Actuating mechanism for transfer robot

Abstract

The invention belongs to the technical field of transfer robots, and particularly relates to an actuating mechanism for a transfer robot, comprising: a base mounted on a self-walking carrier of the transfer robot; the driving device is mounted on the base, and the driving device comprises at least two power output ends; the execution arm comprises a long-strip-shaped plate-shaped body, and the plate face of the execution arm can be switched between the horizontal state and the vertical state. The plate-shaped execution arm with the horizontal state switching function and the vertical state switching function is arranged, the multi-direction translation capacity of the driving device is matched, and flexible picking of cargoes of different packaging types through a single execution mechanism is achieved; the complex operation of manual tool replacement is avoided, the problems of too high cost and performance redundancy caused by a multi-degree-of-freedom manipulator are solved through a simple mechanical structure, and the universality and the working efficiency of the transfer robot in a medical scene are remarkably improved.

Description

Technical Field

[0001] The invention belongs to the technical field of transport robots, and in particular relates to an actuator for a transport robot. Background Art

[0002] In smart IoT scenarios in hospitals and other places, a handling robot is needed to transfer goods such as medical consumables. The handling robot may include, for example, a self-moving vehicle and an actuator for transferring goods between the ground and the self-moving vehicle. In the above application scenarios, there may be differences in the packaging methods of different goods. For example, some small goods can be concentrated in boxes, while some large goods can be directly stacked on pallets. However, in order to save costs, the existing handling robots have a relatively simple way of picking up goods by their actuators, such as using mutually opening and closing clamps to clamp the goods, or using forks to lift the goods. These actuators cannot pick up goods of different packaging types. When the type of goods to be transported changes, it is necessary to manually replace the front-end tools of the actuators, and the operation process is cumbersome; and if a multi-degree-of-freedom manipulator is used to pick up the goods, it will greatly increase the manufacturing cost of the handling robot and generate unnecessary performance redundancy. Summary of the invention

[0003] In view of the above-mentioned shortcomings of the prior art, an object of the present invention is to provide an actuator for a transport robot that can transfer goods of different packaging types and reduce equipment costs.

[0004] To achieve the above-mentioned object and other related objects, the present invention provides an actuator for a handling robot, comprising: A base, mounted on the self-propelled vehicle of the handling robot; A driving device, mounted on the base, the driving device comprising at least two power output ends, and the driving device is configured to be able to drive the two power output ends to translate along at least horizontal and vertical directions; The actuator arm comprises a long plate-like body, two mutually parallel actuator arms are respectively installed at the two power output ends, and the length direction of the actuator arm is horizontally arranged, the actuator arm is rotatably connected to the power output end and the rotation axis is parallel to the length direction of the actuator arm, so that the plate surface of the actuator arm can switch between horizontal and vertical states.

[0005] In an optional embodiment of the present invention, a locking mechanism is provided between the actuator arm and the power output end, and the locking mechanism is configured to be able to maintain the actuator arm in a state where the board surface is horizontal or the board surface is vertical, and to be able to release the actuator arm from the state where the board surface is horizontal or the board surface is vertical.

[0006] In an optional embodiment of the present invention, the locking mechanism includes a limit pin, which is coaxially arranged with the rotation axis between the actuator arm and the power output end, and the limit pin is provided with a limit head. One of the actuator arm and the power output end is circumferentially fixed and axially slidably connected to the limit pin, and the other is provided with a limit groove that cooperates with the limit head. The limit groove is configured to enable the limit head to engage or separate with the limit groove when the limit pin slides axially, and to prevent the actuator arm and the power output end from rotating relative to each other when the limit head is engaged with the limit groove.

[0007] In an optional embodiment of the present invention, a trigger device is further included, which is installed on the base or the self-propelled vehicle. The trigger device is configured to contact and drive the limit pin when the driving device drives the power output end and the actuator arm to move along a preset path, so as to separate the limit head from the limit groove.

[0008] In an optional embodiment of the present invention, a conical guide portion is provided on the circumferential surface of the limit pin, and the trigger device includes a push rod, the length direction of the push rod is perpendicular to the rotation axis between the actuator arm and the power output end, and the end of the push rod is provided with a conical surface adapted to the guide portion.

[0009] In an optional embodiment of the present invention, the push rod is mounted on a rotating bracket, the rotating bracket is rotatably connected to the base or the self-propelled vehicle, and the rotation axis is parallel to the rotation axis between the actuator arm and the power output end, and the actuator arm is provided with a socket that cooperates with the push rod.

[0010] In an optional embodiment of the present invention, an elastic element is provided between the limit pin and the power output end or the actuator arm, and the elastic element is assembled so that its elastic force can drive the limit head to engage with the limit groove.

[0011] In an optional embodiment of the present invention, the driving device includes a first driving mechanism, a second driving mechanism and a third driving mechanism, the first driving mechanism is used to drive the two power output ends to move synchronously along a first horizontal direction, the second driving mechanism is used to drive the two power output ends to move synchronously along a vertical direction, and the third driving mechanism is used to drive the two power output ends to open and close with each other along a second horizontal direction, and the second horizontal direction is perpendicular to the first horizontal direction.

[0012] In an optional embodiment of the present invention, the length direction of the actuator arm is parallel to the first horizontal direction.

[0013] In an optional embodiment of the present invention, a rotating driving element is provided between the actuator arm and the power output end for driving the two to rotate relative to each other.

[0014] The technical effect of the present invention is that: the present invention realizes the flexible picking of goods of different packaging types by a single actuator by setting a plate-shaped actuator arm with horizontal and vertical state switching functions, cooperating with the multi-directional translation ability of the driving device; the plate surface in the vertical state can increase the contact area with the box body to ensure stable clamping, and the plate surface in the horizontal state can be inserted into the tray slot to complete the lifting, which not only avoids the tedious operation of manual tool replacement, but also solves the problems of high cost and performance redundancy brought by multi-degree-of-freedom manipulators through a simple mechanical structure, and significantly improves the versatility and operating efficiency of the handling robot in medical scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a three-dimensional diagram of one working state of the transport robot provided by an embodiment of the present invention; Figure 2 is a three-dimensional diagram of another working state of the transport robot provided by an embodiment of the present invention; Figure 3 is a three-dimensional diagram of an actuator provided by an embodiment of the present invention; Figure 4 is a three-dimensional diagram of a power output end, an actuator arm and a trigger device provided by an embodiment of the present invention; Figure 5 is an exploded view of the assembly structure of the power output end and the actuator arm provided by an embodiment of the present invention; Figure 6 is a front view of the actuator arm and the trigger device provided by the embodiment of the present invention in a first matching state; Figure 7 yes Figure 6 AA section view; Figure 8 is a front view of the actuator arm and the trigger device provided by the embodiment of the present invention in a second matching state; Fig. 9 yes Figure 8 BB cross-sectional view; Fig.10 is a front view of the actuator arm and the trigger device provided by the embodiment of the present invention in a third matching state; Fig.11 yes Fig.10 CC section view; Fig.12 is a front view of the actuator arm and the trigger device provided by the embodiment of the present invention in a fourth matching state; Fig.13 yes Fig.12DD cross-sectional view; Explanation of the reference numerals: 100, self-propelled vehicle; 101, box-type packaging; 102, pallet; 10, base; 20, driving device; 201, power output terminal; 2011, fixed sleeve; 2012, arc hole; 21, first driving mechanism; 22, second driving mechanism; 23, third driving mechanism; 30, actuator arm; 31, plate-like body; 32, rotating sleeve; 33, limit pin; 331, limit head; 332, guide portion; 333, external thread; 34, bearing; 35, limit groove; 36, socket; 37, elastic element; 38, gasket; 39, nut; 40, trigger device; 41, push rod; 411, conical surface; 42, rotating bracket. DETAILED DESCRIPTION

[0016] The following describes the embodiments of the present invention by specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0017] It should be noted that the illustrations provided in the following embodiments are only used to illustrate the basic concept of the present invention in a schematic manner, and thus the illustrations only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0018] See also Figure 1 , Figure 2 As shown, an embodiment of the present invention provides a transport robot, which is particularly suitable for intelligent IoT scenarios in hospitals and other places, for example, for transferring medical consumables between different storage facilities such as shelves and warehouses. However, it should be noted that the application scenarios of the above-mentioned transport robot are not limited to medical places, but can also be extended to industrial production, logistics and transportation and other fields. The transport robot includes a self-propelled vehicle 100, and an actuator installed on the self-propelled vehicle 100 for transferring goods between the ground and the self-propelled vehicle 100. The self-propelled vehicle 100 itself has environmental information collection modules such as cameras and radars, and is equipped with a positioning device, which can realize automatic transfer between different storage facilities. The specific structure and working principle of the self-propelled vehicle 100 can be selected from the prior art, and the present invention will not be repeated. The technical solution of the present invention will be described in detail below in combination with the improvement of the actuator part.

[0019] See also Figure 1-Figure 13 As shown, the actuator includes a base 10, a driving device 20 and an actuator arm 30; the base 10 is installed on the self-propelled vehicle 100 of the handling robot; the driving device 20 is installed on the base 10, and the driving device 20 includes at least two power output ends 201, and the driving device 20 is configured to be able to drive the two power output ends 201 to translate along at least horizontal and vertical directions; the actuator arm 30 includes a long plate-like body 31, and two mutually parallel actuator arms 30 are respectively installed on the two power output ends 201, and the length direction of the actuator arm 30 is horizontally arranged, and the actuator arm 30 is rotatably connected to the power output end 201 and the rotation axis is parallel to the length direction of the actuator arm 30, so that the plate surface of the actuator arm 30 can be switched between horizontal and vertical states; when the plate surface of the actuator arm 30 is vertical, it can be used to clamp the box-type packaging 101 to ensure that there is sufficient contact area between the plate surface of the actuator arm 30 and the side wall of the box-type packaging 101 to prevent the goods from slipping; when the plate surface of the actuator arm 30 is horizontal, it can be used to lift the pallet 102. At this time, the horizontal actuator arm 30 can be smoothly inserted into the flat slot of the pallet 102, which is beneficial to reduce the thickness of the pallet 102 and improve the transportation efficiency.

[0020] The present invention provides a plate-shaped actuator arm 30 with horizontal and vertical state switching functions, and cooperates with the multi-directional translation ability of the driving device 20 to achieve flexible picking up of goods of different packaging types by a single actuator; the plate surface in the vertical state can increase the contact area with the box body to ensure stable clamping, and the plate surface in the horizontal state can be inserted into the slot of the tray 102 to complete the lifting, which not only avoids the tedious operation of manual tool replacement, but also solves the problems of high cost and performance redundancy brought by multi-degree-of-freedom manipulators through a simple mechanical structure, and significantly improves the versatility and operating efficiency of the handling robot in medical scenarios.

[0021] See also Figure 4 , Figure 5 As shown, in an optional embodiment of the present invention, a locking mechanism is provided between the actuator arm 30 and the power output end 201, and the locking mechanism is configured to be able to keep the actuator arm 30 in a state where the board surface is horizontal or vertical, and to be able to release the actuator arm 30 from a state where the board surface is horizontal or vertical. This further embodiment, by adding a locking mechanism, can achieve stable locking when the actuator arm 30 is switched to a horizontal or vertical state, thereby preventing accidental deflection of the board surface due to external force or vibration during transportation, and ensuring operational reliability when clamping a box or lifting a pallet 102; at the same time, the releasable design of the locking mechanism retains the flexible switching function of the actuator arm 30, so that the mechanism has both safety and adaptability while maintaining low cost, further optimizing the stability requirements for the transportation of multiple types of goods in medical scenarios.

[0022] See also Figure 5 As shown, in an optional embodiment of the present invention, the locking mechanism includes a limit pin 33, the limit pin 33 is coaxially arranged with the rotation axis between the actuator arm 30 and the power output end 201, the limit pin 33 is provided with a limit head 331, one of the actuator arm 30 and the power output end 201 is circumferentially fixed and axially slidably connected to the limit pin 33, and the other is provided with a limit groove 35 that cooperates with the limit head 331, and the limit groove 35 is configured to enable the limit head 331 to engage or separate with the limit groove 35 when the limit pin 33 slides axially, and when the limit head 331 is engaged with the limit groove 35, the relative rotation of the actuator arm 30 and the power output end 201 is prevented. This further embodiment realizes the integrated design of rotation and locking of the actuator arm 30 through the coaxially arranged limit pin 33 and limit groove 35 structure. When the limit pin 33 slides axially to make the limit head 331 embedded in the limit groove 35, the actuator arm 30 and the power output end 201 are completely locked, ensuring that the board surface state is absolutely fixed during transportation; when separated, it can be freely rotated to switch states. This structure adopts an axial sliding unlocking method, which is easy to operate and has high reliability; the coaxial layout of the limit pin 33 saves space and avoids interference of external locking mechanism with other components; the interlocking design of the limit head 331 and the groove can withstand large torque, which is particularly suitable for frequent start-stop or uneven load conditions in medical scenarios, and further enhances the impact resistance while ensuring low cost.

[0023] See also Figure 5As shown, in a specific embodiment, a fixed sleeve 2011 can be provided on the power output end 201, and a rotating sleeve 32 can be provided on the actuator arm 30. The rotating sleeve 32 is rotatably connected to the fixed sleeve 2011 through a bearing 34. The limit pin 33 can be inserted into the fixed sleeve 2011 and the rotating sleeve 32. In this embodiment, the part where the limit pin 33 cooperates with the fixed sleeve 2011 can be set to a square shaft shape, so that the limit pin 33 and the fixed sleeve 2011 can achieve axial sliding and circumferential fixed cooperation; in this embodiment, the limit groove 35 is set in the rotating sleeve 32. The stopper head 331 and the stopper groove 35 need to be set in a non-circular shape to avoid relative rotation when the two are engaged. For example, the two can be set in a square shape. It should be understood that the matching mode of the stopper pin 33 and the fixed sleeve 2011 is not unique. For example, in some other embodiments, the stopper pin 33 and the fixed sleeve 2011 can also be matched through a spline. The specific shapes of the stopper head 331 and the stopper groove 35 are also not unique. For example, in some other embodiments, the stopper head 331 can also be set in a flat shaft shape and the stopper groove 35 can be set in a cross groove. In addition, the matching modes between the stopper pin 33 and the fixed sleeve 2011 and the rotating sleeve 32 can be interchangeable. For example, the stopper pin 33 and the rotating sleeve 32 can be matched axially and fixedly in the circumferential direction, and the stopper head 331 can be matched with the stopper groove 35 set on the fixed sleeve 2011.

[0024] See also Figure 1 , Figure 2 , Figure 4 , Figure 6-Figure 13 As shown, in an optional embodiment of the present invention, a trigger device 40 is further included, and the trigger device 40 is installed on the base 10 or the self-propelled vehicle 100. The trigger device 40 is configured so that when the drive device 20 drives the power output end 201 and the actuator arm 30 to move along a preset path, the trigger device 40 contacts and drives the limit pin 33 to separate the limit head 331 from the limit slot 35. This further embodiment automatically releases the locked state when the actuator arm 30 reaches the preset position through the coordinated design of the movement of the trigger device 40 and the drive device 20, and completely relies on the mechanical movement of the existing drive device 20 to achieve unlocking, without adding additional power elements, significantly reducing manufacturing costs and system complexity; fully automatic unlocking is achieved through precise control of the preset path, completely avoiding manual intervention operations, and improving operating efficiency and safety in medical scenarios.

[0025] See also Figure 6-Figure 13As shown, in an optional embodiment of the present invention, a conical guide portion 332 is provided on the circumference of the limit pin 33, and the trigger device 40 includes a push rod 41, the length direction of the push rod 41 is perpendicular to the rotation axis between the actuator arm 30 and the power output end 201, and the end of the push rod 41 is provided with a conical surface 411 adapted to the guide portion 332, and when the push rod 41 squeezes the guide portion 332, the axial sliding of the limit pin 33 is achieved. This further embodiment uses a conical surface structure to efficiently convert the vertical thrust of the push rod 41 into the axial sliding of the limit pin 33, significantly reducing the operating force required for unlocking and improving the sensitivity of the mechanism.

[0026] See also Figure 6-Figure 13 As shown, in an optional embodiment of the present invention, the push rod 41 is installed on a rotating bracket 42, and the rotating bracket 42 is rotatably connected to the base 10 or the self-propelled vehicle 100, and the rotation axis is parallel to the rotation axis between the execution arm 30 and the power output end 201, and the execution arm 30 is provided with a socket 36 that cooperates with the push rod 41, and the fixed sleeve 2011 of the power output end 201 is provided with an arc hole 2012 for avoiding the push rod 41; the trigger device 40 of this embodiment can not only unlock the locking mechanism, but also drive the plate surface of the execution arm 30 to switch between the vertical state and the horizontal state. Specifically, Figure 6 , Figure 8 , Fig.10 , Fig.12 The whole process of the trigger device 40 unlocking the locking mechanism and driving the actuator arm 30 to rotate is shown in sequence. Figure 6 After the plug 36 is inserted into the state shown, the power output end 201 is Figure 8 The state shown in FIG. 1 is counterclockwise translated along an arc path around the rotation center of the top rod 41 to Fig.10 Then, the power output end 201 moves horizontally away from the top rod 41 to Fig.12 In the state shown, the entire process of unlocking the locking structure, rotating the actuator arm 30, and locking the locking mechanism can be realized. This further embodiment realizes the integrated automatic control of unlocking the locking mechanism and switching the state of the actuator arm 30 through the linkage design of the rotating bracket 42 and the push rod 41. After the push rod 41 is inserted into the socket 36, the power output end 201 is driven to move along a specific trajectory. Only a single drive device 20 is required to synchronously complete the full process of unlocking, rotating and re-locking, which greatly simplifies the control system; the entire switching process is completely realized by the movement of the existing drive device 20, without the need for an additional power source. While ensuring functional completeness, it significantly improves the operating efficiency and equipment reliability in medical handling scenarios, and further reduces equipment costs.

[0027] In some other embodiments, the rotation of the actuator arm 30 may also be driven by a separate driving element, for example, a joint motor is provided between the actuator arm 30 and the power output end 201 to drive the relative rotation of the two.

[0028] See also Figure 5 , Figure 7 , Fig. 9 , Fig.11 , Fig.13 As shown, in an optional embodiment of the present invention, an elastic element 37 is provided between the limit pin 33 and the power output end 201 or the actuator arm 30, and the elastic element 37 is assembled so that its elastic force can drive the limit head 331 to engage with the limit groove 35. In a specific embodiment, the elastic element 37 can be, for example, a compression spring, which is sleeved on the limit pin 33, and the limit pin 33 is provided with an external thread 333, and a nut 39 is connected to the external thread 333. A gasket 38 is provided between the nut 39 and the power output end 201, and one end of the compression spring abuts against the power output end 201, and the other end abuts against the gasket 38. This further embodiment uses elastic force to automatically reset the locking mechanism to ensure that the actuator arm 30 always remains stably locked in the non-switching state, effectively preventing accidental loosening during the handling operation; unlocking can be achieved by only overcoming the elastic force, and the locking state is automatically restored after the switching is completed, greatly improving the operation consistency.

[0029] See also Figure 3 As shown, in an optional embodiment of the present invention, the driving device 20 includes a first driving mechanism 21, a second driving mechanism 22 and a third driving mechanism 23, the first driving mechanism 21 is used to drive the two power output ends 201 to move synchronously along the first horizontal direction X, the second driving mechanism 22 is used to drive the two power output ends 201 to move synchronously along the vertical direction Z, and the third driving mechanism 23 is used to drive the two power output ends 201 to open and close each other along the second horizontal direction Y, the second horizontal direction Y is perpendicular to the first horizontal direction X, the length direction of the execution arm 30 is parallel to the first horizontal direction X, and the three driving mechanisms cooperate to realize the clamping, lifting and translation of the execution arm 30, meeting the freedom of movement requirements when picking up box-type goods and pallet 102 goods. In a specific embodiment, the first driving mechanism 21 and the second driving mechanism 22 can be, for example, a motor screw mechanism, and the third driving mechanism 23 can be, for example, a motor synchronous pulley mechanism. It should be understood that the specific form of each driving mechanism is not unique. For example, in some other embodiments, the motor screw mechanism and the motor synchronous pulley mechanism can also be replaced by mechanisms such as electric cylinders and sprockets.

[0030] In summary, the present invention realizes the flexible picking of goods of different packaging types by a single actuator by setting a plate-shaped actuator arm 30 with horizontal and vertical state switching functions and cooperating with the multi-directional translation capability of the driving device 20; the plate surface in the vertical state can increase the contact area with the box body to ensure stable clamping, and the plate surface in the horizontal state can be inserted into the slot of the tray 102 to complete the lifting, which not only avoids the tedious operation of manual tool replacement, but also solves the problems of high cost and performance redundancy caused by multi-degree-of-freedom manipulators through a simple mechanical structure, and significantly improves the versatility and operation efficiency of the handling robot in medical scenarios; the present invention realizes the integrated automatic control of the unlocking of the locking mechanism and the state switching of the actuator arm 30, and drives the power output end 201 to move along a specific trajectory after the push rod 41 is inserted into the socket 36, and only a single driving device 20 is required to synchronously complete the full process of unlocking, rotating and re-locking, which greatly simplifies the control system; the entire switching process is completely realized by the movement of the existing driving device 20, without the need for an additional power source, while ensuring the completeness of the function, significantly improving the operation efficiency and equipment reliability in the medical handling scenario, and further reducing the equipment cost.

[0031] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

[0032] In the description herein, many specific details, such as examples of components and / or methods, are provided to provide a complete understanding of embodiments of the present invention. However, those skilled in the art will recognize that embodiments of the present invention may be practiced without one or more of the specific details or with other devices, systems, components, methods, components, materials, parts, etc. In other cases, well-known structures, materials, or operations are not specifically shown or described in detail to avoid obscuring aspects of embodiments of the present invention.

Claims

1. An actuator for a handling robot, characterized in that: include: A base (10) mounted on a self-propelled vehicle (100) of the transport robot; A driving device (20) mounted on the base (10), the driving device (20) comprising at least two power output ends (201), the driving device (20) being configured to be able to drive the two power output ends (201) to translate along at least a horizontal and a vertical direction; An actuator arm (30), the actuator arm (30) comprising a long strip-shaped plate-like body (31), two mutually parallel actuator arms (30) respectively mounted on the two power output ends (201), and the length direction of the actuator arm (30) is arranged horizontally, the actuator arm (30) is rotatably connected to the power output end (201), and the rotation axis is parallel to the length direction of the actuator arm (30), so that the plate surface of the actuator arm (30) can be switched between horizontal and vertical states.

2. The actuator for a handling robot according to claim 1, characterized in that: A locking mechanism is provided between the actuator arm (30) and the power output end (201), and the locking mechanism is configured to be able to keep the actuator arm (30) in a state where the board surface is horizontal or the board surface is vertical, and to be able to release the actuator arm (30) from the state where the board surface is horizontal or the board surface is vertical.

3. The actuator for a handling robot according to claim 2, characterized in that: The locking mechanism comprises a limit pin (33), the limit pin (33) being coaxially arranged with a rotation axis between the actuator arm (30) and the power output end (201), the limit pin (33) being provided with a limit head (331), one of the actuator arm (30) and the power output end (201) being circumferentially fixed and axially slidably connected to the limit pin (33), and the other being provided with a limit groove (35) cooperating with the limit head (331), the limit groove (35) being configured such that when the limit pin (33) slides axially, the limit head (331) and the limit groove (35) can be engaged or separated, and when the limit head (331) and the limit groove (35) are engaged, relative rotation of the actuator arm (30) and the power output end (201) is prevented.

4. The actuator for a handling robot according to claim 3, characterized in that: It also includes a trigger device (40), the trigger device (40) being mounted on the base (10) or the self-propelled vehicle (100), and the trigger device (40) being configured such that when the drive device (20) drives the power output end (201) and the actuator arm (30) to move along a preset path, the trigger device (40) contacts and drives the limit pin (33) to separate the limit head (331) from the limit slot (35).

5. The actuator for a handling robot according to claim 4, characterized in that: A conical guide portion (332) is provided on the circumferential surface of the limit pin (33), and the trigger device (40) comprises a push rod (41), the length direction of the push rod (41) is perpendicular to the rotation axis between the actuator arm (30) and the power output end (201), and the end of the push rod (41) is provided with a conical surface (411) adapted to the guide portion (332).

6. The actuator for a handling robot according to claim 5, characterized in that: The push rod (41) is mounted on a rotating bracket (42), the rotating bracket (42) is rotatably connected to the base (10) or the self-propelled vehicle (100), and the rotation axis is parallel to the rotation axis between the actuator arm (30) and the power output end (201), and the actuator arm (30) is provided with a socket (36) that cooperates with the push rod (41).

7. The actuator for a handling robot according to claim 5, characterized in that: An elastic element (37) is provided between the limit pin (33) and the power output end (201) or the actuator arm (30), and the elastic element (37) is assembled so that its elastic force can drive the limit head (331) to engage with the limit groove (35).

8. The actuator for a handling robot according to claim 1, characterized in that: The driving device (20) comprises a first driving mechanism (21), a second driving mechanism (22) and a third driving mechanism (23); the first driving mechanism (21) is used to drive the two power output ends (201) to move synchronously along a first horizontal direction; the second driving mechanism (22) is used to drive the two power output ends (201) to move synchronously along a vertical direction; and the third driving mechanism (23) is used to drive the two power output ends (201) to open and close relative to each other along a second horizontal direction, wherein the second horizontal direction is perpendicular to the first horizontal direction.

9. The actuator for a handling robot according to claim 8, characterized in that: The length direction of the execution arm (30) is parallel to the first horizontal direction.

10. The actuator for a handling robot according to claim 1, characterized in that: A rotation driving element is provided between the actuator arm (30) and the power output end (201) for driving the two to rotate relative to each other.

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