of the leg assembly is connected to the torso, the second end of the leg assembly is provided with a rolling portion, the rolling portion is used to contact the ground, the first arm is provided with a first clamping portion; the second arm is provided with a second clamping portion, the first clamping portion and the second clamping portion are arranged opposite to each other along a first direction, the first clamping portion and the second clamping portion are used to clamp the object to be transported; the first adjustment structure comprises a first adjustment group, and the first adjustment group is respectively provided between the first arm and the torso and between the second arm and the torso to adjust the distance between the first clamping portion and the second clamping portion along the first direction.

[0005] The robot provided by the present application has a first adjustment group disposed between the first arm and the trunk and between the second arm and the trunk, respectively, and the first adjustment group is used to adjust the distance between the first clamping part and the second clamping part along the first direction, thereby adapting to the size of the object to be transported. In other words, to clamp objects of different sizes, it is only necessary to adjust the distance between the first clamping part and the second clamping part along the first direction through the first adjustment group, thereby expanding the size range of the robot clamping the object to be transported, thereby clamping objects of different sizes. Compared with the related art, the size of the object to be transported by the robot is relatively limited, and the clamping part of the robot can only clamp objects of one size to be transported. The present application has a technical effect of being able to expand the size range of the robot clamping the object to be transported, thereby clamping objects of different sizes to be transported, by disposing the first adjustment group between the first arm and the trunk and between the second arm and the trunk, respectively, and adjusting the distance between the first clamping part and the second clamping part along the first direction through the first adjustment group.

[0006] In an implementation provided in the present application, the first adjustment group includes a first adjustment shaft, the first adjustment shaft is rotatably connected to the trunk, and the first arm is connected to the radial side wall of the first adjustment shaft; wherein the axial direction of the first adjustment shaft is perpendicular to the first direction.

[0007] In an implementable method provided in the present application, the first adjustment group includes at least two first adjustment shafts connected end to end, one of the two adjacent first adjustment shafts is connected to the radial side wall of the other first adjustment shaft, the first adjustment shaft located at the head end is rotatably connected to the trunk, and the first arm is connected to the radial side wall of the first adjustment shaft located at the tail end; wherein the axial directions of the multiple first adjustment shafts are perpendicular to the first direction, and the axial directions of the two adjacent first adjustment shafts are not collinear.

[0008] In an implementable method provided in the present application, the first adjustment structure includes a second adjustment group, and the second adjustment group is respectively arranged between the first arm and the trunk and between the second arm and the trunk to adjust the distance between the first clamping part and the trunk along the second direction and the distance between the second clamping part and the trunk along the second direction; wherein the second direction is perpendicular to the first direction.

[0009] In an implementation provided in the present application, the second adjustment group includes a second adjustment shaft, the second adjustment shaft is connected to the radial side wall of the first adjustment shaft connected to the torso, and the first arm is connected to the radial side wall of the second adjustment shaft; wherein the axial direction of the second adjustment shaft is parallel to the first direction.

[0010] In an implementation method provided in the present application, the second adjustment group includes multiple second adjustment shafts, one second adjustment shaft among the multiple second adjustment shafts is connected to the radial side wall of the first adjustment shaft located at the tail end and connected to the first support arm, the first support arm is connected to the radial side wall of the corresponding second adjustment shaft, and each two adjacent first adjustment shafts are connected through the second adjustment shaft, the corresponding second adjustment shaft is connected to the radial side wall of one of the two connected first adjustment shafts, and the other first adjustment shaft is connected to the radial side wall of the second adjustment shaft; wherein the axial directions of the multiple second adjustment shafts are parallel to the first direction, and the axial directions of two adjacent second adjustment shafts are not collinear.

[0011] In an implementation provided in the present application, the robot also includes a second adjustment structure, which is arranged between the first end and the second end of the leg rod assembly to adjust the distance between the first end of the leg rod assembly and the second end of the leg rod assembly along a second direction, wherein the second direction is perpendicular to the first direction.

[0012] In an implementable method provided in the present application, the leg rod assembly includes a first leg rod and a second leg rod, the first end of the first leg rod is connected to the torso, the second end of the second leg rod is provided with a rolling portion, and the second adjustment structure includes a third adjustment shaft, which is provided between the second end of the first leg rod and the first end of the first leg rod to enable the second leg rod to rotate relative to the first leg rod; wherein the axial direction of the third adjustment shaft is parallel to the first direction.

[0013] In a second aspect, the present application also provides a method for controlling a robot, which is the robot provided by any one of the first aspects, comprising: in response to an instruction that an object to be transported needs to be clamped, controlling a first adjustment group to adjust a distance between a first clamping part and a second clamping part along a first direction; and controlling the first clamping part and the second clamping part to clamp the object to be transported.

[0014] The robot control method provided in the present application is the robot control method provided in any one of the first aspects, and therefore has the same technical effect, that is, it can expand the size range of the objects to be transported that the robot can grip, and thus grip objects to be transported of different sizes.

[0015] In an implementable embodiment provided in the present application, the first adjustment structure includes a second adjustment group, and a second adjustment group is respectively arranged between the first arm and the torso and between the second arm and the torso to adjust the distance between the first clamping part and the torso along the second direction and the distance between the second clamping part and the torso along the second direction, and the second direction is perpendicular to the first direction. The method also includes: controlling the second adjustment group to adjust the distance between the first clamping part and the torso along the second direction and the distance between the second clamping part and the torso along the second direction. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the structure of a robot from a first perspective provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of the structure of the robot from a second perspective provided in an embodiment of the present application;

[0018] Figure 3 A schematic diagram of the structure of the robot from a third perspective provided in an embodiment of the present application.

[0019] Reference numerals:

[0020] 1-robot; 11-torso; 12-leg rod assembly; 121-first leg rod; 122-second leg rod; 1221-rolling part; 13-first support arm; 131-first clamping part; 14-second support arm; 141-second clamping part; 15-first adjustment structure; 151-first adjustment group; 1511-first adjustment axis; 152-second adjustment group; 1521-second adjustment axis; 16-second adjustment structure; 161-third adjustment axis; 162-fourth adjustment axis; A-first direction; B-second direction. DETAILED DESCRIPTION

[0021] It should be noted that, in the absence of conflict, the embodiments and technical features in the embodiments of the present application can be combined with each other, and the detailed description in the specific implementation method should be understood as an explanation of the purpose of the present application and should not be regarded as an improper limitation on the present application.

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the specific technical solution of the present application will be further described in detail below in conjunction with the drawings in the embodiments of the present application. The following embodiments are used to illustrate the present application, but are not used to limit the scope of the present application.

[0023] In the embodiments of the present application, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present application, unless otherwise specified, "multiple" means two or more.

[0024] In addition, in the embodiments of the present application, directional terms such as "up", "down", "left" and "right" are defined relative to the orientation of the components in the drawings. It should be understood that these directional terms are relative concepts. They are used for relative description and clarification, and they may change accordingly according to the changes in the orientation of the components in the drawings.

[0025] In the embodiments of the present application, unless otherwise clearly specified and limited, the term "connection" should be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium.

[0026] In the embodiments of the present application, the terms "include", "comprises" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "includes a ..." does not exclude the presence of other identical elements in the process, method, article or device including the element, that is, it may also include multiple elements.

[0027] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a specific way.

[0028] Reference Figure 1 , Figure 2 and Figure 3Material handling and box transfer are widely proposed in industrial scene needs. In the past, they were all handled manually. However, with the aging of the population and the difficulty of recruiting workers in factories, some low-value-added labor-intensive industries have been forced to turn to technology-intensive industries, which in turn gave birth to new things such as robots 1. Robots 1 can pick up objects to be transported and replace manual labor. This can improve production efficiency, reduce production costs, ensure personnel safety, and alleviate factory employment pressure. At the same time, it has further promoted the advancement of robot 1 technology and has the opportunity to play a greater value in the future.

[0029] Reference Figure 1 , Figure 2 and Figure 3 , an embodiment of the present application provides a robot 1, the robot 1 includes a trunk 11, a leg rod assembly 12, a first support arm 13, a second support arm 14 and a first adjustment structure 15, wherein the first end of the leg rod assembly 12 is connected to the trunk 11, the second end of the leg rod assembly 12 is provided with a rolling portion 1221, the rolling portion 1221 is used to contact the ground, the first support arm 13 is provided with a first clamping portion 131; the second support arm 14 is provided with a second clamping portion 141, the first clamping portion 131 and the second clamping portion 141 are arranged opposite to each other along a first direction A, the first clamping portion 131 and the second clamping portion 141 are used to clamp the object to be transported; the first adjustment structure 15 includes a first adjustment group 151, and the first adjustment group 151 is respectively provided between the first support arm 13 and the trunk 11 and between the second support arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A.

[0030] The robot 1 provided in the embodiment of the present application may be made of metal such as steel or aluminum alloy, or may be made of non-metallic materials such as carbon fiber, aramid fiber, and glass fiber, and the embodiment of the present application does not limit this.

[0031] The robot 1 provided in the embodiment of the present application can be applied to factories. On the cargo box assembly line of the factory, the robot 1 can flexibly pick up boxes, unpack and transport them, and stack them into whole stacks. The robot 1 provided in the embodiment of the present application can be applied to supermarkets. When supermarkets deliver goods wholesale, the robot 1 can flexibly unload and transport them according to the vehicle.

[0032] In the embodiment of the present application, the first end of the leg rod assembly 12 is connected to the trunk 11. Here, the first end of the leg rod assembly 12 can be fixedly connected to the torso 11. In other words, the first end of the leg rod assembly 12 can remain unchanged in position relative to the torso 11, and the first end of the leg rod assembly 12 can neither slide nor rotate relative to the torso 11; of course, the first end of the leg rod assembly 12 can also be movably connected to the torso 11. In other words, the first end of the leg rod assembly 12 can change its position relative to the torso 11, and the first end of the leg rod assembly 12 can slide relative to the torso 11, and / or the first end of the arm rod assembly can rotate relative to the torso 11. This embodiment of the present application does not limit this.

[0033] In an embodiment of the present application, a rolling portion 1221 is provided at the second end of the leg rod assembly 12, and the rolling portion 1221 is used to contact the ground. Here, the rolling portion 1221 can be a roller without a balancing function provided at the second end of the leg rod assembly 12. In other words, the balancing function of the robot 1 requires manual control. Of course, the rolling portion 1221 can also be a roller with a balancing function provided at the second end of the leg rod assembly 12. In other words, the balancing function of the robot 1 does not need to be manually controlled. Further, the robot 1 can also be called a self-balancing robot 1. In an implementable method provided in an embodiment of the present application, the roller portion is a roller with a balancing function provided at the second end of the leg rod assembly 12, and the roller has a hub motor with a single output shaft.

[0034] In the embodiment of the present application, the first clamping portion 131 and the second clamping portion 141 are used to clamp the object to be transported. Here, the object to be transported can be a bag-shaped object, a box-shaped object, a bottle-shaped object, etc.; the object to be transported can be made of metal material, the object to be transported can be made of plastic, and the object to be transported can be made of paper material. The embodiment of the present application does not limit the shape and type of the object to be transported.

[0035] In the embodiment of the present application, the first clamping portion 131 and the second clamping portion 141 can be a hand-shaped structure, a claw structure; or a plate-shaped structure. The embodiment of the present application is not limited to this, as long as the first clamping portion 131 and the second clamping portion 141 can clamp the object to be transported.

[0036] In the embodiment of the present application, the first adjustment structure 15 includes a first adjustment group 151, and the first adjustment group 151 is respectively provided between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A. Here, the first adjustment group 151 plays the role of connecting the first arm 13 and the trunk 11, and can also adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A. Similarly, the first adjustment group 151 also plays the role of connecting the second arm 14 and the trunk 11, and can also adjust the distance between the second clamping portion 141 and the first clamping portion 131 along the first direction A.

[0037] In the embodiment of the present application, the first adjustment structure 15 includes a first adjustment group 151, and the first adjustment group 151 is respectively arranged between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A. Here, the first adjustment group 151 can be a spring that is arranged between the first arm 13 and the trunk 11 and is telescopic along the first direction A, and a spring that is telescopic along the first direction A between the second arm 14 and the trunk 11. By compressing the spring, the first clamping portion 131 and the second clamping portion 1 41 along the first direction A is reduced; the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A is increased by the uncompressed spring; the first adjustment group 151 can be an adjustment shaft arranged between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11, and the axial direction of the adjustment shaft is perpendicular to the first direction A. Through the rotation of the adjustment shaft, the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A is reduced or increased. Of course, the first adjustment group 151 can also be other structures, and this embodiment of the present application is not limited to this.

[0038] In the embodiment of the present application, the robot 1 is a simplified board robot 1 for clamping objects to be transported, which is composed of the simplest form of a first arm 13, a second arm 14, and a leg rod assembly 12. The configuration is used rationally, so that the cost can be reduced and the efficiency can be improved. On this basis, there can be two leg rod assemblies 12, and the two leg rod assemblies 12 are connected to the trunk 11 along the first direction A, so that the stability of the robot 1 can be improved.

[0039] The robot 1 provided in the embodiment of the present application has a first adjustment group 151 respectively provided between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11. The first adjustment group 151 is used to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to adapt to the size of the object to be transported. In other words, to clamp objects to be transported of different sizes, it is only necessary to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A through the first adjustment group 151, thereby expanding the size range of the objects to be transported by the robot 1, thereby clamping objects to be transported of different sizes. Compared with the related art, the size of the object to be clamped by the robot 1 is relatively limited, and the clamping part of the robot 1 can only clamp objects of one size to be clamped. The present application provides a first adjustment group 151 between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11, respectively. The first adjustment group 151 is used to adjust the distance between the first clamping part 131 and the second clamping part 141 along the first direction A, thereby having the technical effect of expanding the size range of the object to be clamped by the robot 1, and thus clamping objects of different sizes to be clamped.

[0040] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: in response to an instruction that the object to be transported needs to be clamped, controlling the first adjustment group 151 to adjust the distance between the first clamping part 131 and the second clamping part 141 along the first direction A; controlling the first clamping part 131 and the second clamping part 141 to clamp the object to be transported.

[0041] Furthermore, the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the first adjustment group 151 is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to make the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A compatible with the size of the object to be transported along the first direction A.

[0042] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, wherein a first adjustment group 151 includes a first adjustment shaft 1511, the first adjustment shaft 1511 is rotatably connected to a trunk 11, and a first arm 13 is connected to a radial side wall of the first adjustment shaft 1511; wherein an axial direction of the first adjustment shaft 1511 is perpendicular to a first direction A.

[0043] Similarly, the first adjustment group 151 includes a first adjustment shaft 1511, which can also be rotatably connected to the trunk 11, and the second arm 14 is connected to the radial side wall of the first adjustment shaft 1511, wherein the axial direction of the first adjustment shaft 1511 is perpendicular to the first direction A.

[0044] The robot 1 provided in the embodiment of the present application is connected to the torso 11 by rotation through the first adjustment shaft 1511, and the first arm 13 is connected to the radial side wall of the first adjustment shaft 1511. The distance between the first clamping part 131 and the second clamping part 141 along the first direction A can be adjusted only by rotating the first adjustment shaft 1511, and has a simple structure and a technical effect that is easy to implement.

[0045] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, including: responding to an instruction that an object to be transported needs to be clamped, controlling the first adjustment shaft 1511 connected to the first arm 13, and / or controlling the first adjustment shaft 1511 connected to the second arm 14 to rotate to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0046] Furthermore, the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A. The first adjustment shaft 1511 connected to the first support arm 13 is controlled, and / or the first adjustment shaft 1511 connected to the second support arm 14 is controlled to rotate, so that the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A is compatible with the size of the object to be transported along the first direction A.

[0047] Reference Figure 1 , Figure 2 and Figure 3 The embodiment of the present application provides a robot 1, wherein a first adjustment group 151 includes at least two first adjustment shafts 1511 connected end to end, wherein one of two adjacent first adjustment shafts 1511 is connected to a radial side wall of the other first adjustment shaft 1511, the first adjustment shaft 1511 located at the head end is rotatably connected to the trunk 11, and the first arm 13 is connected to a radial side wall of the first adjustment shaft 1511 located at the tail end; wherein the axial directions of the plurality of first adjustment shafts 1511 are perpendicular to the first direction A, and the axial directions of two adjacent first adjustment shafts 1511 are not collinear.

[0048] Similarly, the first adjustment group 151 includes at least two first adjustment shafts 1511 connected end to end, one of the two adjacent first adjustment shafts 1511 is connected to the radial side wall of the other adjustment shaft, the first adjustment shaft 1511 located at the head end is rotatably connected to the trunk 11, and the second arm 14 is connected to the radial side wall of the first adjustment shaft 1511 located at the tail end; wherein, the axial directions of the multiple first adjustment shafts 1511 are perpendicular to the first direction A, and the axial directions of the two adjacent first adjustment shafts 1511 are not collinear.

[0049] In the embodiment of the present application, the first adjustment shaft 1511 includes three first adjustment shafts 1511 connected end to end, the first adjustment shaft 1511 located at the head end is rotatably connected to the trunk 11, the first adjustment shaft 1511 located in the middle is connected to the radial side wall of the first adjustment shaft 1511 located at the head end, the first adjustment shaft 1511 located at the tail end is connected to the radial side wall of the first adjustment shaft 1511 located in the middle, and the first support arm 13 is connected to the radial side wall of the first adjustment shaft 1511 located at the tail end.

[0050] The robot 1 provided in the embodiment of the present application can rotate each first adjustment axis 1511 relative to the torso 11 or the adjacent first adjustment axis 1511 by setting at least two first adjustment axes 1511 connected end to end. In this way, the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A can be adjusted more accurately.

[0051] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, wherein the first adjustment structure 15 includes a second adjustment group 152, and the second adjustment group 152 is respectively arranged between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B; wherein the second direction B is perpendicular to the first direction A.

[0052] In the embodiment of the present application, the first adjustment structure 15 includes a second adjustment group 152, and the second adjustment group 152 is respectively arranged between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B. Here, the first adjustment group 151 can be a spring that is arranged between the first arm 13 and the trunk 11 and is telescopic along the second direction B, and a spring that is telescopic along the second direction B between the second arm 14 and the trunk 11. By compressing the spring, the distance between the first clamping portion 131 and the trunk 11 along the second direction B is adjusted. The distance between the first clamping part 131 and the trunk 11 along the second direction B is reduced, and the distance between the second clamping part 141 and the trunk 11 along the second direction B is reduced; the distance between the first clamping part 131 and the trunk 11 along the second direction B is increased, and the distance between the second clamping part 141 and the trunk 11 along the second direction B is increased by the uncompressed spring; the second adjustment group 152 can be an adjustment shaft arranged between the first arm 13 and the trunk 11 and between the second arm and the trunk 11, and the axial direction of the adjustment shaft is perpendicular to the second direction B. By rotating the adjustment shaft, the distance between the first clamping part 131 and the trunk 11 along the second direction B is reduced or increased, and the distance between the second clamping part 141 and the trunk 11 along the second direction B is reduced or increased. Of course, the second adjustment group 152 can also be other structures, and this is not limited by the embodiment of the present application.

[0053] The robot 1 provided in the embodiment of the present application is configured with a second adjustment group 152 respectively arranged between the first arm 13 and the trunk 11 and between the second arm 14 and the trunk 11 to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B. In this way, the first clamping portion 131 and the second clamping portion 141 can be raised and lowered along the second direction B, further expanding the movement range of the first clamping portion 131 and the second clamping portion 141.

[0054] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: in response to an instruction that an object to be transported needs to be clamped, controlling the first adjustment group 151 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and controlling the second adjustment group 152 to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0055] Furthermore, when the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the size of the first clamping portion 131 and the second clamping portion 141 and the position to be placed along the second direction B are not compatible, the first adjustment group 151 is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to make the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A compatible with the size of the object to be transported along the first direction A, and the second adjustment group 152 is controlled to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B to make them compatible with the size of the position to be placed along the second direction B.

[0056] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, wherein the second adjustment group 152 includes a second adjustment shaft 1521, the second adjustment shaft 1521 is connected to the radial side wall of the first adjustment shaft 1511 connected to the torso 11, and the first arm 13 is connected to the radial side wall of the second adjustment shaft 1521; wherein the axial direction of the second adjustment shaft 1521 is parallel to the first direction A.

[0057] Similarly, the second adjustment group 152 includes a second adjustment shaft 1521, which is connected to the radial side wall of the first adjustment shaft 1511 connected to the trunk 11, and the second arm 14 is connected to the radial side wall of the second adjustment shaft 1521; wherein the axial direction of the second adjustment shaft 1521 is parallel to the first direction A.

[0058] The robot 1 provided in the embodiment of the present application is connected to the radial side wall of the first adjustment shaft 1511 connected to the torso 11 through the second adjustment shaft 1521, and the first arm 13 is connected to the radial side wall of the second adjustment shaft 1521. The distance between the first clamping part 131 and the torso 11 along the second direction B and the distance between the second clamping part 141 and the torso 11 along the second direction B can be adjusted by rotating the second adjustment shaft 1521. The robot 1 has a simple structure and is easy to implement technical effects.

[0059] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: responding to an instruction that an object to be transported needs to be clamped, controlling the first adjustment axis 1511 connected to the first arm 13, and / or controlling the first adjustment axis 1511 connected to the second arm 14 to rotate to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and controlling the second adjustment axis 1521 connected to the first arm 13 to rotate to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B, and / or controlling the second adjustment axis 1521 connected to the second arm 14 to rotate to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0060] Further, the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported placed on the ground. When it is found that the size of the object to be transported along the first direction A does not match the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the size of the first clamping portion 131 and the second clamping portion 141 and the position to be placed along the second direction B do not match, the first adjustment shaft 1511 connected to the first support arm 13 and / or the first adjustment shaft 1511 connected to the second support arm 14 are controlled to rotate, so that the first clamping portion 1 The distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A is adapted to the size of the object to be transported along the first direction A; the second adjustment shaft 1521 connected to the first support arm 13 is controlled to rotate to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B, and / or the second adjustment shaft 1521 connected to the second support arm 14 is controlled to rotate to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B, so that the first clamping portion 131 and the second clamping portion 141 are adapted to the size of the position to be placed along the second direction B.

[0061] Reference Figure 1 , Figure 2 and Figure 3 , an embodiment of the present application provides a robot 1, the second adjustment group 152 includes a plurality of second adjustment shafts 1521, one of the plurality of second adjustment shafts 1521 is connected to the radial side wall of the first adjustment shaft 1511 located at the tail end and connected to the first support arm 13, the first support arm 13 is connected to the radial side wall of the corresponding second adjustment shaft 1521, and each two adjacent first adjustment shafts 1511 are connected through the second adjustment shaft 1521, the corresponding second adjustment shaft 1521 is connected to the radial side wall of one of the two connected first adjustment shafts 1511, and the other first adjustment shaft 1511 is connected to the radial side wall of the second adjustment shaft 1521; wherein, the axial directions of the plurality of second adjustment shafts 1521 are parallel to the first direction A, and the axial directions of the two adjacent second adjustment shafts 1521 are not collinear.

[0062] In the embodiment of the present application, a first adjustment axis 1511 and a second adjustment axis 1521 are provided on the torso 11 and the first arm 13 so that the first arm 13 has at least two degrees of freedom. Correspondingly, a first adjustment axis 1511 and a second adjustment axis 1521 are provided on the torso 11 and the second arm 14 so that the second arm 14 has at least two degrees of freedom, thereby improving the flexibility of the robot 1.

[0063] In the embodiment of the present application, the second adjustment group 152 includes a plurality of second adjustment shafts 1521, one of the plurality of second adjustment shafts 1521 is connected to the radial side wall of the first adjustment shaft 1511 located at the tail end and connected to the first support arm 13, the second support arm 14 is connected to the radial side wall of the corresponding second adjustment shaft 1521, and each two adjacent first adjustment shafts 1511 are connected through the second adjustment shaft 1521, the corresponding second adjustment shaft 1521 is connected to the radial side wall of one of the two adjacent first adjustment shafts 1511, and the other first adjustment shaft 1511 is connected to the radial side wall of the second adjustment shaft 1521; wherein, the axial directions of the plurality of second adjustment shafts 1521 are parallel to the first direction A, and the axial directions of the two adjacent second adjustment shafts 1521 are not collinear.

[0064] In the embodiment of the present application, there are three second adjustment shafts 1521, one of which is connected to the radial side wall of the first adjustment shaft 1511 at the tail end connected to the first support arm 13, another second adjustment shaft 1521 is used to connect to the first support arm 13, and another second adjustment shaft 1521 is connected to the radial side wall of one of the two connected first adjustment shafts 1511, and the other first adjustment shaft 1511 is connected to the radial side wall of the second adjustment shaft 1521.

[0065] The robot 1 provided in the embodiment of the present application can rotate each second adjustment axis 1521 relative to the torso 11 or the adjacent first adjustment axis 1511 by setting a plurality of second adjustment axes 1521. In this way, the distance between the first clamping portion 131 and the torso 11 along the second direction B and the distance between the second clamping portion 141 and the torso 11 along the second direction B can be adjusted more accurately.

[0066] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, which also includes a second adjustment structure 16, which is arranged between the first end and the second end of the leg rod assembly 12 to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B, wherein the second direction B is perpendicular to the first direction A.

[0067] In the embodiment of the present application, a second adjustment structure 16 is provided between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B. The second adjustment structure 16 may be a spring that is provided between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 and is telescopic along the second direction B. By compressing the spring, the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 is reduced; by uncompressing the spring, the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 is increased; the second adjustment structure 16 may be an adjustment shaft between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12, the axial direction of the adjustment shaft being perpendicular to the second direction B, and by rotating the adjustment shaft, the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B is reduced or increased. Of course, the second adjustment structure 16 may also be other structures, which are not limited in the embodiment of the present application.

[0068] The robot 1 provided in the embodiment of the present application adjusts the distance between the first end of the leg rod assembly 12 and the second direction B of the leg rod assembly 12 by setting a second adjustment structure 16 at the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12. In this way, the first clamping part 131 and the second clamping part 141 can be raised and lowered along the second direction B, further expanding the movement range of the first clamping part 131 and the second clamping part 141.

[0069] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: in response to an instruction that the object to be transported needs to be clamped, controlling the first adjustment group 151 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and controlling the second adjustment structure 16 to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0070] Furthermore, when the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the size of the first clamping portion 131 and the second clamping portion 141 and the position to be placed along the second direction B are not compatible, the first adjustment group 151 is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to make the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A compatible with the size of the object to be transported along the first direction A, and the second adjustment structure 16 is controlled to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B, and the distance between the second clamping portion 141 and the trunk 11 along the second direction B to make them compatible with the size of the position to be placed along the second direction B.

[0071] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, wherein a leg rod assembly 12 includes a first leg rod 121 and a second leg rod 122, wherein the first end of the first leg rod 121 is connected to the trunk 11, and the second end of the second leg rod 122 is provided with a rolling portion 1221, and the second adjustment structure 16 includes a third adjustment shaft 161, which is provided between the second end of the first leg rod 121 and the first end of the first leg rod 121 so as to enable the second leg rod 122 to rotate relative to the first leg rod 121; wherein the axial direction of the third adjustment shaft 161 is parallel to the first direction A.

[0072] The robot 1 provided in the embodiment of the present application is provided with a third adjustment shaft 161 between the second end of the first leg rod 121 and the first end of the first leg rod 121. The distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B can be adjusted by rotating the third adjustment shaft 161, which has a simple structure and is easy to implement technical effects.

[0073] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: in response to an instruction that an object to be transported needs to be clamped, controlling the first adjustment group 151 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and controlling the third adjustment shaft 161 to rotate to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0074] Furthermore, when the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported and placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the size of the first clamping portion 131 and the second clamping portion 141 along the second direction B is not compatible with the size of the position to be placed, the first adjustment group 151 is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to make the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A compatible with the size of the object to be transported along the first direction A, and the third adjustment shaft 161 is controlled to rotate to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B to be compatible with the size of the position to be placed along the second direction B.

[0075] Reference Figure 1 , Figure 2 and Figure 3 An embodiment of the present application provides a robot 1, wherein the second adjustment structure 16 also includes a fourth adjustment shaft 162, which is arranged between the first end of the first leg rod 121 and the torso 11 to enable the first leg rod 121 to rotate relative to the torso 11; wherein the axial direction of the fourth adjustment shaft 162 is parallel to the first direction A.

[0076] The robot 1 provided in the embodiment of the present application is provided with a third adjustment shaft 161 between the first end of the first leg rod 121 and the torso 11. The distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B can be adjusted by rotating the third adjustment shaft 161, thereby achieving a technical effect of simple structure and easy implementation.

[0077] Correspondingly, the embodiment of the present application also provides a control method for the robot 1, comprising: in response to an instruction that an object to be transported needs to be clamped, controlling the first adjustment group 151 to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and controlling the rotation of the third adjustment shaft 161 and the rotation of the fourth adjustment shaft 162 to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B; controlling the first clamping portion 131 and the second clamping portion 141 to clamp the object to be transported.

[0078] Furthermore, when the first clamping portion 131 and the second clamping portion 141 are required to clamp the object to be transported and placed on the ground, and it is found that the size of the object to be transported along the first direction A is not compatible with the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A, and the size of the first clamping portion 131 and the second clamping portion 141 along the second direction B is not compatible with the size of the position to be placed, the first adjustment group 151 is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to make the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A compatible with the size of the object to be transported along the first direction A, and the rotation of the third adjustment shaft 161 and the fourth adjustment shaft 162 is controlled to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B to be compatible with the size of the position to be placed along the second direction B.

[0079] In one example, when the robot 1 receives an instruction that an object to be transported needs to be transported from the ground to a truck, the control vision module can obtain the current distance between the object to be transported on the ground and the robot 1, the size information of the object to be transported, the height of the truck, and the distance between the truck and the object to be transported placed on the ground. When the robot 1 finds that the object to be transported on the floor is far away from the robot according to the vision module, the robot can control the rolling part 1221 of the robot to roll to the object to be transported according to the current distance between the object to be transported and the robot 1 obtained by the vision module; when the robot finds that the distance between the first clamping part 131 and the second clamping part 141 along the first direction A is greater than the size of the object to be transported along the first direction A according to the vision module, the first adjustment group 151 of the robot is controlled to adjust the distance between the first clamping part 131 and the second clamping part 141 along the first direction A, so as to shorten the distance between the first clamping part 131 and the second clamping part 141 along the first direction A to match the size of the object to be transported along the first direction A. Specifically, the first adjustment shaft 1511 connected to the first arm 13 is controlled. and / or, controlling the first adjustment shaft 1511 connected to the second support arm 14 to rotate so as to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A; when the robot finds that the first clamping portion 131 and the second clamping portion 141 are higher along the second direction B and it is difficult to clamp the object to be transported according to the visual module, controlling the second adjustment shaft 1521 connected to the first support arm 13 to rotate so as to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B, and / or, controlling the second adjustment shaft 1521 connected to the second support arm 14 to rotate so as to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B. 521 is rotated to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B, so that the distance between the first clamping portion 131 and the second clamping portion 141 along the second direction B is shortened to clamp the object to be transported. Specifically, the second adjustment shaft 1521 connected to the first support arm 13 is controlled to rotate to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B, and / or the second adjustment shaft 1521 connected to the second support arm 14 is controlled to rotate to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B;When the robot finds that the distance between the first clamping part 131 and the second clamping part 141 along the second direction B is still high and it is difficult to clamp the object to be transported according to the visual module, the second adjustment structure 16 is controlled to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B and the distance between the second clamping part 141 and the trunk 11 along the second direction B, so that the distance between the first clamping part 131 and the second clamping part 141 along the second direction B is shortened to clamp the object to be transported. Specifically, the third adjustment shaft 161 and the fourth adjustment shaft 162 are controlled to rotate to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B, so that the first clamping part 131 and the second clamping part 141 clamp the object to be transported. After one or more of the above steps, the first clamping part 131 and the second clamping part 141 can clamp the object to be transported. ;

[0080] On this basis, the robot 1 needs to carry the object to be carried clamped by the first clamping part 131 and the second clamping part 141 to the truck. When the robot 1 finds that the distance between the truck and the robot 1 holding the object to be carried is far according to the visual module, the robot 1 controls the rolling part 1221 of the robot 1 to roll to the truck according to the distance between the robot 1 and the truck obtained by the visual module; when the robot finds that the first clamping part 131 and the second clamping part 141 are lower along the second direction B according to the visual module, and it is difficult to place the object to be carried on the truck, the robot controls the second adjustment shaft 1521 connected to the first arm 13 to rotate to adjust the distance between the first clamping part 131 and the trunk 11 along the second direction B. , and / or, control the second adjustment shaft 1521 connected to the second support arm 14 to rotate to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B to extend the first clamping portion 131 and the second clamping portion 141 along the second direction B to adapt to the size of the truck along the second direction B. Specifically, control the second adjustment shaft 1521 connected to the first support arm 13 to rotate to adjust the distance between the first clamping portion 131 and the trunk 11 along the second direction B, and / or, control the second adjustment shaft 1521 connected to the second support arm 14 to rotate to adjust the distance between the second clamping portion 141 and the trunk 11 along the second direction B; when the robot finds that the first clamping portion 131 is still When the second clamping portion 141 is lower along the second direction B and it is difficult to place the object to be transported on the truck, the second adjusting structure 16 is controlled to adjust the distance between the first end of the leg rod assembly 12 and the second end of the leg rod assembly 12 along the second direction B and the distance between the second clamping portion 141 and the trunk 11 along the second direction B, so that the first clamping portion 131 and the second clamping portion 141 are increased along the second direction B to match the size of the object to be transported along the second direction B. Specifically, the third adjusting shaft 161 is controlled to rotate and the fourth adjusting shaft 162 is controlled to rotate to adjust the distance between the first end of the first leg rod 121 and the second end of the second leg rod 122 along the second direction B. When the robot finds that the first clamping portion 131 is When the second clamping portion 141 is increased in height along the second direction B to match the size of the object to be transported along the second direction B, the first adjustment group 151 of the robot is controlled to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to extend the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A to release the object to be transported. Specifically, the first adjustment shaft 1511 connected to the first support arm 13 can be controlled, and / or the first adjustment shaft 1511 connected to the second support arm 14 can be controlled to rotate to adjust the distance between the first clamping portion 131 and the second clamping portion 141 along the first direction A; in this way, the instruction to transport the object to be transported from the ground to the truck can be completed.

[0081] Here, it should be supplemented that when the robot 1 completes a transport instruction, the robot's first clamping part 131 and the second clamping part 141, the leg rod assembly 12, etc. can be restored to the initial state, or maintain the state of the last transport completion. This embodiment of the application does not limit this.

[0082] The above are only preferred embodiments of the present application and are not intended to limit the scope of protection of the present application. Any modifications, equivalent substitutions 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: trunk; A leg rod assembly, wherein a first end of the leg rod assembly is connected to the trunk, and a second end of the leg rod assembly is provided with a rolling portion, and the rolling portion is used to contact the ground; A first support arm, wherein a first clamping portion is disposed on the first support arm; A second support arm, wherein a second clamping portion is disposed on the second support arm, the first clamping portion and the second clamping portion are disposed opposite to each other along a first direction, and the first clamping portion and the second clamping portion are used to clamp an object to be transported; The first adjustment structure includes a first adjustment group, and the first adjustment group is respectively arranged between the first support arm and the trunk and between the second support arm and the trunk to adjust the distance between the first clamping part and the second clamping part along the first direction.

2. The robot according to claim 1, characterized in that: The first adjustment group includes a first adjustment shaft, the first adjustment shaft is rotatably connected to the trunk, and the first support arm is connected to the radial side wall of the first adjustment shaft; Wherein, the axial direction of the first adjustment axis is perpendicular to the first direction.

3. The robot according to claim 1, characterized in that: The first adjustment group includes at least two first adjustment shafts connected end to end, one of the two adjacent first adjustment shafts is connected to the radial side wall of the other first adjustment shaft, the first adjustment shaft at the head end is rotatably connected to the trunk, and the first support arm is connected to the radial side wall of the first adjustment shaft at the tail end; The axial directions of the plurality of first adjustment axes are all perpendicular to the first direction, and the axial directions of two adjacent first adjustment axes are not collinear.

4. The robot according to claim 2 or 3, characterized in that: The first adjustment structure includes a second adjustment group, and the second adjustment group is respectively arranged between the first support arm and the trunk and between the second support arm and the trunk to adjust the distance between the first clamping portion and the trunk along the second direction and the distance between the second clamping portion and the trunk along the second direction; The second direction is perpendicular to the first direction.

5. The robot according to claim 4, characterized in that: The second adjustment group includes a second adjustment shaft, the second adjustment shaft is connected to the radial side wall of the first adjustment shaft connected to the trunk, and the first arm is connected to the radial side wall of the second adjustment shaft; Wherein, the axial direction of the second adjustment axis is parallel to the first direction.

6. The robot according to claim 4, characterized in that: The second adjustment group includes a plurality of second adjustment shafts, one of the plurality of second adjustment shafts is connected to a radial side wall of the first adjustment shaft connected to the first support arm and located at the tail end, the first support arm is connected to a radial side wall of a corresponding second adjustment shaft, and every two adjacent first adjustment shafts are connected by a second adjustment shaft, the corresponding second adjustment shaft is connected to a radial side wall of one of the two connected first adjustment shafts, and the other first adjustment shaft is connected to a radial side wall of the second adjustment shaft; The axial directions of the plurality of second adjustment axes are all parallel to the first direction, and the axial directions of two adjacent second adjustment axes are not collinear.

7. The robot according to any one of claims 1 to 6, characterized in that: The robot further comprises a second adjustment structure, which is disposed between the first end and the second end of the leg rod assembly to adjust the distance of the leg rod assembly along a second direction; The second direction is perpendicular to the first direction.

8. The robot according to claim 7, characterized in that: The leg rod assembly comprises a first leg rod and a second leg rod, the first end of the first leg rod is connected to the trunk, the second end of the second leg rod is provided with the rolling portion, the second adjustment structure comprises a third adjustment shaft, the third adjustment shaft is provided between the second end of the first leg rod and the first end of the first leg rod, so that the second leg rod rotates relative to the first leg rod; Wherein, the axial direction of the third adjustment axis is parallel to the first direction.

9. A robot control method, characterized in that: The robot comprises the robot according to any one of claims 1 to 8, comprising: In response to an instruction that the object to be transported needs to be clamped, the first adjustment group is controlled to adjust the distance between the first clamping portion and the second clamping portion along the first direction; and the first clamping portion and the second clamping portion are controlled to clamp the object to be transported.

10. The robot control method according to claim 9, characterized in that: The first adjustment structure includes a second adjustment group, and the second adjustment group is respectively arranged between the first support arm and the trunk and between the second support arm and the trunk to adjust the distance between the first clamping portion and the trunk along a second direction and the distance between the second clamping portion and the trunk along the second direction, wherein the second direction is perpendicular to the first direction, and the method further includes: The second adjustment group is controlled to adjust the distance between the first clamping portion and the trunk along the second direction and the distance between the second clamping portion and the trunk along the second direction.

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